CN210154822U - Crawler walking optimization test device - Google Patents
Crawler walking optimization test device Download PDFInfo
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- CN210154822U CN210154822U CN201920949248.0U CN201920949248U CN210154822U CN 210154822 U CN210154822 U CN 210154822U CN 201920949248 U CN201920949248 U CN 201920949248U CN 210154822 U CN210154822 U CN 210154822U
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Abstract
The utility model discloses a caterpillar walking optimization test device, which comprises a soil box, a trolley and a test mechanism; the upper end of the soil containing box is provided with an opening, and the top of the soil containing box is provided with a guide rail; the trolley is arranged on the guide rail in a sliding manner and is used for mounting a grouser, and the lower end of the grouser can extend into the soil filling box; the testing mechanism comprises a first traction mechanism with adjustable speed and a pulling pressure sensor connected with the first traction mechanism; the first traction mechanism is used for vertically dragging the trolley to slide along the guide rail. By means of the mechanism, the relation of the traction force changing along with time can be obtained through the tension and pressure sensor, the displacement of the trolley can be obtained through controlling the speed and the advancing time of the first traction mechanism, so that traction force-displacement curves of different grousers can be obtained, through analyzing the relation curve of the speed of cutting soil bodies by the grousers and the traction force, the grouser parameters can be optimized, and speed basis is provided for safe, efficient and stable walking of the crawler.
Description
Technical Field
The utility model belongs to the technical field of deep sea relevant test equipment, especially, relate to a grouted tooth walking optimization test device.
Background
With the continuous shortage of land resources, vast ocean resources are to be developed vigorously. The problems that a second-generation crawler-type ore collector developed in China slips due to insufficient traction force when operating in deep sea, deep-sea bottom soil adheres to the surface of the crawler teeth to influence the safe operation of the ore collector and the like are urgently needed to be solved, and if the complete crawler tooth optimization test of the ore collector is carried out on the sea bottom, the cost is high, and the implementation is difficult.
Therefore, in order to solve the problems that the deepened ore collector is easy to slip and difficult to walk in a deep sea operation environment, the invention provides the testing device for optimizing the walking characteristic of the crawler belt teeth of the deep sea ore collector in the laboratory, so that the cost is saved, the working efficiency of the ore collector is improved, and the safe and efficient operation of the ore collector is ensured.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to overcome prior art's not enough, provide one kind and can be directed against different soil property and intensity, carry out the tooth of caterpillar band walking optimization test device that carries out tooth parameter and formal speed design optimization to the track type vehicle.
In order to solve the technical problem, the utility model discloses a following technical scheme:
a crawler walking optimization test device comprises a soil box, a trolley and a test mechanism;
the upper end of the soil containing box is provided with an opening, and the top of the soil containing box is provided with a guide rail;
the trolley is arranged on the guide rail in a sliding manner and is used for mounting a grouser, and the lower end of the grouser can extend into the soil filling box;
the testing mechanism comprises a first traction mechanism with adjustable speed and a pulling pressure sensor connected with the first traction mechanism; the first traction mechanism is used for dragging the trolley to slide along the guide rail.
By means of the mechanism, the relation of the traction force changing along with time can be obtained through the tension and pressure sensor, the displacement of the trolley can be obtained through controlling the speed and the advancing time of the first traction mechanism, so that traction force-displacement curves of different grousers can be obtained, through analyzing the relation curve of the speed of cutting soil bodies by the grousers and the traction force, the grouser parameters can be optimized, and speed basis is provided for safe, efficient and stable walking of the crawler.
As a further improvement of the above technical solution:
as a concrete structure of the first traction mechanism, the first traction mechanism comprises a stepping motor and a ball screw mechanism, and the ball screw mechanism comprises a screw rod connected with the stepping motor in a transmission manner and a sliding block connected with the trolley through a first traction rope.
The speed of the stepping motor can be adjusted, so that a relation curve of the speed of the grouser cutting soil body and the traction can be obtained.
The pulling pressure sensor is fixed on the first traction rope, the sliding block or the trolley. The pulling pressure sensor is preferably a NS-WL1 type pulling pressure sensor.
The stepping motor and the pull pressure sensor are both connected with a microcomputer control system.
Specifically, the tension and pressure sensor is electrically connected with the computer, and the traction force can be displayed by connecting the tension and pressure sensor with the computer along with the change of time.
The step motor is electrically connected with the microcomputer control box, and the speed of the step motor can be controlled through the microcomputer control box.
The testing mechanism also comprises a second traction mechanism with adjustable traction force and a displacement sensor connected with the second traction mechanism; the first traction mechanism and the second traction mechanism are respectively arranged on two sides of the trolley along the length direction of the guide rail; and the second traction mechanism is used for dragging the trolley to slide along the guide rail. And the second traction mechanism and the displacement sensor form a creep test mechanism.
After the connection relation between the first traction mechanism and the trolley is removed, the creep test mechanism is started, constant traction force is loaded through the second traction mechanism when the depth of the grouser into the soil is constant, and meanwhile, the traction displacement is recorded through the displacement sensor so as to obtain the traction force-displacement relation of deep sea geological soil, and then the traction rheological property of deep sea bottom quality or simulated soil is accurately described through a creep curve, so that a theoretical basis can be provided for researching the walking property and grouser optimization of a deep sea mining machine, and the mining machine is further ensured to walk safely on the deep sea bottom soft bottom quality soil and the mining efficiency is improved.
As a concrete structure of the second traction mechanism, the second traction mechanism comprises a second traction rope, a pulley and a weight, the pulley is fixed at the top of one end of the soil containing box in the length direction of the guide rail, one end of the second traction rope is fixed with the trolley, and the other end of the second traction rope penetrates through the pulley, vertically downwards and is connected with the weight.
The traction force can be loaded in a grading way by hanging weights with different weights.
And the displacement sensor is fixed on the second traction rope or the trolley.
And the displacement sensor is connected with a microcomputer control system.
Specifically, the displacement sensor is electrically connected with a computer, and the displacement change along with time can be displayed by connecting the displacement sensor with the computer.
In addition, the creep test mechanism can be integrated with the traction test mechanism, specifically, the first traction mechanism can adjust the traction force, and the test mechanism further comprises a displacement sensor connected with the first traction mechanism.
When the soil creep characteristic needs to be tested, the first traction mechanism loads constant traction force on the trolley, and meanwhile, the traction displacement is recorded through the displacement sensor, so that the traction force-displacement relation of deep sea geological soil is obtained. The first traction mechanism is preferably a numerically controlled motor.
In order to test the influence of different penetration depths of the grouser on the traction force and soil creep characteristic test, the upper part of the grouser is provided with a waist-shaped hole for adjusting the height of the grouser, and the grouser is fixed with the trolley through the waist-shaped hole.
Compared with the prior art, the utility model has the advantages of:
1. the testing device can test the relation between the force and the displacement of the grouser cutting soil body with different strength soil properties and different shapes, and can test the traction creep characteristics of different soil properties, optimize the optimization design of the grouser shape parameters in different properties and different strength soil properties, thereby performing the optimization design of the ore collector grouser tooth shape parameters and the running speed aiming at different soil bodies and providing effective technical support for the running of the crawler.
2. The test device has the advantages of simple and compact structure, simple and convenient operation, accurate data result and low cost.
Drawings
Fig. 1 is a schematic structural view of the grouser walking optimization test device according to this embodiment.
Fig. 2 is a schematic structural view of the grouser in the present embodiment.
Fig. 3 is another schematic structural view of the grouser in the present embodiment.
Fig. 4 is a schematic structural diagram of the traction test mechanism in this embodiment.
Fig. 5 is a schematic structural view of the ball screw mechanism in the embodiment.
FIG. 6 is a schematic structural view of a creep test mechanism in the example.
1. A computer; 2. a stepping motor; 3. a ball screw mechanism; 31. a lead screw; 32. a slider; 61. a waist-shaped hole; 4. a pull pressure sensor; 5. a guide rail; 6. carrying out tooth coating; 7. a trolley; 8. a displacement sensor; 9. a second pull cord; 10. a weight; 11. a caster wheel; 12. loading a soil box; 13. a first pull cord; 14. a frame; 15. a control box; 16. a pulley.
Detailed Description
The invention is further described below with reference to specific preferred embodiments, without thereby limiting the scope of protection of the invention.
Example 1:
as shown in fig. 1, the grouser walking optimization test device of the present embodiment includes a soil box 12, two guide rails 5, a trolley 7, a traction test mechanism, and a creep test mechanism.
The upper end of the soil box 12 is opened, the bottom surface and the four side surfaces are enclosed by toughened glass materials and are sealed by glass cement. The soil box 12 is clamped in a rectangular frame 14 formed by welding steel plates, and casters 11 are mounted at four corners of the bottom of the frame.
The two guide rails 5 are respectively mounted on the top portions of the rectangular frame 14 at both ends in the width direction by bolts.
The carriage 7 includes a sliding portion 71 and an installation portion 72 provided on the sliding portion 71, and the carriage 7 is slidably provided on the guide rail 5 through the sliding portion 71. The side wall of the installation part 72 at one end along the length direction of the guide rail 5 is provided with two sets of bolt hole groups, the two sets of bolt hole groups are symmetrically arranged along the width direction of the cuboid frame 14, and bolt holes of each set of bolt hole groups are arranged at intervals from top to bottom.
The grouser 6 of the present embodiment is a single grouser, and as shown in fig. 2 and 3, two oblong holes 61 corresponding to two sets of bolt hole groups are formed in the upper portion of the grouser 6, and the grouser 6 is fixed to the mounting portion 72 by bolts. In fig. 2, the lower portion of the grouser 6 is disposed obliquely.
The lower end of the grouser 6 can extend into the soil box 12, and the depth of the grouser cutting soil can be adjusted by moving the grouser 6 up and down.
The traction force testing mechanism and the creep testing mechanism are respectively arranged at two sides of the trolley 7 along the length direction of the guide rail 5. The traction test mechanism is used for optimizing the parameters of the grouser, and the creep test mechanism is used for testing the rheological property of the soil.
As shown in fig. 4, the traction force testing mechanism includes a stepping motor 2, a ball screw mechanism 3, a first traction rope 13, and a tension/pressure sensor 4.
As shown in fig. 5, the ball screw mechanism 3 includes a screw 31 and a slider 32. The lead screw 31 is connected with the stepping motor 2 in a transmission way, the sliding block 32 is provided with a T-shaped connecting piece, the tension and pressure sensor 4 is arranged on the T-shaped connecting piece, the model of the tension and pressure sensor 4 is NS-WL1, and the tension and pressure sensor 4 is connected with the trolley 7 through the first traction rope 13.
The stepping motor 2 is connected with the microcomputer control box 15, the speed of the stepping motor 2 can be adjusted, and a speed basis is provided for safe, efficient and stable walking of the crawler through analyzing a relation curve of the speed of the grouted and cut soil body and the traction force.
In order to research the traction-displacement curve of the grouser and the soil body, the change of the traction along with time can be displayed by connecting an NS-WL1 type pulling pressure sensor with a computer 1, and the displacement can be obtained by controlling the speed and the advancing time of a stepping motor.
Traction-displacement curves of different grousers can be obtained by replacing the grousers 6 (different grouser depths, different grouser widths, different grounding pressures) on the trolley 7, thereby providing reliable basis for optimizing grouser parameters.
As shown in fig. 6, the creep test mechanism includes a displacement sensor 8, a second traction rope 9, a pulley 16, and a weight 10. The pulley 16 is fixed on the top of one end of the soil box 12 along the length direction of the guide rail 5, one end of the second traction rope 9 is fixed with the trolley 7, and the other end of the second traction rope 9 penetrates through the pulley 16 to vertically face downwards and is connected with the weight 10. The displacement sensor 8 is fixed on the second traction rope 9. The displacement sensor 8 is of model NS-WY 02.
When the creep test is carried out, the traction creep characteristic of the test soil in the box body can be tested by removing the traction force test mechanism and starting the creep test mechanism.
In this embodiment, the first traction rope 13 and the second traction rope 9 are both chains.
The test soil with different soil properties and strengths can be replaced in the soil box 12, so that the traction creep characteristics of soil bodies with different properties and different strengths can be measured.
In the embodiment, when the optimal traction force test of the vehicle is obtained by optimizing different caterpillar tooth profile parameters, firstly, the mined undisturbed soil is arranged in the box body, if the undisturbed soil is difficult to sample under special conditions, the simulated soil is selected to be configured according to the physical and mechanical parameters of the undisturbed soil, the box body is arranged, then, the stepping motor 2 and the ball screw mechanism 3 are assembled, the ball screw mechanism 3 is fixed at the top of one end of the frame 14 through screws, a sliding block of the ball screw is further connected with the tension and pressure sensor 4 through screws and T-shaped connecting pieces, the tension and pressure sensor is further connected with the trolley 7 provided with the caterpillar teeth 6 in a sliding mode through a chain, and the caterpillar teeth 6 with different tooth profile parameters cut soil bodies to obtain the traction forces of the caterpillar teeth with different tooth profile parameters.
In the embodiment, because the traction forces obtained by the crawler belt of the mining machine at different cutting speeds of the soil body are different, the advancing speed of the trolley 7 is controlled by adjusting the rotating speed of the stepping motor 2 of the test device, so that the speed of the crawler belt 6 for cutting the soil body is controlled, and an optimal speed basis is provided for the mining machine to efficiently walk.
In the embodiment, the influence of the traction rheological property of deep sea bottom soil on the traction capacity of the mining machine is obvious, the testing device is slightly adjusted, the grouser 6 is fixed on the sliding trolley 7 through screws, when the depth of the grouser 6 in the soil is fixed, weights 10 with different weights are hung at one end of the sliding trolley to serve as graded loading traction force, and meanwhile, the traction displacement is controlled through the displacement sensor 8, so that the traction force-displacement relation of the deep sea bottom soil is obtained. And then, the traction rheological property of the deep sea bottom or the simulated soil is accurately described through a creep curve, so that a theoretical basis is provided for researching the walking property and the caterpillar optimization of the deep sea ore collector, the walking safety of the ore collector on the seabed soft bottom soil is further ensured, and the mining efficiency is improved.
The above description is only for the preferred embodiment of the present application and should not be taken as limiting the present application in any way, and although the present application has been disclosed in the preferred embodiment, it is not intended to limit the present application, and those skilled in the art should understand that they can make various changes and modifications within the technical scope of the present application without departing from the scope of the present application, and therefore all the changes and modifications can be made within the technical scope of the present application.
Claims (10)
1. A crawler walking optimization test device is characterized by comprising a soil box (12), a trolley (7) and a test mechanism;
the upper end of the soil containing box (12) is opened, and the top of the soil containing box (12) is provided with a guide rail (5);
the trolley (7) is arranged on the guide rail (5) in a sliding manner, the trolley (7) is used for mounting a grouser (6), and the lower end of the grouser (6) can extend into the soil containing box (12);
the testing mechanism comprises a first traction mechanism with adjustable speed and a pulling pressure sensor (4) connected with the first traction mechanism; the first traction mechanism is used for drawing the trolley (7) to slide along the guide rail (5).
2. Grouser walking optimization test device according to claim 1, wherein the first traction mechanism comprises a stepping motor (2) and a ball screw mechanism (3), the ball screw mechanism (3) comprising a screw (31) in transmission connection with the stepping motor (2), and a slider (32) connected with the trolley (7) through a first traction rope (13).
3. Grouser walking optimization test device according to claim 2, wherein the tension and pressure sensor (4) is fixed on the first traction rope (13), the slider (32) or the trolley (7).
4. The grouser walking optimization test device of claim 2, wherein the stepping motor (2) and the pull pressure sensor (4) are both connected with a microcomputer control system.
5. Grouser walking optimization test device according to any of claims 1-4, wherein the test mechanism further comprises a second traction mechanism with adjustable traction force, and a displacement sensor (8) connected to the second traction mechanism; the first traction mechanism and the second traction mechanism are respectively arranged on two sides of the trolley (7) along the length direction of the guide rail (5); the second traction mechanism is used for drawing the trolley (7) to slide along the guide rail (5).
6. The grouser walking optimization test device according to claim 5, wherein the second traction mechanism comprises a second traction rope (9), a pulley (16) and a weight (10), the pulley (16) is fixed on the top of one end of the soil box (12) along the length direction of the guide rail (5), one end of the second traction rope (9) is fixed with the trolley (7), and the other end of the second traction rope (9) penetrates through the pulley (16) to vertically face downwards and is connected with the weight (10).
7. Grouser walking optimization test device according to claim 6, characterized in that the displacement sensor (8) is fixed on the second traction rope (9) or trolley (7).
8. Grouser walking optimization test device according to claim 5, wherein the displacement sensor (8) is connected to a microcomputer control system.
9. The grouser walking optimization test device of any one of claims 1 to 4, wherein the first traction mechanism is adjustable in traction force magnitude, the test mechanism further comprising a displacement sensor coupled to the first traction mechanism.
10. A grouser walking optimization test device according to claim 1-4, 6, 7 or 8, wherein the upper part of the grouser (6) is provided with a waist-shaped hole (61) for adjusting the height of the grouser, and the grouser (6) is fixed with the trolley (7) through the waist-shaped hole (61).
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| CN201920949248.0U CN210154822U (en) | 2019-06-24 | 2019-06-24 | Crawler walking optimization test device |
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| CN201920949248.0U CN210154822U (en) | 2019-06-24 | 2019-06-24 | Crawler walking optimization test device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029514A (en) * | 2021-02-25 | 2021-06-25 | 重庆邮电大学 | Mobile robot experiment platform for simulating underwater dynamic complex environment |
| CN114563599A (en) * | 2022-02-23 | 2022-05-31 | 广东敏卓机电股份有限公司 | Full-automatic detection equipment and detection method for tractor |
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2019
- 2019-06-24 CN CN201920949248.0U patent/CN210154822U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113029514A (en) * | 2021-02-25 | 2021-06-25 | 重庆邮电大学 | Mobile robot experiment platform for simulating underwater dynamic complex environment |
| CN114563599A (en) * | 2022-02-23 | 2022-05-31 | 广东敏卓机电股份有限公司 | Full-automatic detection equipment and detection method for tractor |
| CN114563599B (en) * | 2022-02-23 | 2024-03-19 | 广东敏卓机电股份有限公司 | Full-automatic detection equipment and detection method for tractor |
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