CN100498270C - Trolley for testing planetary detection vehicle wheel moving performance - Google Patents
Trolley for testing planetary detection vehicle wheel moving performance Download PDFInfo
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- CN100498270C CN100498270C CNB2006100763215A CN200610076321A CN100498270C CN 100498270 C CN100498270 C CN 100498270C CN B2006100763215 A CNB2006100763215 A CN B2006100763215A CN 200610076321 A CN200610076321 A CN 200610076321A CN 100498270 C CN100498270 C CN 100498270C
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Abstract
A trolley used for testing movement performance of vehicle wheel by planet detection means is prepared as roll - connecting top linear track on trolley support to top linear bearing A and B on trolley mechanism, roll - connecting bottom linear track on trolley support to bottom linear bearing A and B on trolley mechanism, setting left and right vertical column and driving mechanism of trolley support on the ground, winding steel wire rope on master and slave pulley of driving mechanism and fixing two ends of said rope separately on two side of boss on trolley support.
Description
Technical field
The present invention relates to a kind of chassis device, in more detail, be meant a kind ofly to change vertical between wheel and the walking ground, thereby simulate wheel different gravity environments under and ground interaction situation, be applicable to the chassis device that the planetary detection vehicle wheel travelling performance is tested.
Background technology
Human present planetary detection mainly is meant moon exploration and mars exploration, and detection in the past shows at moonscape and has the meticulous especially soft lunar soil layer of one deck, is equivalent to tellurian meticulous sand ground.The average cohesion of lunar soil is 1KPa, and angle of internal friction is 35 °.Soil is similar with tellurian visible soil types on the Mars, has comprised drift sand and weak soil road surface, can use soil characteristic parameter commonly used to describe to Mars ground.The travel mechanism of planetary detection vehicle is based on wheeled at present, and various wheel type traveling mechanisms are owing to the difference of structure, size, material, and its performance when planetary surface is walked has bigger difference.By the theory of vehicle ground mechanics as can be known, resistance to rolling and the wheel tractive force that can provide of wheel when the planetary surface soft surface is walked, the handling capacity and the catabiotic size of planetary detection vehicle have been determined, by measurement, can estimate the travelling performance of detection vehicle travel mechanism to the corresponding force mathematic(al) parameter.
The present invention proposes a kind of wheel of simulating when the planet ground running and the chassis device of ground interaction relation, uses this device can study, optimize the design of wheel type traveling mechanism by test method to the wheel travelling performance.
The experiment of wheel type traveling mechanism travelling performance comprises:
(1) tractive force of travel mechanism test: the maximum drawbar pull that the wheel that utilizes sensor directly to measure different structure, different surfaces shape and material can provide, the wheel shaft moment of torsion is analyzed various wheel design schemes, thereby determines optimal case.
(2) rolling resistance test: as engaged wheel, under certain vertical load effect, wheel does not trackslip under the situation wheel, during chassis drive wheels uniform roll, measures the power of wheel horizontal direction, is resistance to rolling.
(3) car wheel structure is tested with the pressure-bearing characteristic of load relation: the grounding pressure when measuring the wheel walking, contact area, the wheel sinkage amount, observe and measure the soil deformation under the loading, checking is calculated the pressure-bearing characteristic model that is adopted with revised theory, for the car wheel structure optimized dimensions provides verification experimental verification and support.
(4) tractive force under the different slippage rates of wheel changes: determine best slippage rate scope by testing, the different control algolithms of contrast verification control wheel slip rate.By control and measurement wheel angular velocity and chassis translational speed, the slippage rate of control and calculating wheel is measured the tractive force that wheel can provide under different wheel slip rate situations.
Summary of the invention
The purpose of this invention is to provide a kind of chassis device that is applicable to the test of planetary detection vehicle wheel travelling performance, this chassis device when measuring tested wheel walking with the interior soil of soil box body between interaction force and moment, the travelling performance of wheel is estimated.
The present invention is a kind of chassis device that is applicable to the test of planetary detection vehicle wheel travelling performance, is made up of chassis mechanism, chassis support and driving mechanism; The last line slideway of chassis support rolls with last linear bearing B with the last linear bearing A of chassis mechanism and is connected, and the following line slideway of chassis support rolls with following linear bearing B with the following linear bearing A of chassis mechanism and is connected; The left column of chassis support, right column and driving mechanism fixed installation are on the ground; Wire rope is wrapped on the pulley C of the pulley B of driving pulley component of driving mechanism and follow-up pulley component, and the two ends of wire rope are separately fixed on the two sides of boss body of chassis mechanism;
The left column of described chassis support, right column are parallel to each other and vertical fixing is installed on the ground, entablature, middle cross beam and sill are parallel to each other in the horizontal direction, and two ends are separately fixed on left column and the right column, be provided with central post between left column and the right column, central post is installed between entablature and the sill; The upper rail seat is installed on entablature, on the upper rail seat line slideway is installed; The lower guideway seat is installed on middle cross beam, on the lower guideway seat line slideway is installed down;
The chassis framework of described chassis mechanism is the integrally casting profiled member, pulley support A is fixed on the upper spacer, upper spacer is provided with the hole of passing through for the wire rope that promotes balancing weight, and for guide rail hole A and the guide rail hole B that upright guide rail A and upright guide rail B one end pass through is installed; Median septum is provided with the through hole that passes through for the wire rope that promotes balancing weight; The bottom of lower clapboard is provided with the boss body; The back vertical plate of chassis framework is provided with bearing seat A, bearing seat C, bearing seat B and bearing seat D, linear bearing A is installed on the bearing seat A, bearing seat C goes up linear bearing A down is installed, and linear bearing B is installed on the bearing seat B, and linear bearing B is installed down on the bearing seat D; Upright guide rail A is installed in the guide rail hole A after passing the through hole of through hole, bearing seat C of bearing seat D, upright guide rail B pass bearing seat C through hole, bearing seat A through hole and be installed in the guide rail hole B; The below of supporting plate is provided with elongate slots, and the elongate slots internal fixation is equipped with nut and leading screw, and an end of leading screw is installed in the nut, and the end of leading screw is connected with bearing seat, shaft coupling, speed reduction unit and motor in turn; Transmission shaft one end that connects wheel is installed on bearing F and the bearing G, and connection reducer and motor in turn, bearing F, bearing G, speed reduction unit and motor are installed in the bearing seat, end cap is installed in the front end of bearing seat, the rear end of bearing seat is connected with convex plate, and six-component sensor is installed in the sensor mount pad of convex plate; Be designed to square opening with the convex plate of sensor mount pad corresponding position, convex plate is provided with for the circular hole that bearing A and bearing B are installed, for the boss that suspension ring are installed, and the through hole that supplies wire rope to pass through; Pulley support A is installed on the upper spacer of chassis framework, and pulley A is installed on the pulley support A by pulley spindle, bearing E; Be wound with wire rope on the pulley A, the steel wire end that stretches out the convex plate below is connected with lifting bolt, and the lifting bolt lower end is connected with a supporting plate, and supporting plate is used to place balancing weight;
Described driving mechanism is made up of driving pulley component, wire rope and follow-up pulley component, pulley support B is installed on the base of driving pulley component, bearing C and bearings D are installed on the pulley support B, pulley B is sleeved on the active rotating shaft, active rotating shaft is installed on bearing C and the bearings D, and an end of rotating shaft is connected with scrambler, and the other end of rotating shaft is connected with speed reduction unit, speed reduction unit is connected on the output shaft of motor, and the driving pulley component is fixed by mounting hole and ground; Pulley support C is installed on the base of follow-up pulley component, bearing H, bearing I are installed on the pulley support C, pulley C is sleeved on the driven spindle, and the two ends of driven spindle are installed in respectively on this bearing H, the bearing I, and the follow-up pulley component is fixed by mounting hole and ground; Pulley C on the follow-up pulley component is identical with the installation of the pulley B on driving pulley component relation with the installation relation of driven spindle, bearing H, bearing I.
The advantage of chassis device of the present invention is: (1) is by changing the weight of balancing weight 102, can change wheel 103 in the vertical directions stressed size, thereby simulation under different probe vehicles weight and different acceleration of gravity situations, the size of wheel and ground interphase interaction power; (2) the chassis device is arranged in the side of soil box body, is convenient to carry out test operation and experimental observation; (3) speed that is moved by wire rope 33 traction by control desk mechanism of car 1 and wheel 103 can change and control the slippage rate of wheel rolling by the velocity of rotation of motor 156 active drive.(4) before on-test and after the off-test, hoisting gear can make wheel 103 and soil disengage, and makes chassis arrive appointed positions; (5) the last linear bearing A107 of chassis mechanism 1 is to roll to contact with last linear bearing B109 with the last line slideway 204 of chassis support 2, the following linear bearing A108 of chassis mechanism 1 is to roll to contact with following linear bearing B110 with the last line slideway 204 of chassis support 2, adopt the ball bearing pattern, make chassis mechanism 1 and chassis support 2 have the less resistance of motion; (6) use 105 pairs of wheels of six-component sensor, 103 suffered power and moments to measure simple in measurement system structure.
Description of drawings
Fig. 1 is a chassis external structure of the present invention.
Figure 1A is the chassis rack assumption diagram.
Figure 1B is a chassis support cut-open view.
Fig. 2 is chassis mechanism structure figure.
Fig. 2 A is a chassis mechanism rear view.
Fig. 2 B is the chassis frame construction drawing.
Fig. 2 C is the structural drawing of hoisting gear part.
Fig. 2 D is the convex plate structural drawing of chassis mechanism.
Fig. 2 E is the cut-open view of wheel drive disk assembly.
Fig. 2 F is the wiring layout of pulley and support.
Fig. 3 A is a follow-up pulley component structural drawing.
Fig. 3 B is a driving pulley component structural drawing.
Fig. 3 C is a driving pulley component cut-open view.
Fig. 4 is the one-piece construction figure of soil box system.
：1. 101. 102. 103.104. 105. 106. 107.A108.A 109. B110.B111.A 112. 113. 114. 115.116. 117.A 118.C 119.B 120.D121.A 122.B 123. 124. 125.126. 127. 128.A 129.B 131.132. 133. 134. 135. 136.137. 138. 141. 142.A 143.144. 145. 146. 147. 148.149.B 150.A 151. 152.E 153.154. 155.F 156. 157. 158.G 2.201. 202. 203. 204. 205.206. 207. 208. 209. 210.3. 31. 311. 312.313.B 314. 315.B 316. 317.318.C 319.D 320. 32. 321.322. 323. C324.C 33. 4.
Embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is a kind of chassis device that is applicable to planetary detection vehicle wheel travelling performance test, sees also shown in Figure 1ly, is made up of chassis mechanism 1, chassis support 2 and driving mechanism 3; The last line slideway 204 of chassis support 2 rolls with last linear bearing B 109 with the last linear bearing A 107 of chassis mechanism 1 and is connected, and the following line slideway 205 of chassis support 2 rolls with following linear bearing B110 with the following linear bearing A 108 of chassis mechanism 1 and is connected; The left column 207 of chassis support 2, right column 206 and driving mechanism 3 fixed installations are on the ground; Wire rope 33 is wrapped on the pulley C324 of pulley B 313 and follow-up pulley component 32 of driving pulley component 31 of driving mechanism 3, and the two ends of wire rope 33 are separately fixed on the two sides of boss body 127 of chassis mechanism 1.
See also shown in Figure 1A, Figure 1B, in the present invention, the left column 207 of chassis support 2, right column 206 are parallel to each other and vertical fixing is installed on the ground, entablature 201, middle cross beam 202 and sill 203 are parallel to each other in the horizontal direction, and two ends are separately fixed on left column 207 and the right column 206, for the rigidity that guarantees crossbeam, prevent to produce big distortion, can be provided with a plurality of central posts 208 between left column 207 and right column 206, central post 208 is installed between entablature 201 and the sill 203.Upper rail seat 209 is installed on entablature 201, line slideway 204 is installed on the upper rail seat 209; Lower guideway seat 210 is installed on middle cross beam 202, line slideway 205 is installed down on the lower guideway seat 210.
See also shown in Fig. 2, Fig. 2 A, in the present invention, the chassis framework 101 of chassis mechanism 1 is the integrally casting profiled member, pulley support A 111 is fixed on the upper spacer 112, upper spacer 112 is provided with the hole of passing through for the wire rope 148 that promotes balancing weight 102, and for guide rail hole A 128 and the guide rail hole B 129 that upright guide rail A 121 and upright guide rail B 122 pass through is installed; Median septum 113 is provided with the through hole 143 that passes through for the wire rope 148 that promotes balancing weight 102; The bottom of lower clapboard 114 is provided with boss body 127, and boss body 127 is used for the two ends of driving mechanism 3 wire rope 33 are tightened up, and realizes two line slideways (go up line slideway 204, following line slideway 205) the upper edge horizontal motion of chassis mechanism 1 at chassis support 2.The back vertical plate 115 of (seeing also shown in Fig. 2 B) chassis framework 101 is provided with four bearing seats (bearing seat A 117, bearing seat C 118, bearing seat B 119 and bearing seat D 120), linear bearing A 107 is installed on the bearing seat A 117, linear bearing A 108 down is installed on the bearing seat C 118, linear bearing B 109 is installed on the bearing seat B 119, linear bearing B 110 is installed down on the bearing seat D 120; Upright guide rail A 121 pass bearing seat D 120 through hole 126, bearing seat C 118 through hole 125 and be installed in the guide rail hole A 128, upright guide rail B 122 pass bearing seat C118 through hole 124, bearing seat A 117 through hole 123 and be installed in the guide rail hole B 129; Upright guide rail A 121 and upright guide rail B 122 provide chassis mechanism 1 convex plate 106 to drive moving up and down of wheel 103, the wheel 103 of promptly realizing being used to testing usefulness leaves the soil in the soil box body 4, perhaps with in the soil box body 4 do markd soil and contact, wheel 103 travelling performances are estimated; The through hole 123 of four bearing seats on the back vertical plate 115 and the centerline collineation of through hole 124, the centerline collineation of through hole 125 and through hole 126.The below of (seeing also shown in Fig. 2 C) supporting plate 131 is provided with elongate slots 133, elongate slots 133 internal fixation are equipped with nut 138 and leading screw 132, one end of leading screw 132 is installed in the nut 138, and the end of leading screw 132 is connected with bearing seat 134, shaft coupling 135, speed reduction unit 136 and motor 137 in turn.Transmission shaft 153 1 ends that (seeing also shown in Fig. 2 D, the 2E) connects wheel 103 (measured piece) are installed on bearing F 155 and the bearing G 158, and connection reducer 157 and motor 156 in turn, bearing F 155, bearing G 158, speed reduction unit 157 and motor 156 are installed in the bearing seat 104, end cap 154 is installed in the front end of bearing seat 104, play location, sealing and dustproof effect, the rear end of bearing seat 104 is connected with convex plate 106, and six-component sensor 105 (selecting the SI-1800-350 model sensor of ATI company for use) is installed in the sensor mount pad 145 of convex plate 106.There are square opening 144, convex plate 106 to be provided with convex plate 106 design of sensor mount pad 145 corresponding positions for the circular hole that bearing A 142 and bearing B 149 are installed, for the boss 147 that suspension ring 146 are installed, the through hole 143 that passes through for wire rope 148.(seeing also shown in Fig. 2 F) pulley support A 111 is installed on the upper spacer 112 of chassis framework 101, and pulley A 150 is installed on the pulley support A 111 by pulley spindle 151, bearing E152; Be wound with wire rope 148 on the pulley A 150, wire rope 148 ends that stretch out convex plate 106 belows are connected with lifting bolt 141.Lifting bolt 141 lower ends are connected with a supporting plate, and supporting plate is used to place balancing weight 102, and balancing weight 102 is used to change the size of holding capacity on the wheel vertical direction.The weight range of adjustment of balancing weight 102 is 0～120Kg.
See also Fig. 3 A, shown in Fig. 3 C, in the present invention, driving mechanism 3 is by driving pulley component 31, wire rope 33 and follow-up pulley component 32 are formed, on the base 316 of driving pulley component 31 pulley support B315 is installed, bearing C 318 and bearings D 319 are installed on the pulley support B 315, pulley B 313 is sleeved on the active rotating shaft 317, active rotating shaft 317 is installed on bearing C 318 and the bearings D 319, one end of active rotating shaft 317 is connected with scrambler 314, the other end of active rotating shaft 317 is connected with speed reduction unit 312, and speed reduction unit 312 is connected on the output shaft of motor 311.Driving pulley component 31 is fixed by mounting hole 320 and ground.
See also shown in Fig. 3 B, in the present invention, on the base 321 of the follow-up pulley component 32 of driving mechanism 3 pulley support C 323 is installed, bearing H, bearing I are installed on the pulley support C 323, pulley C 324 is sleeved on the driven spindle, the two ends of driven spindle are installed in respectively on this bearing H, the bearing I, and follow-up pulley component 32 is fixed by mounting hole 322 and ground.Pulley C 324 on the follow-up pulley component 32 installs relation identical (seeing also shown in Fig. 3 C) with the installation relation and the pulley B on the driving pulley component 31 313 of driven spindle, bearing H, bearing I.
Chassis device of the present invention is a kind of mechanism that is applicable to planetary detection vehicle wheel travelling performance test usefulness, and it is by finishing wheel travelling performance test experiments with being used of soil box body 4.Before test and after the off-test, motor 311 rotating drive pulley B 313 by driving mechanism 3 drive wire rope 33 motions, the chassis mechanism 1 that is connected on the wire rope 33 is moved horizontally along last line slideway on the chassis support 2 204 and following line slideway 205, realize wheel 103 back and forth movement in the horizontal direction, thereby control wheel 103 is tested from the end setting in motion of soil box body 4, and wheel 103 is resetted.In test, motor 156 drives transmission shaft 153 by speed reduction unit 157 and rotates realization wheel 103 active drive, be that transmission shaft 153 drives wheel 103 rotations, drive chassis mechanisms 1 motion in the horizontal direction by wheel 103 by bearing seat 104, measure the horizontal direction tractive force that wheels 103 can provide at the loading force and the wheel 103 of vertical direction by six-component sensor 105.For the slippage rate of testing wheel 103 changes influence to tractive force, the slippage rate that needs control wheel 103, realize rotational motion by motor 156 drive wheels 103, simultaneously the motor on the driving mechanism 3 311 drives chassis mechanisms 1 motion in the horizontal direction, and the speed of the rotational angular velocity by control wheel 103 and the tangential movement of chassis mechanism 1 can change the slippage rate of wheel 103.
Before on-test and after the off-test, for the soil in wheel 103 and the soil box body 4 is disengaged, driving leading screw 132 by motor 137 by speed reduction unit 136 and shaft coupling 135 rotates, the rotating band of leading screw 132 is automatically connected in nut 138 above it at the vertical direction moving linearly, nut 138 is fixed on the elongate slots 133, thereby drive the motion of elongate slots 133 in the vertical directions and by supporting plate 131 with convex plate 106 jack-up upwards, make the wheel that is connected on the convex plate 106 103 produce motions upwards, thus reach with soil box body 4 in soil disengage.After wheel 103 arrives the work assigned address, motor 137 drives leading screws 132 and makes backward rotation, and supporting plate 131 is moved downward, convex plate 106 and wheel 103 under the effect of gravity to the whereabouts, soil in wheel 103 and the soil box body 4 contact, can begin to have carried out testing experiment at this moment.
Chassis device of the present invention uses balancing weight 102 to change the size of wheel 103 vertical loads power, can simulate at the acting force between wheel and ground under the environment that is lower than the terrestrial gravitation acceleration.Between chassis mechanism 1 and wheel 103, six-component sensor 106 is installed, can measure the power and the moment of wheel 103 suffered three directions, have motor 137 in the chassis mechanism 1 and can carry out active drive wheel 103, make wheel 103 drive chassis mechanism 1 and advance, can measure ground this moment the tractive force that allows wheel 103 to provide is provided; Horizontally tracting device use motor 311 and wire rope 33 transmissions can drag chassis advances, and can measure the size of wheel 103 resistances to rolling this moment.
Claims (3)
1, a kind of chassis device that is applicable to the test of planetary detection vehicle wheel travelling performance is characterized in that: be made up of chassis mechanism (1), chassis support (2) and driving mechanism (3); The last line slideway (204) of chassis support (2) rolls with last linear bearing B (109) with the last linear bearing A (107) of chassis mechanism (1) and is connected, and the following line slideway (205) of chassis support (2) rolls with following linear bearing B (110) with the following linear bearing A (108) of chassis mechanism (1) and is connected; The left column (207) of chassis support (2), right column (206) and driving mechanism (3) fixed installation are on the ground; Wire rope (33) is wrapped on the pulley C (324) of pulley B (313) and follow-up pulley component (32) of driving pulley component (31) of driving mechanism (3), and the two ends of wire rope (33) are separately fixed on the two sides of boss body (127) of chassis mechanism (1);
The left column (207) of described chassis support (2), right column (206) are parallel to each other and vertical fixing is installed on the ground, entablature (201), middle cross beam (202) and sill (203) are parallel to each other in the horizontal direction, and two ends are separately fixed on left column (207) and the right column (206), be provided with central post (208) between left column (207) and the right column (206), central post (208) is installed between entablature (201) and the sill (203); Upper rail seat (209) is installed on entablature (201), line slideway (204) is installed on the upper rail seat (209); Lower guideway seat (210) is installed on middle cross beam (202), line slideway (205) is installed down on the lower guideway seat (210);
The chassis framework (101) of described chassis mechanism (1) is the integrally casting profiled member, pulley support A (111) is fixed on the upper spacer (112), upper spacer (112) is provided with the hole of passing through for the wire rope (148) that promotes balancing weight (102), and for guide rail hole A (128) and the guide rail hole B (129) that upright guide rail A (121) and upright guide rail B (122) one ends pass through is installed; Median septum (113) is provided with the through hole (143) that passes through for the wire rope (148) that promotes balancing weight (102); The bottom of lower clapboard (114) is provided with boss body (127); The back vertical plate (115) of chassis framework (101) is provided with bearing seat A (117), bearing seat C (118), bearing seat B (119) and bearing seat D (120), linear bearing A (107) is installed on the bearing seat A (117), bearing seat C (118) goes up linear bearing A (108) down is installed, linear bearing B (109) is installed on the bearing seat B (119), linear bearing B (110) is installed down on the bearing seat D (120); Upright guide rail A (121) is installed in the guide rail hole A (128) after passing the through hole (125) of through hole (126), bearing seat C (118) of bearing seat D (120), upright guide rail B (122) pass bearing seat C (118) through hole (124), bearing seat A (117) through hole (123) and be installed in the guide rail hole B (129); The below of supporting plate (131) is provided with elongate slots (133), elongate slots (133) internal fixation is equipped with nut (138) and leading screw (132), one end of leading screw (132) is installed in the nut (138), and the end of leading screw (132) is connected with bearing seat (134), shaft coupling (135), speed reduction unit (136) and motor (137) in turn; Transmission shaft (153) one ends that connect wheel (103) are installed on bearing F (155) and the bearing G (158), and connection reducer (157) and motor (156) in turn, bearing F (155), bearing G (158), speed reduction unit (157) and motor (156) are installed in the bearing seat (104), end cap (154) is installed in the front end of bearing seat (104), the rear end of bearing seat (104) is connected with convex plate (106), and six-component sensor (105) is installed in the sensor mount pad (145) of convex plate (106); Be designed to square opening (144) with the convex plate (106) of sensor mount pad (145) corresponding position, convex plate (106) is provided with for the circular hole that bearing A (142) and bearing B (149) are installed, for the boss (147) that suspension ring (146) are installed, the through hole (143) that supplies wire rope (148) to pass through; Pulley support A (111) is installed on the upper spacer (112) of chassis framework (101), and pulley A (150) is installed on the pulley support A (111) by pulley spindle (151), bearing E (152); Be wound with wire rope (148) on the pulley A (150), wire rope (148) end that stretches out convex plate (106) below is connected with lifting bolt (141), and lifting bolt (141) lower end is connected with a supporting plate, is placed with balancing weight (102) on the supporting plate;
Described driving mechanism (3) is by driving pulley component (31), wire rope (33) and follow-up pulley component (32) are formed, on the base (316) of driving pulley component (31) pulley support B (315) is installed, bearing C (318) and bearings D (319) are installed on the pulley support B (315), pulley B (313) is sleeved on the active rotating shaft (317), active rotating shaft (317) is installed on bearing C (318) and the bearings D (319), one end of active rotating shaft (317) is connected with scrambler (314), the other end of active rotating shaft (317) is connected with speed reduction unit (312), speed reduction unit (312) is connected on the output shaft of motor (311), and driving pulley component (31) is fixed by mounting hole (320) and ground; On the base (321) of follow-up pulley component (32) pulley support C (323) is installed, pulley support C is equipped with bearing H, bearing I on (323), pulley C (324) is sleeved on the driven spindle, the two ends of driven spindle are installed in respectively on bearing H, the bearing I, and follow-up pulley component (32) is fixed by mounting hole (322) and ground; It is identical that pulley B (313) on pulley C (324) on the follow-up pulley component (32) and the installation relation of driven spindle, bearing H, bearing I and the driving pulley component (31) installs relation.
2, chassis device according to claim 1 is characterized in that: the motion that described chassis mechanism (1) finishes horizontal direction along the last line slideway (204) and the following line slideway (205) of described chassis support (2); Described chassis mechanism (1) finishes the motion of vertical direction along upright guide rail A (121) and upright guide rail B (122).
3, chassis device according to claim 1 is characterized in that: the weight range of adjustment of described balancing weight (102) is 0～120Kg.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100763215A CN100498270C (en) | 2006-04-21 | 2006-04-21 | Trolley for testing planetary detection vehicle wheel moving performance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2006100763215A CN100498270C (en) | 2006-04-21 | 2006-04-21 | Trolley for testing planetary detection vehicle wheel moving performance |
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| Publication Number | Publication Date |
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| CN1831506A CN1831506A (en) | 2006-09-13 |
| CN100498270C true CN100498270C (en) | 2009-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CNB2006100763215A Expired - Fee Related CN100498270C (en) | 2006-04-21 | 2006-04-21 | Trolley for testing planetary detection vehicle wheel moving performance |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100458396C (en) * | 2006-12-15 | 2009-02-04 | 哈尔滨工业大学 | Multifunction test device for wheel motion performance of planetary detection robot |
| CN102322083A (en) * | 2011-07-05 | 2012-01-18 | 常州汉森机械有限公司 | Hydraulic shifting mechanism of rear excavator |
| CN103033372B (en) * | 2011-10-09 | 2017-03-15 | 南京农业大学 | A kind of controllable wheel traction of slippage rate and adhesion property test device |
| CN104122102B (en) * | 2014-07-02 | 2017-05-10 | 上海大学 | Soil strength test board for wheel |
| CN104535340A (en) * | 2014-12-19 | 2015-04-22 | 广西科技大学 | Cooling wheel testing device |
| CN105181342B (en) * | 2015-10-30 | 2018-03-13 | 北京新能源汽车股份有限公司 | Counterweight mounting device for vehicle |
| CN105424592B (en) * | 2015-11-29 | 2018-11-06 | 中南大学 | A kind of deposit on marine-bottom surface vehicle-terra mechanics performance dynamic checkout unit |
| CN107526886B (en) * | 2017-08-22 | 2020-11-06 | 北京卫星环境工程研究所 | Method for determining lunar soil mechanical parameters in lunar surface actual walking process |
| CN109406172B (en) * | 2018-11-28 | 2024-07-12 | 华南理工大学 | Soil tank test device suitable for wheel travelling performance test |
| CN113834664B (en) * | 2021-08-20 | 2023-10-27 | 吉林大学 | Device and method for detecting passing performance and bearing capacity of unmanned star vehicle |
| CN114018600A (en) * | 2021-11-18 | 2022-02-08 | 深圳优地科技有限公司 | Detection jig and detection device |
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2006
- 2006-04-21 CN CNB2006100763215A patent/CN100498270C/en not_active Expired - Fee Related
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| CN1831506A (en) | 2006-09-13 |
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