CN111721550A - Driving wheel grip force and life testing device, grip force and life testing method - Google Patents

Driving wheel grip force and life testing device, grip force and life testing method Download PDF

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CN111721550A
CN111721550A CN202010506004.2A CN202010506004A CN111721550A CN 111721550 A CN111721550 A CN 111721550A CN 202010506004 A CN202010506004 A CN 202010506004A CN 111721550 A CN111721550 A CN 111721550A
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driving wheel
roller
unit
assembly
shaft
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CN111721550B (en
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朱刚
裘信国
姜伟
郑颖
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Zhejiang University of Technology ZJUT
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    • 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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Abstract

驱动轮抓地力及寿命检测装置、抓地力及寿命检测方法，所述检测装置包括：驱动轮单元，包括支撑装置、推动装置和驱动轮总成；路面模拟单元，设置在驱动轮单元的下方，包括第一支撑部、第二支撑部和滚轮组件；以及控制单元，包括总控制器、驱动轮控制电路、制动单元控制器以及推动装置控制器；抓地力及寿命检测方法包括以下步骤：调整驱动轮总成的位置使其与滚动面紧密接触，用于模拟驱动轮与模拟路面紧密接触；然后通过调整制动单元测量抓地力及寿命检测方法。本发明的有益效果是：能模拟不同的路面情况；能检验不同的防滑花纹的效果；能够进行驱动轮寿命测试；可以检测出驱动轮何时开始打滑；提高了系统的容错率。

Figure 202010506004

A driving wheel grip force and life testing device, and a grip force and life testing method, the testing device comprises: a driving wheel unit, including a support device, a pushing device and a driving wheel assembly; a road surface simulation unit, arranged below the driving wheel unit, It includes a first support part, a second support part and a roller assembly; and a control unit, including a general controller, a driving wheel control circuit, a braking unit controller and a pushing device controller; the gripping force and life detection method includes the following steps: adjusting The position of the drive wheel assembly makes it in close contact with the rolling surface, which is used to simulate the close contact between the drive wheel and the simulated road surface; then the grip force and the life test method are measured by adjusting the braking unit. The beneficial effects of the invention are: can simulate different road conditions; can test the effect of different anti-skid patterns; can carry out the life test of the driving wheel; can detect when the driving wheel starts to slip;

Figure 202010506004

Description

驱动轮抓地力及寿命检测装置、抓地力及寿命检测方法Driving wheel grip force and life testing device, grip force and life testing method

技术领域technical field

本发明涉及一种驱动轮抓地力及寿命检测装置、抓地力及寿命检测方法。The invention relates to a driving wheel grip force and life detection device, and a grip force and life detection method.

背景技术Background technique

随着智能物流的极大发展，仓储物流车辆的应用越来越广泛，同样的对于其要求也越来越高，货物需要从仓库送到车间往往需要通过不同的路面。而目前仓储物流车辆的驱动轮轮胎大多采用光滑的表面，这种形式的驱动轮制造简单，经济性高；但是当仓储车辆行驶在有积雨的路面时，光滑的驱动轮表面易于路面之间产生水膜，而发生打滑。With the great development of intelligent logistics, the application of warehousing and logistics vehicles is becoming more and more extensive, and the requirements for them are also getting higher and higher. The goods need to be sent from the warehouse to the workshop often need to pass through different roads. At present, most of the driving wheels and tires of warehousing and logistics vehicles use smooth surfaces. This form of driving wheels is simple to manufacture and has high economy. However, when the warehousing vehicles are driving on rainy roads, the smooth driving wheel surface is easy to move between the roads. A water film is produced and slippage occurs.

轮胎上的防滑纹为驱动轮在载重运行过程中增加摩擦力，减小打滑现象，使得运行平稳轻便。于是越来越多的有防滑花纹的驱动轮得到了应用。但是对于采用怎么样的花纹才能更好提高驱动轮对于不同路面的适应力，而且很少有专业的设备能够准确的检测不同形式的花纹对于驱动轮有着怎样的影响。The anti-skid pattern on the tire increases the friction force of the driving wheel during the load operation process, reduces the slip phenomenon, and makes the operation smooth and light. Therefore, more and more driving wheels with anti-skid patterns have been applied. However, what kind of pattern can be used to better improve the adaptability of the drive wheel to different road surfaces, and there are few professional equipment that can accurately detect how different forms of patterns affect the drive wheel.

当驱动轮轮面圆度不够高时，轴承工艺不够高，或其他偶然因素，驱动轮运转时可能会别住，此时难以对驱动轮进行检测。When the roundness of the driving wheel surface is not high enough, the bearing technology is not high enough, or other accidental factors, the driving wheel may be pinned when it is running, and it is difficult to detect the driving wheel at this time.

发明内容SUMMARY OF THE INVENTION

本发明的目的在于测试防滑花纹对于驱动轮在潮湿路面抓地力的提升，是否会降低驱动轮的使用寿命等问题，提出了一种能够模拟仓储物流车辆行驶时驱动轮状态的实验装置，能够模拟不同路面，实现车辆载重变化，地面摩擦负载加载实时变化，简要模拟工业机器人关节运动工况。The purpose of the present invention is to test whether the anti-skid pattern will increase the grip of the driving wheel on the wet road, and whether the service life of the driving wheel will be reduced, and propose an experimental device that can simulate the state of the driving wheel when the storage and logistics vehicle is running. Different road surfaces, realize the change of vehicle load, real-time change of ground friction load, and briefly simulate the joint motion conditions of industrial robots.

本发明所述的驱动轮抓地力及寿命检测装置，其特征在于，包括：The device for detecting the grip and life of the driving wheel according to the present invention is characterized in that it includes:

驱动轮单元，包括支撑装置、推动装置和驱动轮总成，所述支撑装置的上部活动安装有位置调节部，用于安装推动装置以调整驱动轮总成的位置；所述推动装置悬装于位置调节部，其底部的推动端安装驱动轮总成，用于带动驱动轮总成移动以调节驱动轮与路面模拟单元之间的距离；所述驱动轮总成安装于推动装置的推动端，驱动轮总成的驱动轮轮边设有轮边电机，其中轮边电机的信号连接端与控制单元相应的端口电连接，使得驱动轮总成在推动装置以及控制单元的控制下与路面模拟单元接触，以检测驱动轮的抓地力和寿命；The drive wheel unit includes a support device, a push device and a drive wheel assembly, and a position adjustment part is movably installed on the upper part of the support device for installing the push device to adjust the position of the drive wheel assembly; the push device is suspended on the The position adjustment part, the driving end of the bottom is installed with the driving wheel assembly, which is used to drive the driving wheel assembly to move to adjust the distance between the driving wheel and the road simulation unit; the driving wheel assembly is installed on the pushing end of the pushing device, The driving wheel side of the driving wheel assembly is provided with a wheel side motor, wherein the signal connection end of the wheel side motor is electrically connected with the corresponding port of the control unit, so that the driving wheel assembly is connected with the road simulation unit under the control of the propulsion device and the control unit. contact to detect the grip and life of the drive wheel;

路面模拟单元，设置在驱动轮单元的下方，包括第一支撑部、第二支撑部和滚轮组件，其中第一支撑部、第二支撑部分列于滚轮组件的两端，用于支撑滚轮组件；所述滚轮组件通过第一支撑部和第二支撑部支撑在驱动轮单元的下方，并且滚轮组件位于驱动轮总成的运动轨迹上，并且滚轮组件的第一轴端与制动单元的扭矩输出端轴连接，使得滚轮组件接收制动单元输送的扭矩；A road surface simulation unit, arranged below the driving wheel unit, includes a first support part, a second support part and a roller assembly, wherein the first support part and the second support part are arranged at both ends of the roller assembly for supporting the roller assembly; The roller assembly is supported under the driving wheel unit through the first support part and the second support part, and the roller assembly is located on the motion track of the driving wheel assembly, and the first shaft end of the roller assembly and the torque output of the braking unit The end shaft is connected so that the roller assembly receives the torque delivered by the braking unit;

制动单元，设置在路面模拟单元一侧，其扭矩输出端与滚轮组件的第一轴端相连接，其信号输入端与控制单元相应的信号输出端点链接，用于在控制单元的控制下向滚轮组件输出设定扭矩以模拟路面情况，以测定驱动轮的抓地力和寿命；The braking unit is arranged on one side of the road simulation unit, and its torque output end is connected with the first shaft end of the roller assembly, and its signal input end is linked with the corresponding signal output end point of the control unit, and is used for the control of the control unit. The roller assembly outputs a set torque to simulate road conditions to determine the grip and life of the driving wheel;

以及控制单元，包括总控制器、驱动轮控制电路、制动单元控制器以及推动装置控制器，所述驱动轮控制电路、制动单元控制器、推动装置控制器的信号传输端口分别与总控制器的信号传输端口电连接，所述驱动轮控制电路与驱动轮总成的信号输入端电连接，用于控制驱动轮总成的运动；所述制动单元控制器的信号输出端与制动单元的信号输入端电连接，用于控制制动单元产生的扭矩；所述推动装置控制器的信号输出端与推动装置的信号输入端电连接，用于控制推动装置的推动端伸缩带动驱动轮总成对路面模拟单元产生推力。and a control unit, including a general controller, a driving wheel control circuit, a braking unit controller and a propelling device controller, the signal transmission ports of the driving wheel control circuit, the braking unit controller, and the propelling device controller are respectively connected with the general control The signal transmission port of the controller is electrically connected, and the driving wheel control circuit is electrically connected with the signal input end of the driving wheel assembly for controlling the movement of the driving wheel assembly; the signal output end of the braking unit controller is connected to the braking The signal input end of the unit is electrically connected to control the torque generated by the braking unit; the signal output end of the push device controller is electrically connected to the signal input end of the push device, and is used to control the push end of the push device to extend and retract to drive the drive wheel The assembly generates thrust on the road simulation unit.

所述支撑装置包括第一支撑座、滑板和定位螺钉，所述第一支撑座的顶部设有一可供滑板插入的滑槽；所述滑板插入所述第一支撑座的滑槽内，并在其中轴线上留有一带螺纹的通孔，用于供定位螺钉旋入以实现滑板与第一支撑座之间的锁定；The support device includes a first support seat, a sliding plate and a positioning screw, and a sliding slot into which the sliding plate can be inserted is provided on the top of the first supporting seat; There is a threaded through hole on the axis for screwing the positioning screw to realize the locking between the sliding plate and the first support seat;

所述推动装置包括液压缸和悬架，所述液压缸的顶部悬装于滑板的端部，液压缸的推动端固连用于安装驱动轮总成的悬架；The pushing device includes a hydraulic cylinder and a suspension, the top of the hydraulic cylinder is suspended on the end of the slide plate, and the pushing end of the hydraulic cylinder is fixedly connected to the suspension for installing the drive wheel assembly;

所述驱动轮总成包括驱动轮、驱动轮安装轴以及轮边电机，所述驱动轮通过驱动轮安装轴安装在悬架的底部，并保持驱动轮的中心轴与滚轮组件的中心轴平行；所述轮边电机安装于悬架上，并且轮边电机的输出端与驱动轮安装轴的一端相连，轮边电机的控制端与驱动轮控制电路的信号输出端电连接，用于在控制单元的控制下带动驱动轮绕其中心轴周向旋转。The driving wheel assembly includes a driving wheel, a driving wheel mounting shaft and a wheel motor, the driving wheel is mounted on the bottom of the suspension through the driving wheel mounting shaft, and keeps the central axis of the driving wheel parallel to the central axis of the roller assembly; The wheel side motor is installed on the suspension, and the output end of the wheel side motor is connected with one end of the drive wheel mounting shaft, and the control end of the wheel side motor is electrically connected with the signal output end of the drive wheel control circuit, and is used in the control unit. Under the control of the drive wheel, the drive wheel is driven to rotate circumferentially around its central axis.

所述第一支撑座顶部的滑槽为梯形，并且所述第一支撑座的侧面设有用于提高第一支撑座结构强度的肋板。The chute on the top of the first support seat is trapezoidal, and the side surface of the first support seat is provided with a rib plate for improving the structural strength of the first support seat.

所述悬架包括上悬架、弹簧和下悬架，上悬架带有一螺纹孔，用来连接推动装置；下悬架带有多个定位孔，用来固定驱动轮；上、下悬架滑道截面并非圆形，防止弹簧伸缩时上下悬架之间发生旋转。The suspension includes an upper suspension, a spring and a lower suspension. The upper suspension is provided with a threaded hole for connecting the pushing device; the lower suspension is provided with a plurality of positioning holes for fixing the driving wheel; the upper and lower suspensions The cross section of the slideway is not circular, preventing rotation between the upper and lower suspensions when the spring is retracted.

所述第一支撑部包括第一轴承座和第二支撑座；所述第二支撑部包括第二轴承座和第三支撑座；所述第一轴承座、第二轴承座分别与第二支撑座、第三支撑座采用螺栓联接，并保持第一轴承座、第二轴承座以及滚轮组件同轴；所述滚轮组件设置在驱动轮单元的下方，包括滚轮、第一滚轮轴和第二滚轮轴，其中所述滚轮套设于滚轮轴上，二者固连，所述滚轮通过第一滚轮轴、第二滚轮轴分别架装在第一支撑部和第二支撑部上；所述第一滚轮轴、第二滚轮轴为方轴，并且第一滚轮轴、第二滚轮轴的中心轴同轴，并与驱动轮安装轴的中心轴平行，其中第一滚轮轴通过第一联轴器与制动单元的扭矩输出端相连，用于接受制动单元的扭矩。The first support part includes a first bearing seat and a second support seat; the second support part includes a second bearing seat and a third support seat; the first bearing seat and the second bearing seat are respectively connected with the second support seat The seat and the third support seat are connected by bolts, and keep the first bearing seat, the second bearing seat and the roller assembly coaxial; the roller assembly is arranged below the driving wheel unit, including the roller, the first roller shaft and the second roller The roller is sleeved on the roller shaft, and the two are fixedly connected, and the roller is mounted on the first support part and the second support part respectively through the first roller shaft and the second roller shaft; the first The roller shaft and the second roller shaft are square shafts, and the central axes of the first and second roller shafts are coaxial and parallel to the central axis of the drive wheel installation shaft, wherein the first roller shaft is connected to the first shaft through the first coupling. The torque output terminal of the braking unit is connected to receive the torque of the braking unit.

所述制动单元为磁粉制动器，设置在第一支撑部一侧，并与第一轴承座同轴，所述磁粉制动器的扭矩输出轴通过第一联轴器与第一滚轮轴相连；磁粉制动器的信号输出端与制动单元的信号输入端电连接，用于控制制动单元产生的扭矩。The braking unit is a magnetic powder brake, which is arranged on one side of the first support part and is coaxial with the first bearing seat, and the torque output shaft of the magnetic powder brake is connected with the first roller shaft through a first coupling; the magnetic powder brake The signal output end of the brake unit is electrically connected with the signal input end of the braking unit, and is used to control the torque generated by the braking unit.

所述的驱动轮抓地力及寿命检测装置还包括速度检测单元，所述速度检测单元设置在路面模拟单元侧面，包括第四支撑座、转速传感器，其中，所述第四支撑座安装在路面模拟单元的一侧，用于支撑转速传感器；所述转速传感器安装在第四支撑座上，并且所述转速传感器的检测输入端与滚轮组件的第二滚轮轴相连接，其信号输出端与所述总控制器的相应端口电连接，用于检测滚轮组件的转速。The driving wheel grip and life detection device further includes a speed detection unit, which is arranged on the side of the road simulation unit, and includes a fourth support seat and a rotational speed sensor, wherein the fourth support seat is installed on the road surface simulation unit. One side of the unit is used to support the rotational speed sensor; the rotational speed sensor is installed on the fourth support base, and the detection input end of the rotational speed sensor is connected with the second roller shaft of the roller assembly, and its signal output end is connected with the The corresponding ports of the master controller are electrically connected to detect the rotational speed of the roller assembly.

所述的驱动轮抓地力及寿命检测装置还包括喷淋装置，所述喷淋装置设置在路面模拟单元旁，并且喷淋装置包括模拟雨水喷头和连接管，所述连接管的第一端与外部水源管路连通，连接管的第二端延伸至滚轮组件处；所述模拟雨水喷头安装在连接管的第二端，并且模拟雨水喷头的出水孔对准滚轮组件的滚动表面，用于模拟雨水情况下的路面。The driving wheel grip and life detection device further includes a spray device, the spray device is arranged beside the road simulation unit, and the spray device includes a simulated rainwater sprinkler and a connecting pipe, the first end of the connecting pipe is connected to the road surface simulation unit. The external water source pipeline is connected, and the second end of the connecting pipe extends to the roller assembly; the simulated rainwater sprinkler is installed on the second end of the connecting pipe, and the water outlet hole of the simulated rainwater sprinkler is aligned with the rolling surface of the roller assembly for simulating Pavement in rain conditions.

利用本发明所述的驱动轮抓地力及寿命检测装置对驱动轮的抓地力进行检测的方法，其特征在于，包括以下步骤：The method for detecting the gripping force of the driving wheel by using the device for detecting the gripping force and the life of the driving wheel according to the present invention is characterized by comprising the following steps:

1)将驱动轮总成安装在液压缸的推动端的悬架上，调整滑板，使驱动轮轴线与滚轮轴线处于同一垂直平面内，然后旋紧螺钉固定住驱动轮；1) Install the drive wheel assembly on the suspension of the push end of the hydraulic cylinder, adjust the slide plate so that the axis of the drive wheel and the axis of the roller are in the same vertical plane, and then tighten the screw to fix the drive wheel;

2)模拟雨水喷头打开，开始喷洒水流在滚轮上，模仿雨天时的地面；2) The simulated rain sprinkler is turned on and starts to spray water on the roller, simulating the ground in rainy days;

3)控制单元通过推动单元控制器控制液压缸的产生推力，用以模拟载重后的仓储物流车辆对于驱动轮上产生的正压力，使得驱动轮能与滚动面紧密接触，用于模拟驱动轮与模拟路面紧密接触；3) The control unit controls the thrust generated by the hydraulic cylinder by pushing the unit controller to simulate the positive pressure generated by the loaded storage and logistics vehicle on the driving wheel, so that the driving wheel can be in close contact with the rolling surface, which is used to simulate the driving wheel and the driving wheel. Simulate the close contact of the road surface;

4)驱动轮控制电路控制带有设定防滑花纹的驱动轮开始转动，直至驱动轮稳定转动；4) The driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start to rotate until the driving wheel rotates stably;

5)通过磁粉制动器控制器设置磁粉制动器产生的一个渐增的扭矩，通过第一联轴器传递扭矩到滚轮上，当扭矩不断增大，直到滚轮转速低于驱动轮转速，此时轮胎开始打滑；当扭矩增大到驱动轮不能使得滚轮转动时，此时的扭矩就是驱动轮在积水路面时的最大抓力扭矩，此扭矩除以驱动轮半径即使最大抓地力。5) Set an increasing torque generated by the magnetic powder brake through the magnetic powder brake controller, and transmit the torque to the roller through the first coupling. When the torque continues to increase until the speed of the roller is lower than the speed of the driving wheel, the tire starts to slip. ; When the torque increases to the point that the driving wheel cannot make the roller rotate, the torque at this time is the maximum grip torque of the driving wheel on the water-filled road, and this torque is divided by the radius of the driving wheel, which is the maximum grip.

利用本发明所述的驱动轮抓地力及寿命检测装置的对驱动轮的抓地力进行检测的方法，其特征在于，包括以下步骤：The method for detecting the gripping force of the driving wheel using the driving wheel gripping force and life detection device of the present invention is characterized in that it includes the following steps:

1)将驱动轮总成安装在液压缸的推动端的悬架上，调整滑板，使驱动轮轴线与滚轮轴线处于同一垂直平面内，然后旋紧螺钉固定住驱动轮；1) Install the drive wheel assembly on the suspension of the push end of the hydraulic cylinder, adjust the slide plate so that the axis of the drive wheel and the axis of the roller are in the same vertical plane, and then tighten the screw to fix the drive wheel;

2)控制单元通过推动单元控制器控制液压缸的产生推力，用以模拟载重后的仓储物流车辆对于驱动轮上产生的正压力，使得驱动轮能与滚动面紧密接触，用于模拟驱动轮与模拟路面紧密接触；2) The control unit controls the thrust generated by the hydraulic cylinder by pushing the unit controller to simulate the positive pressure generated by the loaded storage and logistics vehicle on the driving wheel, so that the driving wheel can be in close contact with the rolling surface, which is used to simulate the driving wheel and the driving wheel. Simulate the close contact of the road surface;

3)驱动轮控制电路控制带有设定防滑花纹的驱动轮开始转动，直至驱动轮稳定转动；3) The driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start to rotate until the driving wheel rotates stably;

4)通过制动单元控制器设置磁粉制动器产生扭矩T，用以模拟地面与驱动轮之间的摩擦力，单位为N*m：4) Set the magnetic powder brake to generate torque T through the brake unit controller to simulate the friction force between the ground and the driving wheel, the unit is N*m:

T＝(G+M)×g×f×r (1)；T=(G+M)×g×f×r (1);

式中，G为车辆自重，单位为kg；M为额定负载，单位为kg；g为重力加速度，单位为m/s2；r为驱动轮半径，单位为m；f为车轮与滚轮材质的滚动摩擦系数。In the formula, G is the self-weight of the vehicle, the unit is kg; M is the rated load, the unit is kg; g is the acceleration of gravity, the unit is m/s 2 ; r is the radius of the driving wheel, the unit is m; f is the wheel and roller material coefficient of rolling friction.

5)驱动轮在额定负载下按预先设定好的时间运行，之后停下驱动轮，检测其轮胎表面的磨损情况；5) The driving wheel runs for a preset time under the rated load, and then stops the driving wheel to detect the wear of the tire surface;

6)取下带有防滑花纹的驱动轮，换上光面的驱动轮，在相同条件下进行磨损测试相同的时间，比较两个驱动轮的轮胎磨损情况：两台驱动轮初始轮胎厚度一致，在相同压力下经过相同时间的测试后，测量两台驱动轮轮胎厚度的变化情况。6) Remove the driving wheel with anti-skid pattern, replace it with a smooth driving wheel, and carry out the wear test under the same conditions for the same time, and compare the tire wear of the two driving wheels: the initial tire thickness of the two driving wheels is the same, After testing at the same pressure for the same time, measure the change in tire thickness of the two drive wheels.

本发明的有益效果在于：The beneficial effects of the present invention are:

本发明能够模拟不同的路面情况，包括是否下雨，不同的路面材质，能够更准确的测出驱动轮在不同情况下真实的抓地力。The invention can simulate different road conditions, including whether it rains or not, and different road materials, and can more accurately measure the real grip of the driving wheel under different conditions.

本发明能够检验不同的防滑花纹的效果。检验不同的防滑花纹产生的抓地力有何不同。The present invention can examine the effect of different anti-skid patterns. Check the difference in grip produced by the different anti-skid patterns.

本发明能够进行驱动轮寿命测试，可以检验添加防滑花纹是否会使的驱动轮的轮胎表面的磨损程度加剧。The invention can carry out the life test of the driving wheel, and can check whether adding the antiskid pattern will increase the wear degree of the tire surface of the driving wheel.

本发明通过转速传感器可以检测出驱动轮何时开始打滑。The invention can detect when the driving wheel starts to slip through the rotational speed sensor.

本发明通过悬架可以防止驱动轮应轮面圆度不够而被别住，使得驱动轮施加到滚轮的压力更加均衡，提高了系统的容错率。The invention can prevent the driving wheel from being pinned due to insufficient roundness of the wheel surface through the suspension, so that the pressure applied by the driving wheel to the roller is more balanced, and the fault tolerance rate of the system is improved.

附图说明Description of drawings

图1是本发明的整体结构示意图。Figure 1 is a schematic diagram of the overall structure of the present invention.

图2是本发明第一支撑座的结构示意图。FIG. 2 is a schematic structural diagram of the first support seat of the present invention.

图3的本发明滑板的结构示意图。Figure 3 is a schematic view of the structure of the skateboard of the present invention.

图4的本发明的滚轮组件的示意图。Figure 4 is a schematic view of the roller assembly of the present invention.

图5是本发明第一连接轴的结构示意图。FIG. 5 is a schematic structural diagram of the first connecting shaft of the present invention.

图6是本发明第二连接轴的结构示意图。FIG. 6 is a schematic structural diagram of the second connecting shaft of the present invention.

图7是本发明第二支撑座的结构示意图(第三支撑座与第二支撑座结构大小一致，故不单独附图)。7 is a schematic view of the structure of the second support seat of the present invention (the third support seat and the second support seat have the same structural size, so they are not shown separately).

图8是本发明第四支撑座的结构示意图。FIG. 8 is a schematic structural diagram of a fourth support seat of the present invention.

图9是本发明悬架的结构示意图。FIG. 9 is a schematic view of the structure of the suspension of the present invention.

图10是图实施例3的整体结构示意。FIG. 10 is a schematic diagram of the overall structure of Embodiment 3 of FIG.

图11是本发明的电机支撑架的结构图。FIG. 11 is a structural diagram of the motor support frame of the present invention.

具体实施方式Detailed ways

下面结合附图进一步说明本发明。The present invention will be further described below in conjunction with the accompanying drawings.

参照附图：Referring to the attached drawings:

实施例1本发明所述的驱动轮抓地力及寿命检测装置，包括：Embodiment 1 The driving wheel grip force and life detection device of the present invention includes:

驱动轮单元，包括支撑装置、推动装置和驱动轮总成，所述支撑装置的上部活动安装有位置调节部，用于安装推动装置以调整驱动轮总成的位置；所述推动装置悬装于位置调节部，其底部的推动端安装驱动轮总成，用于带动驱动轮总成移动以调节驱动轮与路面模拟单元之间的距离；所述驱动轮总成安装于推动装置的推动端，驱动轮总成的驱动轮轮边设有轮边电机，其中轮边电机的信号连接端与控制单元相应的端口电连接，使得驱动轮总成在推动装置以及控制单元的控制下与路面模拟单元接触，以检测驱动轮的抓地力和寿命；The drive wheel unit includes a support device, a push device and a drive wheel assembly, and a position adjustment part is movably installed on the upper part of the support device for installing the push device to adjust the position of the drive wheel assembly; the push device is suspended on the The position adjustment part, the driving end of the bottom is installed with the driving wheel assembly, which is used to drive the driving wheel assembly to move to adjust the distance between the driving wheel and the road simulation unit; the driving wheel assembly is installed on the pushing end of the pushing device, The driving wheel side of the driving wheel assembly is provided with a wheel side motor, wherein the signal connection end of the wheel side motor is electrically connected with the corresponding port of the control unit, so that the driving wheel assembly is connected with the road simulation unit under the control of the propulsion device and the control unit. contact to detect the grip and life of the drive wheel;

路面模拟单元，设置在驱动轮单元的下方，包括第一支撑部、第二支撑部和滚轮组件，其中第一支撑部、第二支撑部分列于滚轮组件的两端，用于支撑滚轮组件；所述滚轮组件通过第一支撑部和第二支撑部支撑在驱动轮单元的下方，并且滚轮组件位于驱动轮总成的运动轨迹上，并且滚轮组件的第一轴端与制动单元的扭矩输出端轴连接，使得滚轮组件接收制动单元输送的扭矩；A road surface simulation unit, arranged below the driving wheel unit, includes a first support part, a second support part and a roller assembly, wherein the first support part and the second support part are arranged at both ends of the roller assembly for supporting the roller assembly; The roller assembly is supported under the driving wheel unit through the first support part and the second support part, and the roller assembly is located on the motion track of the driving wheel assembly, and the first shaft end of the roller assembly and the torque output of the braking unit The end shaft is connected so that the roller assembly receives the torque delivered by the braking unit;

制动单元，设置在路面模拟单元一侧，其扭矩输出端与滚轮组件的第一轴端相连接，其信号输入端与控制单元相应的信号输出端点链接，用于在控制单元的控制下向滚轮组件输出设定扭矩以模拟路面情况，以测定驱动轮的抓地力和寿命；The braking unit is arranged on one side of the road simulation unit, and its torque output end is connected with the first shaft end of the roller assembly, and its signal input end is linked with the corresponding signal output end point of the control unit, and is used for the control of the control unit. The roller assembly outputs a set torque to simulate road conditions to determine the grip and life of the driving wheel;

以及控制单元，包括总控制器、驱动轮控制电路、制动单元控制器以及推动装置控制器，所述驱动轮控制电路、制动单元控制器、推动装置控制器的信号传输端口分别与总控制器的信号传输端口电连接，所述驱动轮控制电路与驱动轮总成的信号输入端电连接，用于控制驱动轮总成的运动；所述制动单元控制器的信号输出端与制动单元的信号输入端电连接，用于控制制动单元产生的扭矩；所述推动装置控制器的信号输出端与推动装置的信号输入端电连接，用于控制推动装置的推动端伸缩带动驱动轮总成对路面模拟单元产生推力。and a control unit, including a general controller, a driving wheel control circuit, a braking unit controller and a propelling device controller, the signal transmission ports of the driving wheel control circuit, the braking unit controller, and the propelling device controller are respectively connected with the general control The signal transmission port of the controller is electrically connected, and the driving wheel control circuit is electrically connected with the signal input end of the driving wheel assembly for controlling the movement of the driving wheel assembly; the signal output end of the braking unit controller is connected to the braking The signal input end of the unit is electrically connected to control the torque generated by the braking unit; the signal output end of the push device controller is electrically connected to the signal input end of the push device, and is used to control the push end of the push device to extend and retract to drive the drive wheel The assembly generates thrust on the road simulation unit.

所述支撑装置包括第一支撑座6、滑板4和定位螺钉5，所述第一支撑座6的顶部设有一可供滑板插入的滑槽61；所述滑板4插入所述第一支撑座6的滑槽内，并在其中轴线上留有一带螺纹的通孔41，用于供定位螺钉5旋入以实现滑板4与第一支撑座6之间的锁定；The support device includes a first support seat 6 , a slide plate 4 and a positioning screw 5 , and a sliding slot 61 is provided on the top of the first support seat 6 for the slide plate to be inserted; the slide plate 4 is inserted into the first support seat 6 In the chute, and a threaded through hole 41 is left on the central axis for screwing the positioning screw 5 to realize the locking between the sliding plate 4 and the first support seat 6;

所述推动装置包括液压缸3和悬架2，所述液压缸3的顶部悬装于滑板4的端部，液压缸3的推动端固连用于安装驱动轮总成的悬架；The pushing device includes a hydraulic cylinder 3 and a suspension 2, the top of the hydraulic cylinder 3 is suspended on the end of the slide plate 4, and the pushing end of the hydraulic cylinder 3 is fixedly connected to the suspension for installing the drive wheel assembly;

所述驱动轮总成包括驱动轮1、驱动轮安装轴以及轮边电机，所述驱动轮通过驱动轮安装轴安装在悬架的底部，并保持驱动轮的中心轴与滚轮组件的中心轴平行；所述轮边电机安装于悬架上，并且轮边电机的输出端与驱动轮安装轴的一端相连，轮边电机的控制端与驱动轮控制电路的信号输出端电连接，用于在控制单元的控制下带动驱动轮绕其中心轴周向旋转。The drive wheel assembly includes a drive wheel 1, a drive wheel mounting shaft and a wheel motor. The drive wheel is mounted on the bottom of the suspension through the drive wheel mounting shaft, and keeps the center axis of the drive wheel parallel to the center axis of the roller assembly. The wheel side motor is installed on the suspension, and the output end of the wheel side motor is connected with one end of the drive wheel mounting shaft, and the control end of the wheel side motor is electrically connected with the signal output end of the drive wheel control circuit for controlling Under the control of the unit, the driving wheel is driven to rotate circumferentially around its central axis.

所述第一支撑座6顶部的滑槽为梯形，并且所述第一支撑座的侧面设有用于提高第一支撑座结构强度的肋板。The chute at the top of the first support seat 6 is trapezoidal, and the side surface of the first support seat is provided with a rib plate for improving the structural strength of the first support seat.

所述第一支撑部包括第一轴承座9和第二支撑座10；所述第二支撑部包括第二轴承座16和第三支撑座15；所述第一轴承座、第二轴承座分别与第二支撑座、第三支撑座采用螺栓联接，并保持第一轴承座、第二轴承座以及滚轮组件同轴；所述滚轮组件设置在驱动轮单元的下方，包括滚轮13、第一滚轮轴11和第二滚轮轴14，其中所述滚轮套设于滚轮轴上，二者固连，所述滚轮通过第一滚轮轴、第二滚轮轴分别架装在第一支撑部和第二支撑部上；所述第一滚轮轴11、第二滚轮轴14为方轴，并且第一滚轮轴、第二滚轮轴的中心轴同轴，并与驱动轮安装轴的中心轴平行，其中第一滚轮轴通过第一联轴器与制动单元的扭矩输出端相连，用于接受制动单元的扭矩。The first support part includes a first bearing seat 9 and a second support seat 10; the second support part includes a second bearing seat 16 and a third support seat 15; the first bearing seat and the second bearing seat are respectively It is connected with the second support seat and the third support seat by bolts, and keeps the first bearing seat, the second bearing seat and the roller assembly coaxial; the roller assembly is arranged below the driving wheel unit, including the roller 13, the first roller The shaft 11 and the second roller shaft 14, wherein the roller is sleeved on the roller shaft, the two are fixedly connected, and the roller is mounted on the first support part and the second support through the first roller shaft and the second roller shaft respectively. The first roller shaft 11 and the second roller shaft 14 are square shafts, and the central axes of the first and second roller shafts are coaxial and parallel to the central axis of the drive wheel mounting shaft, wherein the first The roller shaft is connected with the torque output end of the braking unit through the first coupling, and is used for receiving the torque of the braking unit.

所述制动单元为磁粉制动器7，设置在第一支撑部一侧，并与第一轴承座同轴，所述磁粉制动器的扭矩输出轴通过第一联轴器8与第一滚轮轴相连；磁粉制动器的信号输出端与制动单元的信号输入端电连接，用于控制制动单元产生的扭矩。The braking unit is a magnetic powder brake 7, which is arranged on one side of the first support part and coaxial with the first bearing seat, and the torque output shaft of the magnetic powder brake is connected to the first roller shaft through a first coupling 8; The signal output end of the magnetic powder brake is electrically connected with the signal input end of the braking unit, and is used for controlling the torque generated by the braking unit.

所述的驱动轮抓地力及寿命检测装置还包括速度检测单元，所述速度检测单元设置在路面模拟单元侧面，包括第四支撑座17、转速传感器18，其中，所述第四支撑座17安装在路面模拟单元的一侧，用于支撑转速传感器18；所述转速传感器安装在第四支撑座上，并且所述转速传感器的检测输入端通过第二联轴器19与滚轮组件的第二滚轮轴相连接，其信号输出端与所述总控制器的相应端口电连接，用于检测滚轮组件的转速。The driving wheel grip force and life detection device further includes a speed detection unit, which is arranged on the side of the road simulation unit and includes a fourth support seat 17 and a rotational speed sensor 18, wherein the fourth support seat 17 is installed On one side of the road simulation unit, it is used to support the rotational speed sensor 18; the rotational speed sensor is installed on the fourth support seat, and the detection input end of the rotational speed sensor passes through the second coupling 19 and the second roller of the roller assembly. The shafts are connected with each other, and the signal output end thereof is electrically connected with the corresponding port of the general controller for detecting the rotational speed of the roller assembly.

所述的驱动轮抓地力及寿命检测装置还包括喷淋装置，所述喷淋装置设置在路面模拟单元旁，并且喷淋装置包括模拟雨水喷头12和连接管，所述连接管的第一端与外部水源管路连通，连接管的第二端延伸至滚轮组件处；所述模拟雨水喷头安装在连接管的第二端，并且模拟雨水喷头的出水孔对准滚轮组件的滚动表面，用于模拟雨水情况下的路面。The driving wheel grip and life detection device also includes a spray device, which is arranged beside the road simulation unit, and the spray device includes a simulated rainwater sprinkler 12 and a connecting pipe, the first end of the connecting pipe is It is connected with the external water source pipeline, and the second end of the connecting pipe extends to the roller assembly; the simulated rain sprinkler is installed at the second end of the connecting pipe, and the water outlet hole of the simulated rain sprinkler is aligned with the rolling surface of the roller assembly, for Simulates the road surface under rain conditions.

实施例2本发明所述驱动轮抓地力及寿命检测装置，包括驱动轮1、悬架2、液压缸3、滑板4、定位螺钉5、第一支撑座6、磁粉制动器7、第一联轴器8、第一轴承座9、第二支撑座10、第一连接轴11、雨水喷头12、滚轮13、第二连接轴14、第三支撑座15、第二轴承座16、第四支撑座17、转速传感器18、第二联轴器19。所述驱动轮1通过悬架2与液压缸3相联接，液压缸3与滑板4采用螺栓联接，滑板嵌入第一支撑座6上端滑槽内，通过移动滑板4使得驱动轮1轴线与滚轮13轴线保持在同一垂直面内，确定完位置后，旋紧定位螺钉5固定滑板4。滚轮13两端为正方形，可与第一连接轴11、第二连接轴14上正方形槽嵌套，滚轮连接轴采用轴承固定，第一轴承座9、第二轴承座16分别与第二支撑座10、第三支撑座15采用螺栓联接，第一连接轴11与磁粉制动器7采用第一联轴器8联接，并保证其较高的同轴度。第二连接轴14与转速传感器18采用第二联轴器19联接，并保证其较高的同轴度。所述磁粉制动器7、第一支撑座6、第二支撑座10、第三支撑座15和第四支撑座17均固定在同一平面上；第一支撑座6、第二支撑座10、第三支撑座15和第四支撑座17底部均设置有四个定位安装孔，通过穿过四个定位安装孔的定位螺栓固定在同一工作平面内。Embodiment 2 The driving wheel grip force and life detection device of the present invention includes a driving wheel 1, a suspension 2, a hydraulic cylinder 3, a sliding plate 4, a positioning screw 5, a first support seat 6, a magnetic powder brake 7, a first coupling 8, first bearing seat 9, second support seat 10, first connecting shaft 11, rain shower head 12, roller 13, second connecting shaft 14, third support seat 15, second bearing seat 16, fourth support seat 17. The rotational speed sensor 18 and the second coupling 19. The driving wheel 1 is connected with the hydraulic cylinder 3 through the suspension 2, the hydraulic cylinder 3 and the sliding plate 4 are connected by bolts, and the sliding plate is embedded in the upper chute of the first support base 6, and the axis of the driving wheel 1 is connected to the roller 13 by moving the sliding plate 4. The axis is kept in the same vertical plane. After the position is determined, the positioning screw 5 is tightened to fix the slide plate 4 . Both ends of the roller 13 are square, which can be nested with the square grooves on the first connecting shaft 11 and the second connecting shaft 14. The connecting shaft of the roller is fixed by bearings, and the first bearing seat 9 and the second bearing seat 16 are respectively connected with the second supporting seat. 10. The third support base 15 is connected by bolts, and the first connecting shaft 11 and the magnetic powder brake 7 are connected by the first coupling 8 to ensure their high coaxiality. The second connecting shaft 14 and the rotational speed sensor 18 are connected by a second coupling 19 to ensure their high coaxiality. The magnetic powder brake 7, the first support base 6, the second support base 10, the third support base 15 and the fourth support base 17 are all fixed on the same plane; the first support base 6, the second support base 10, the third support base The bottoms of the support base 15 and the fourth support base 17 are provided with four positioning and mounting holes, and are fixed in the same working plane by positioning bolts passing through the four positioning and mounting holes.

所述磁粉制动器7的输出轴、第一联轴器8、第一轴承座8、第一连接轴10、滚轮11、第二连接轴13、第二轴承座15、第二联轴器16、转速传感器18的轴心线位于同一条直线上。The output shaft of the magnetic powder brake 7, the first coupling 8, the first bearing seat 8, the first connecting shaft 10, the roller 11, the second connecting shaft 13, the second bearing seat 15, the second coupling 16, The axis lines of the rotational speed sensor 18 are located on the same straight line.

所述第一支撑座6顶端设有梯形滑槽，可以使得滑板4在其内沿直线自由滑动。第一支撑座6承受液压缸3产生的极大的弯矩，设有肋板，提高第一支撑座6的结构强度。而滑板4滑道处截面为梯形，与第一支撑座6上端滑槽契合，并在其中轴线上留有一带螺纹的通孔，当定位螺钉5在此处旋紧时就能起到定位滑板的目的。The top end of the first support base 6 is provided with a trapezoidal chute, which enables the slide plate 4 to slide freely in a straight line. The first support seat 6 bears the great bending moment generated by the hydraulic cylinder 3 , and is provided with a rib plate to improve the structural strength of the first support seat 6 . The cross section of the slideway of the slide plate 4 is trapezoidal, which fits with the slide groove at the upper end of the first support base 6, and has a threaded through hole on its axis. When the positioning screw 5 is tightened here, it can be used to position the slide plate. the goal of.

滚轮13两端截面为正方形可以与第一连接轴11和第二连接轴14上的正方形槽嵌套，滚轮的材料根据需要模拟的地面选择(如水泥地面则采用水泥浇筑而成)；第一连接轴11和第二连接轴14的结构比较相似，主要不同是远离滚轮联接槽一端的轴颈不同。以下以第一连接轴11简述其结构：第一直线段主要起连接作用，第一直线段20是与磁粉制动器7的输出轴用联轴器相连；第二直线段21则是与轴承相应的内轴；第三直线段22则是定位轴肩；挡水盘23的作用主要防止雨水喷头12打开时有水飞溅开来；正方形槽24这是用来固定滚轮13的。The cross-sections at both ends of the roller 13 are square and can be nested with the square grooves on the first connecting shaft 11 and the second connecting shaft 14. The material of the roller is selected according to the ground that needs to be simulated (for example, the cement floor is made of cement); the first The structures of the connecting shaft 11 and the second connecting shaft 14 are relatively similar, and the main difference is that the journal at one end away from the roller coupling groove is different. The structure of the first connecting shaft 11 is briefly described below: the first straight section mainly plays a connecting role, the first straight section 20 is connected with the output shaft of the magnetic powder brake 7 by a coupling; the second straight section 21 is corresponding to the bearing The third straight section 22 is the positioning shoulder; the function of the water retaining plate 23 is mainly to prevent water from splashing when the rain sprinkler 12 is opened; the square groove 24 is used to fix the roller 13 .

转速传感器18是用来得到滚轮转速，驱动轮转速可由其自带的编码器获得。The rotational speed sensor 18 is used to obtain the rotational speed of the roller, and the rotational speed of the driving wheel can be obtained by its own encoder.

悬架2主要三部分组成：上悬架25、弹簧26，下悬架27。上悬架带有一螺纹孔，用来连接液压缸3；下悬架带有4个定位孔，用来固定驱动轮。上下悬架滑道截面并非圆形，防止弹簧26伸缩时上下悬架之间发生旋转。The suspension 2 is mainly composed of three parts: the upper suspension 25, the spring 26, and the lower suspension 27. The upper suspension has a threaded hole for connecting the hydraulic cylinder 3; the lower suspension has 4 positioning holes for fixing the driving wheel. The cross-section of the upper and lower suspension slideways is not circular, which prevents rotation between the upper and lower suspensions when the spring 26 expands and contracts.

实施例3本实施例与实施例1的区别之处在于：制动单元为伺服电机28，所述伺服电机28通过电机支撑座29设置在第一支撑部一侧，并与第一轴承座同轴，所述伺服电机28的扭矩输出轴通过第一联轴器8与第一滚轮轴相连；磁粉制动器的信号输出端与制动单元的信号输入端电连接，用于控制制动单元产生的扭矩，即所述伺服电机的输出轴、第一联轴器8、第一轴承座8、第一连接轴10、滚轮11、第二连接轴13、第二轴承座15、第二联轴器16、转速传感器18的轴心线位于同一条直线上。Embodiment 3 The difference between this embodiment and Embodiment 1 is that the braking unit is a servo motor 28, and the servo motor 28 is arranged on the side of the first support part through the motor support seat 29, and is the same as the first bearing seat. The torque output shaft of the servo motor 28 is connected to the first roller shaft through the first coupling 8; the signal output end of the magnetic powder brake is electrically connected to the signal input end of the braking unit, and is used to control the output of the braking unit. Torque, that is, the output shaft of the servo motor, the first coupling 8, the first bearing seat 8, the first connecting shaft 10, the roller 11, the second connecting shaft 13, the second bearing seat 15, the second coupling 16. The axis lines of the rotational speed sensor 18 are located on the same straight line.

实施例4利用本发明所述的驱动轮抓地力及寿命检测装置对驱动轮的抓地力进行检测的方法，包括以下步骤：Embodiment 4 The method for detecting the gripping force of the driving wheel by the device for detecting the gripping force and life of the driving wheel according to the present invention includes the following steps:

1)将驱动轮总成安装在液压缸的推动端的悬架上，调整滑板，使驱动轮轴线与滚轮轴线处于同一垂直平面内，然后旋紧螺钉固定住驱动轮；1) Install the drive wheel assembly on the suspension of the push end of the hydraulic cylinder, adjust the slide plate so that the axis of the drive wheel and the axis of the roller are in the same vertical plane, and then tighten the screw to fix the drive wheel;

2)模拟雨水喷头打开，开始喷洒水流在滚轮上，模仿雨天时的地面；2) The simulated rain sprinkler is turned on and starts to spray water on the roller, simulating the ground in rainy days;

3)控制单元通过推动单元控制器控制液压缸的产生推力，用以模拟载重后的仓储物流车辆对于驱动轮上产生的正压力，使得驱动轮能与滚动面紧密接触，用于模拟驱动轮与模拟路面紧密接触；3) The control unit controls the thrust generated by the hydraulic cylinder by pushing the unit controller to simulate the positive pressure generated by the loaded storage and logistics vehicle on the driving wheel, so that the driving wheel can be in close contact with the rolling surface, which is used to simulate the driving wheel and the driving wheel. Simulate the close contact of the road surface;

4)驱动轮控制电路控制带有设定防滑花纹的驱动轮开始转动，直至驱动轮稳定转动；4) The driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start to rotate until the driving wheel rotates stably;

5)通过磁粉制动器控制器设置磁粉制动器产生的一个渐增的扭矩，通过第一联轴器传递扭矩到滚轮上，当扭矩不断增大，直到滚轮转速低于驱动轮转速，此时轮胎开始打滑；当扭矩增大到驱动轮不能使得滚轮转动时，此时的扭矩就是驱动轮在积水路面时的最大抓力扭矩，此扭矩除以驱动轮半径即使最大抓地力。5) Set an increasing torque generated by the magnetic powder brake through the magnetic powder brake controller, and transmit the torque to the roller through the first coupling. When the torque continues to increase until the speed of the roller is lower than the speed of the driving wheel, the tire starts to slip. ; When the torque increases to the point that the driving wheel cannot make the roller rotate, the torque at this time is the maximum grip torque of the driving wheel on the water-filled road, and this torque is divided by the radius of the driving wheel, which is the maximum grip.

实施例5利用本发明所述的驱动轮抓地力及寿命检测装置的对驱动轮的抓地力进行检测的方法，包括以下步骤：Embodiment 5 The method for detecting the gripping force of the driving wheel using the driving wheel gripping force and life detection device of the present invention includes the following steps:

1)将驱动轮总成安装在液压缸的推动端的悬架上，调整滑板，使驱动轮轴线与滚轮轴线处于同一垂直平面内，然后旋紧螺钉固定住驱动轮；1) Install the drive wheel assembly on the suspension of the push end of the hydraulic cylinder, adjust the slide plate so that the axis of the drive wheel and the axis of the roller are in the same vertical plane, and then tighten the screw to fix the drive wheel;

2)控制单元通过推动单元控制器控制液压缸的产生推力，用以模拟载重后的仓储物流车辆对于驱动轮上产生的正压力，使得驱动轮能与滚动面紧密接触，用于模拟驱动轮与模拟路面紧密接触；2) The control unit controls the thrust generated by the hydraulic cylinder by pushing the unit controller to simulate the positive pressure generated by the loaded storage and logistics vehicle on the driving wheel, so that the driving wheel can be in close contact with the rolling surface, which is used to simulate the driving wheel and the driving wheel. Simulate the close contact of the road surface;

3)驱动轮控制电路控制带有设定防滑花纹的驱动轮开始转动，直至驱动轮稳定转动；3) The driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start to rotate until the driving wheel rotates stably;

4)通过制动单元控制器设置磁粉制动器产生扭矩T，用以模拟地面与驱动轮之间的摩擦力，单位为N*m：4) Set the magnetic powder brake to generate torque T through the brake unit controller to simulate the friction force between the ground and the driving wheel, the unit is N*m:

T＝(G+M)×g×f×r (1)；T=(G+M)×g×f×r (1);

式中，G为车辆自重，单位为kg；M为额定负载，单位为kg；g为重力加速度，单位为m/s2；r为驱动轮半径，单位为m；f为车轮与滚轮材质的滚动摩擦系数。In the formula, G is the self-weight of the vehicle, the unit is kg; M is the rated load, the unit is kg; g is the acceleration of gravity, the unit is m/s 2 ; r is the radius of the driving wheel, the unit is m; f is the wheel and roller material coefficient of rolling friction.

5)驱动轮在额定负载下按预先设定好的时间运行，之后停下驱动轮，检测其轮胎表面的磨损情况；5) The driving wheel runs for a preset time under the rated load, and then stops the driving wheel to detect the wear of the tire surface;

6)取下带有防滑花纹的驱动轮，换上光面的驱动轮，在相同条件下进行磨损测试相同的时间，比较两个驱动轮的轮胎磨损情况。6) Remove the driving wheel with anti-skid pattern, replace it with a smooth driving wheel, carry out the wear test under the same conditions for the same time, and compare the tire wear of the two driving wheels.

本说明书实施例所述的内容仅仅是对发明构思的实现形式的列举，本发明的保护范围不应当被视为仅限于实施例所陈述的具体形式，本发明的保护范围也包括本领域技术人员根据本发明构思所能够想到的等同技术手段。The content described in the embodiments of the present specification is only an enumeration of the realization forms of the inventive concept, and the protection scope of the present invention should not be regarded as limited to the specific forms stated in the embodiments, and the protection scope of the present invention also includes those skilled in the art Equivalent technical means conceivable according to the inventive concept.

Claims (10)

1. Ground power and life-span detection device are grabbed to drive wheel, its characterized in that includes:
the driving wheel unit comprises a supporting device, a pushing device and a driving wheel assembly, wherein a position adjusting part is movably arranged at the upper part of the supporting device and used for installing the pushing device to adjust the position of the driving wheel assembly; the pushing device is suspended on the position adjusting part and comprises a hydraulic cylinder and a suspension, the top of the hydraulic cylinder is suspended on the end part of the sliding plate, and the pushing end of the hydraulic cylinder is fixedly connected with the suspension for mounting the driving wheel assembly and is used for driving the driving wheel assembly to move so as to adjust the distance between the driving wheel and the road surface simulation unit; the suspension comprises an upper suspension, a spring and a lower suspension, and the upper suspension is provided with a threaded hole for connecting a pushing device; the lower suspension is provided with a plurality of positioning holes for fixing the driving wheel assembly; the driving wheel assembly is arranged at the pushing end of the pushing device, a wheel edge motor is arranged on the wheel edge of the driving wheel assembly, and the signal connecting end of the wheel edge motor is electrically connected with the corresponding port of the control unit, so that the driving wheel assembly is contacted with the road surface simulation unit under the control of the pushing device and the control unit to detect the ground gripping force and the service life of the driving wheel;
the road surface simulation unit is arranged below the driving wheel unit and comprises a first supporting part, a second supporting part and a roller assembly, wherein the first supporting part and the second supporting part are arranged at two ends of the roller assembly and are used for supporting the roller assembly; the roller assembly is supported below the driving wheel unit through the first supporting part and the second supporting part, is positioned on a motion track of the driving wheel assembly, and is connected with a torque output end shaft of the braking unit through a first shaft end, so that the roller assembly receives torque transmitted by the braking unit;
the braking unit is arranged on one side of the road surface simulation unit, the torque output end of the braking unit is connected with the first shaft end of the roller assembly, and the signal input end of the braking unit is linked with the corresponding signal output end point of the control unit and is used for outputting set torque to the roller assembly under the control of the control unit so as to simulate the road surface condition and measure the ground gripping force and the service life of the driving wheel;
the control unit comprises a master controller, a driving wheel control circuit, a braking unit controller and a pushing device controller, wherein signal transmission ports of the driving wheel control circuit, the braking unit controller and the pushing device controller are respectively and electrically connected with a signal transmission port of the master controller, and the driving wheel control circuit is electrically connected with a signal input end of a driving wheel assembly and used for controlling the movement of the driving wheel assembly; the signal output end of the brake unit controller is electrically connected with the signal input end of the brake unit and is used for controlling the torque generated by the brake unit; and the signal output end of the pushing device controller is electrically connected with the signal input end of the pushing device and is used for controlling the pushing end of the pushing device to stretch and drive the driving wheel assembly to generate thrust on the road simulation unit.
2. The driving wheel grip and life detecting device according to claim 1, wherein: the supporting device comprises a first supporting seat, a sliding plate and a positioning screw, and a sliding groove for the sliding plate to insert is formed in the top of the first supporting seat; the sliding plate is inserted into the sliding groove of the first supporting seat, and a through hole with threads is reserved on the central axis of the sliding plate and is used for allowing a positioning screw to be screwed in to realize locking between the sliding plate and the first supporting seat;
the driving wheel assembly comprises a driving wheel, a driving wheel mounting shaft and a wheel edge motor, the driving wheel is mounted at the bottom of the suspension through the driving wheel mounting shaft, and a central shaft of the driving wheel is kept parallel to a central shaft of the roller assembly; the wheel edge motor is arranged on the suspension, the output end of the wheel edge motor is connected with one end of the driving wheel mounting shaft, and the control end of the wheel edge motor is electrically connected with the signal output end of the driving wheel control circuit and used for driving the driving wheel to rotate around the circumferential direction of the central shaft of the driving wheel under the control of the control unit.
3. The driving wheel grip and life detecting device according to claim 2, wherein: the spout at first supporting seat top is trapezoidal, and the side of first supporting seat is equipped with the floor that is used for improving first supporting seat structural strength.
4. The driving wheel grip and life detecting device according to claim 2, wherein: the cross sections of the upper and lower suspension slide rails are not circular, so that the upper and lower suspensions are prevented from rotating when the spring stretches.
5. The driving wheel grip and life detecting device according to claim 3 or 4, wherein: the first supporting part comprises a first bearing seat and a second supporting seat; the second supporting part comprises a second bearing seat and a third supporting seat; the first bearing seat and the second bearing seat are respectively connected with the second supporting seat and the third supporting seat through bolts, and the first bearing seat, the second bearing seat and the roller component are kept coaxial; the roller assembly is arranged below the driving wheel unit and comprises a roller, a first roller shaft and a second roller shaft, wherein the roller is sleeved on the roller shaft and fixedly connected with the roller shaft, and the roller is respectively erected on the first supporting part and the second supporting part through the first roller shaft and the second roller shaft; the first roller shaft and the second roller shaft are square shafts, the central shafts of the first roller shaft and the second roller shaft are coaxial and are parallel to the central shaft of the driving wheel mounting shaft, and the first roller shaft is connected with the torque output end of the braking unit through a first coupler and used for receiving the torque of the braking unit.
6. The driving wheel grip and life detecting device according to claim 5, wherein: the brake unit is a magnetic powder brake, is arranged on one side of the first support part and is coaxial with the first bearing seat, and a torque output shaft of the magnetic powder brake is connected with a first shaft end of the roller shaft through a first coupler; and the signal output end of the magnetic powder brake is electrically connected with the signal input end of the brake unit and is used for controlling the torque generated by the brake unit.
7. The driving wheel grip and life detecting device according to claim 1, wherein: the speed detection unit is arranged on the side face of the road surface simulation unit and comprises a fourth supporting seat, a rotating speed sensor and an angle sensor, wherein the fourth supporting seat is arranged on one side of the road surface simulation unit and used for supporting the rotating speed sensor; the rotating speed sensor is arranged on the fourth supporting seat, the detection input end of the rotating speed sensor is connected with the second roller shaft of the roller assembly, and the signal output end of the rotating speed sensor is electrically connected with the corresponding port of the master controller and used for detecting the rotating speed of the roller assembly; the angle sensor is arranged on the rotating speed sensor, and the signal output ends of the angle sensor are electrically connected with corresponding ports of the master controller and used for detecting the coaxiality of the roller assemblies and the rotating speed sensor.
8. The driving wheel grip and life detecting device according to claim 1, wherein: the road surface simulation device comprises a road surface simulation unit, a road surface simulation unit and a connecting pipe, wherein the road surface simulation unit is arranged on the road surface, the road; the simulated rainwater spray head is installed at the second end of the connecting pipe, and a water outlet hole of the simulated rainwater spray head is aligned to the rolling surface of the roller component and used for simulating a road surface under a rainwater condition.
9. The method for detecting the grip of the driving wheel by using the apparatus for detecting the grip and service life of the driving wheel according to any one of claims 1 to 8, comprising the steps of:
1) mounting a driving wheel assembly on a suspension of a pushing end of a hydraulic cylinder, adjusting a sliding plate to enable the axis of the driving wheel and the axis of a roller wheel to be in the same vertical plane, and screwing a screw to fix the driving wheel;
2) the simulated rainwater spray head is opened, and water flow starts to be sprayed on the roller to simulate the ground in rainy days;
3) the control unit controls the hydraulic cylinder to generate thrust through the pushing unit controller so as to simulate the positive pressure of loaded warehouse logistics vehicles on the driving wheels, so that the driving wheels can be in close contact with the rolling surface and the driving wheels can be simulated to be in close contact with a simulated road surface;
4) the driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start rotating until the driving wheel stably rotates;
5) the magnetic powder brake controller is used for setting a gradually increased torque generated by the magnetic powder brake, the torque is transmitted to the roller through the first coupler, and when the torque is continuously increased until the rotating speed of the roller is lower than that of a driving wheel, the tire begins to slip; when the torque is increased to the point that the driving wheel can not drive the roller to rotate, the torque at the moment is the maximum gripping torque of the driving wheel on the water accumulating surface, and the torque is divided by the radius of the driving wheel, namely the maximum gripping force.
10. The method for detecting the grip of the driving wheel using the apparatus for detecting the grip and service life of the driving wheel as set forth in any one of claims 1 to 8, comprising the steps of:
1) mounting a driving wheel assembly on a suspension of a pushing end of a hydraulic cylinder, adjusting a sliding plate to enable the axis of the driving wheel and the axis of a roller wheel to be in the same vertical plane, and screwing a screw to fix the driving wheel;
2) the control unit controls the hydraulic cylinder to generate thrust through the pushing unit controller so as to simulate the positive pressure of loaded warehouse logistics vehicles on the driving wheels, so that the driving wheels can be in close contact with the rolling surface and the driving wheels can be simulated to be in close contact with a simulated road surface;
3) the driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start rotating until the driving wheel stably rotates;
4) the magnetic powder brake is arranged through the brake unit controller to generate torque T for simulating the friction force between the ground and the driving wheel, and the unit is N m:
T＝(G+M)×g×f×r (1)；
wherein G is the dead weight of the vehicle and the unit is kg; m is rated load and the unit is kg; g is the acceleration of gravity in m/s2(ii) a r is the radius of the driving wheel and is m; f is a roller made of wheel and roller materialCoefficient of dynamic friction;
5) the driving wheel runs under rated load for a preset time, then stops, and detects the wear condition of the tire surface;
6) and taking off the driving wheel with the antiskid patterns, replacing the driving wheel with the smooth surface, carrying out abrasion test under the same condition for the same time, and comparing the tire abrasion conditions of the two driving wheels.
CN202010506004.2A 2020-06-05 2020-06-05 Traction force and life detection device for driving wheel and traction force and life detection method Active CN111721550B (en)

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