CN215339450U

CN215339450U - Measuring and calculating device for simulating ground walking dynamic friction coefficient of double differential wheels

Info

Publication number: CN215339450U
Application number: CN202121231177.4U
Authority: CN
Inventors: 董秀林; 陈宇; 张路
Original assignee: Aerospace Intelligent Manufacturing Shanghai Technology Co ltd
Current assignee: Aerospace Intelligent Manufacturing Shanghai Technology Co ltd
Priority date: 2021-06-01
Filing date: 2021-06-01
Publication date: 2021-12-28
Anticipated expiration: 2031-06-01

Abstract

The utility model belongs to the technical field of double differential wheel driving, and discloses a measuring and calculating device for simulating the ground walking dynamic friction coefficient of double differential wheels, which comprises a mounting platform and a bracket, wherein the bracket is mounted on the mounting platform, the bottom of the bracket is connected with a double differential drive unit, the top of the mounting platform is movably connected with rollers by bearings near the lower part of the double differential drive unit, gear shafts of two adjacent rollers are connected by chain wheels, and the gear shaft of one of the rollers is connected with a torque sensor through a coupling, and the load end of the torque sensor is provided with a gearbox, the utility model has flexible structure and smart design, can quickly adjust the pressure of the differential wheel on the surface of the roller, meanwhile, the torque sensor can measure corresponding torque according to the change of the output power of the variable frequency motor, and the measuring and calculating structure is reasonable and is very suitable for measuring and calculating the dynamic friction coefficient of the differential wheel.

Description

Measuring and calculating device for simulating ground walking dynamic friction coefficient of double differential wheels

Technical Field

The utility model belongs to the technical field of double differential wheel driving, and particularly relates to a measuring and calculating device for simulating the ground walking dynamic friction coefficient of double differential wheels.

Background

The double-differential-speed wheel drive is one of the main drive modes of the current mobile robot, has the advantages of large bearing capacity, capability of turning in all directions and the like, needs to select a proper drive motor through calculation according to actual use conditions at the beginning of design, and the walking friction coefficient is one of the most critical parameters in the calculation process.

At present, the setting of the dynamic friction coefficient mainly depends on experience, the dynamic friction coefficient of the double differential wheels and the ground needs to be measured and calculated by a special measuring and calculating device, the existing measuring and calculating device has certain defects, when the measuring and calculating work is carried out, the differential wheels are in direct contact with the roller, the contact pressure between the differential wheels and the roller cannot be changed, the measuring and calculating structure is unreasonable, and therefore the structure aspect is required to be improved.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a measuring and calculating device for simulating the ground walking dynamic friction coefficient of a double differential wheel, so as to solve the problems that the contact pressure between the differential wheel and a roller cannot be changed and the measuring and calculating structure is unreasonable in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme: the utility model provides a simulation double differential wheel ground walking dynamic friction coefficient's measuring and calculating device, includes mounting platform and support, the support mounting is on mounting platform, and the bottom of support is connected with double differential wheel drive unit, there is the cylinder, adjacent two below that mounting platform's top is close to double differential wheel drive unit through bearing swing joint be connected through the sprocket between the gear shaft of cylinder, and the gear shaft of one of them cylinder has torque sensor through the coupling joint, the gearbox is installed to torque sensor's load end, the input shaft of gearbox has inverter motor through the coupling joint.

Preferably, the double differential drive unit comprises a drive motor, a differential wheel and a hydraulic cylinder, wherein the drive motor is used for driving the differential wheel to rotate, and the hydraulic cylinder is used for driving the differential wheel to move up and down.

Preferably, the mounting platform comprises a bearing seat and a vertical plate, wherein the vertical plate is fixed on the bearing seat, and the bearing seat is connected with the bracket through the vertical plate.

Preferably, mounting platform still includes the fixed subassembly of support, the fixed subassembly of support includes jack catch supporting seat, jack catch, telescopic link, hydro-cylinder and hydro-cylinder supporting seat, wherein jack catch supporting seat, jack catch and telescopic link rotate in proper order and connect, the hydro-cylinder rotates with the hydro-cylinder supporting seat to be connected, and the hydro-cylinder supporting seat is installed on mounting platform.

Preferably, a first flange is installed at the bottom of the support, a second flange is fixed at the top of the double-differential-speed wheel driving unit, and the second flange is connected with the first flange through a bolt.

Preferably, the rollers are provided with four rollers, and two adjacent rollers form a group.

Compared with the prior art, the utility model has the beneficial effects that:

(1) the differential wheel dynamic friction coefficient measuring and calculating device is flexible in structure and ingenious in design, can quickly adjust the pressure of the differential wheel on the surface of the roller, can measure corresponding torque according to the change of the output power of the variable frequency motor, is reasonable in measuring and calculating structure, and is very suitable for measuring and calculating the dynamic friction coefficient of the differential wheel.

(2) According to the utility model, the bracket fixing assembly is arranged, the bracket can be clamped in an initial state, and the clamping jaws can be separated from the bracket by controlling the operation of the oil cylinder, so that the bracket can be quickly disassembled and assembled, the double-differential driving unit can be conveniently disassembled and assembled, the operation is flexible and convenient, and the requirement of actual measurement and calculation work is greatly met.

Drawings

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of a bracket fixing assembly according to the present invention;

in the figure: 1. mounting a platform; 11. a bracket fixing component; 1101. a claw supporting seat; 1102. a claw; 1103. a telescopic rod; 1104. an oil cylinder; 1105. an oil cylinder supporting seat; 2. a support; 3. a dual differential drive unit; 31. a drive motor; 32. a differential wheel; 4. a drum; 5. a torque sensor; 6. a gearbox; 7. a variable frequency motor.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, the present invention provides the following technical solutions: a measuring and calculating device for simulating the ground walking dynamic friction coefficient of double differential wheels comprises a mounting platform 1 and a support 2, wherein the support 2 is mounted on the mounting platform 1, the bottom of the support 2 is connected with a double differential wheel driving unit 3, the top of the mounting platform 1 is close to the lower part of the double differential wheel driving unit 3 and is movably connected with a roller 4 through a bearing, the differential wheels 32 move downwards from an initial position and are attached to the roller 4 through the operation of a hydraulic cylinder on the double differential wheel driving unit 3, the roller 4 can simulate the actual road surface condition, the two differential wheels 32 rotate at the same speed through the electric connection operation of a driving motor 31, then the two differential wheels 32 respectively drive the corresponding rollers 4 to operate, then the roller 4 transmits power to a driving end of a torque sensor 5 through a coupler, meanwhile, a variable frequency motor 7 is electrically connected to operate, and transmits the power to an input shaft of a gearbox 6 through the coupler, the output is carried out after the speed change of the gearbox 6, then the output shaft transmits the power to the load end of the torque sensor 5 through the coupler, at the moment, two parts of the torque sensor 5 measure and output two signals, and transmit the data to the upper computer control system, further the dynamic friction coefficient of the differential gear 32 walking on the ground is calculated by using the two torque values, the gear shafts of two adjacent rollers 4 are connected through a chain wheel, the gear shaft of one roller 4 is connected with the torque sensor 5 through the coupler, the load end of the torque sensor 5 is provided with the gearbox 6, the input shaft of the gearbox 6 is connected with the variable frequency motor 7 through the coupler, the device has flexible structure and ingenious design, the pressure of the differential gear 32 on the surface of the roller 4 can be rapidly adjusted, the torque sensor 5 can measure the corresponding torque according to the change of the output power of the variable frequency motor 7, the measuring and calculating structure is reasonable, and the device is very suitable for measuring and calculating the dynamic friction coefficient of the differential wheel.

Further, the double differential drive unit 3 includes a driving motor 31, a differential wheel 32, and a hydraulic cylinder, wherein the driving motor 31 is used for driving the differential wheel 32 to rotate, and the hydraulic cylinder is used for driving the differential wheel 32 to move up and down, and the position and height of the differential wheel 32 can be adjusted by the hydraulic cylinder.

Further, mounting platform 1 is including bearing seat and riser, and wherein the riser is fixed in on bearing the seat, and bears the seat and be connected with support 2 through the riser.

Specifically, the mounting platform 1 further comprises a support fixing component 11, the support fixing component 11 comprises a claw support 1101, a claw 1102, an expansion rod 1103, an oil cylinder 1104 and an oil cylinder support 1105, wherein the claw support 1101, the claw 1102 and the expansion rod 1103 are sequentially connected in a rotating manner, the oil cylinder 1104 is rotatably connected with the oil cylinder support 1105, and the oil cylinder support 1105 is mounted on the mounting platform 1, in an initial state, the claw 1102 tightly clamps the support 2, and meanwhile, the oil cylinder 1104 can be controlled to operate, so that the expansion rod 1103 drives the oil cylinder 1104 to move inwards, then the expansion rod 1103 is continuously shortened, and after a series of transmission, the claw 1102 is separated from the support 2, so that the support 2 can be rapidly disassembled and assembled, the double-differential-speed wheel driving unit 3 is convenient to disassemble and assemble, the operation is flexible and convenient, and the requirements of actual measurement and calculation work are greatly met.

Specifically, a first flange is installed at the bottom of the bracket 2, a second flange is fixed at the top of the double differential drive unit 3, and the second flange is connected with the first flange through bolts.

Specifically, four rollers 4 are provided, and two adjacent rollers 4 form a group, so that the condition of the road surface on which the differential wheel 32 actually travels can be simulated by the rollers 4.

The working principle and the using process of the utility model are as follows: when the utility model is used, the differential wheel 32 moves downwards from the initial position and is attached to the roller 4 through the operation of the hydraulic cylinder on the double-differential-speed wheel driving unit 3, the roller 4 can simulate the actual road surface condition, the electric operation is connected through the driving motor 31, the two differential wheels 32 rotate at the same speed, then the two differential wheels 32 respectively drive the corresponding roller 4 to operate, then the roller 4 transmits the power to the driving end of the torque sensor 5 through the coupler, simultaneously the frequency conversion motor 7 is connected with the electric operation and transmits the power to the input shaft of the gearbox 6 through the coupler, the power is output after the speed change action of the gearbox 6, then the output shaft transmits the power to the load end of the torque sensor 5 through the coupler, at the moment, two parts of the torque sensor 5 measure and output two signals, and transmit the data to an upper computer control system, and then the dynamic friction coefficient of the differential wheel 32 walking on the ground is calculated by utilizing the two torque values, in addition, the operation of the oil cylinder 1104 is controlled, the telescopic rod 1103 drives the oil cylinder 1104 to move inwards, then the telescopic rod 1103 is continuously shortened, after a series of transmission, the claw 1102 can be separated from the support 2, so that the support 2 can be quickly disassembled and assembled, and the double-differential-speed-wheel driving unit 3 can be conveniently disassembled and assembled.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a measurement and calculation device of simulation double differential wheel ground walking dynamic friction coefficient which characterized in that: including mounting platform (1) and support (2), install on mounting platform (1) support (2), and the bottom of support (2) is connected with double-differential drive unit (3), there are cylinder (4), adjacent two below that the top of mounting platform (1) is close to double-differential drive unit (3) has through bearing swing joint between the gear shaft of cylinder (4) is connected through the sprocket, and the gear shaft of one of them cylinder (4) has torque sensor (5) through the coupling joint, gearbox (6) are installed to the load end of torque sensor (5), the input shaft of gearbox (6) has inverter motor (7) through the coupling joint.

2. The device for calculating the coefficient of friction of ground walking with simulated double differential wheels as claimed in claim 1, wherein: the double-differential-speed wheel driving unit (3) comprises a driving motor (31), a differential wheel (32) and a hydraulic cylinder, wherein the driving motor (31) is used for driving the differential wheel (32) to rotate, and the hydraulic cylinder is used for driving the differential wheel (32) to move up and down.

3. The device for calculating the coefficient of friction of ground walking with simulated double differential wheels as claimed in claim 1, wherein: the mounting platform (1) comprises a bearing seat and a vertical plate, wherein the vertical plate is fixed on the bearing seat, and the bearing seat is connected with the support (2) through the vertical plate.

4. The device for calculating the coefficient of friction of ground walking with simulated double differential wheels as claimed in claim 1, wherein: mounting platform (1) still includes fixed subassembly of support (11), fixed subassembly of support (11) includes jack catch supporting seat (1101), jack catch (1102), telescopic link (1103), hydro-cylinder (1104) and hydro-cylinder supporting seat (1105), wherein jack catch supporting seat (1101), jack catch (1102) and telescopic link (1103) rotate in proper order and connect, hydro-cylinder (1104) rotate with hydro-cylinder supporting seat (1105) and are connected, and hydro-cylinder supporting seat (1105) install on mounting platform (1).

5. The device for calculating the coefficient of friction of ground walking with simulated double differential wheels as claimed in claim 1, wherein: the bottom of the support (2) is provided with a first flange, the top of the double-differential-speed wheel driving unit (3) is fixed with a second flange, and the second flange is connected with the first flange through a bolt.

6. The device for calculating the coefficient of friction of ground walking with simulated double differential wheels as claimed in claim 1, wherein: the number of the rollers (4) is four, and two adjacent rollers (4) form a group.