阅读说明：本技术 一种用于真空高低温环境下星球车牵引力测试装置 (Planet vehicle traction testing device used in vacuum high-temperature and low-temperature environment ) 是由 檀傈锰 袁宝峰 张泽洲 潘冬 邹猛 刘雅芳 林云成 陈明 杨铭 于 2021-08-13 设计创作，主要内容包括：一种用于真空高低温环境下星球车牵引力测试装置,包括机架、6套车轮阻力加载单元、牵引绳、拉力传感器、测试及控制机柜；车轮阻力加载单元包括加载主动轮、履带、从动轮、支撑柱、扭矩及转速传感器、加载电机及减速器；6套车轮阻力加载单元安装在机架上,星球车位于车轮阻力加载单元上,星球车的棘爪车轮与履带接触,履带表面具有棘爪式拨片结构,星球车的棘爪车轮与履带表面的棘爪式拨片结构相接触；拉力传感器安装在星球车车体上,拉力传感器通过牵引绳与机架连接；本发明能够适应星球车体通过主动悬架变形,给6个棘爪式车轮独立施加阻力矩负载,能够完成在真空高低温环境下星球车牵引力测试。(A traction testing device for a planet vehicle in a vacuum high-temperature and low-temperature environment comprises a frame, 6 sets of wheel resistance loading units, a traction rope, a tension sensor and a testing and controlling cabinet; the wheel resistance loading unit comprises a loading driving wheel, a crawler belt, a driven wheel, a supporting column, a torque and rotating speed sensor, a loading motor and a speed reducer; 6 sets of wheel resistance loading units are installed on the frame, the planet vehicle is positioned on the wheel resistance loading units, the pawl wheels of the planet vehicle are in contact with the crawler, the surface of the crawler is provided with a pawl type shifting sheet structure, and the pawl wheels of the planet vehicle are in contact with the pawl type shifting sheet structure on the surface of the crawler; the tension sensor is arranged on the planet car body and is connected with the frame through a traction rope; the invention can adapt to the deformation of a planet vehicle body through the active suspension, independently apply resisting moment loads to 6 pawl type wheels, and can finish the traction test of the planet vehicle in a vacuum high-low temperature environment.)

1. The utility model provides a planet car tractive force testing arrangement for under high low temperature environment of vacuum which characterized in that: the device comprises a rack (1), 6 sets of wheel resistance loading units (2), a traction rope (3), a tension sensor (4) and a test and control cabinet (5);

the wheel resistance loading unit (2) comprises a loading driving wheel (2-1), a crawler (2-2), a driven wheel (2-3), a support column (2-4), a torque and rotating speed sensor (2-5), a loading motor and a speed reducer (2-6);

6 sets of wheel resistance loading units (2) are arranged on the rack (1), and the distance between the wheel resistance loading units (2) is matched with the wheel spacing of the planet vehicle; the planet vehicle is positioned on the wheel resistance loading unit (2), a pawl wheel (7) of the planet vehicle is in contact with the crawler (2-2), the surface of the crawler (2-2) is provided with a pawl type shifting sheet structure (2-7), and the pawl wheel (7) of the planet vehicle is in contact with the pawl type shifting sheet structure (2-7) on the surface of the crawler (2-2); the tension sensor (4) is arranged on a planet vehicle body (6), the tension sensor (4) is connected with the rack (1) through the traction rope (3), and the connecting point of the traction rope (3) and the rack (1) is at the same height with the mass center of the planet vehicle, so that the influence of accessory bending moment on the planet vehicle is avoided;

the track (2-2) is required to have a predetermined length, and when the planet carrier active suspension is deformed, the vehicle body is raised or lowered, and the ratchet wheel (7) can move back and forth on the track (2-2).

When the wheel resistance is loaded, a control signal is given by a testing and controlling cabinet, a loading motor and a speed reducer (2-6) drive a loading driving wheel (2-1) to rotate, the loading driving wheel (2-1) drives a track (2-2) and a driven wheel (2-3) to move, and a pawl type shifting piece structure on the track (2-2) is in contact action with a pawl wheel (7) of the planet vehicle, so that the wheel resistance is generated;

during testing, the wheel resistance loading unit (2) firstly enters a no-load control mode, the planet vehicle moves forwards, the loading driving wheel (2-1) drives the crawler belt (2-2) and the driven wheel (2-3) to move at the same speed as the loading driving wheel (2-1), at the moment, the reading number of the tension sensor (4) is small, and errors mainly caused by friction of a rotating shaft system of the wheel resistance loading unit (2) are avoided; the wheel resistance is gradually increased, namely the reading of the torque sensor is increased, the wheel of the planet vehicle moves with load, and the reading of the tension sensor (4) is the traction force of the planet vehicle.

2. The device for testing the traction of the planet vehicle in the vacuum high-temperature and low-temperature environment according to claim 1, is characterized in that: the 6 sets of wheel resistance loading units (2) are independently controlled, and the simulation of different loads of front, middle and rear wheels in the process of the planet vehicle going up and down a slope can be realized.

3. The device for testing the traction of the planet vehicle in the vacuum high-temperature and low-temperature environment according to claim 1, is characterized in that: the rack (1) is spliced by adopting I-shaped steel; the surface of the frame (1) is coated with heat insulation materials.

4. The device for testing the traction of the planet vehicle in the vacuum high-temperature and low-temperature environment according to claim 1, is characterized in that: the traction rope (3) is made of Kevlar materials.

5. The device for testing the traction of the planet vehicle in the vacuum high-temperature and low-temperature environment according to claim 1, is characterized in that: the tension sensor (4) adopts a one-way tension and compression sensor, and the tension sensor (4) is coated with a heat insulating material, so that the phenomenon that the temperature causes the sensor to indicate drift under high and low temperature environments is avoided.

6. The device for testing the traction of the planet vehicle in the vacuum high-temperature and low-temperature environment according to claim 1, is characterized in that: the loading driving wheel (2-1) and the driven wheel (2-3) both adopt ceramic bearings.

7. The device for testing the traction of the planet vehicle in the vacuum high-temperature and low-temperature environment according to claim 1, is characterized in that: the pawl type shifting sheet structure (2-7) on the crawler belt (2-2) is made of non-metallic materials.

8. The device for testing the traction of the planet vehicle in the vacuum high-temperature and low-temperature environment according to claim 1, is characterized in that: the torque and rotation speed sensor (2-5) is used for testing the rotation speed and the torque of the loading driving wheel (2-1), so that the movement speed of the crawler (2-2) is matched with the rotation speed of the loading driving wheel (2-1), and the resistance load applied to the wheels is obtained through the torque; the torque and rotation speed sensors (2-5) have heat preservation measures.

9. The device for testing the traction of the planet vehicle in the vacuum high-temperature and low-temperature environment according to claim 1, is characterized in that: the loading motor and the speed reducer (2-6) are used for driving a loading driving wheel (2-1); the loading motor and the speed reducer (2-6) are both in solid lubrication, and the loading motor and the speed reducer (2-6) have heat preservation measures.

10. The device for testing the traction of the planet vehicle in the vacuum high-temperature and low-temperature environment according to claim 1, is characterized in that: the testing and controlling cabinet (5) is used for testing readings of the tension sensor (4) and the torque and rotating speed sensors (2-5), and drives the loading motor to move through closed-loop feedback control.

Technical Field

The invention relates to the technical field of a deep space planet detection vehicle, in particular to a traction testing device for a planet vehicle in a vacuum high-temperature and low-temperature environment.

Background

In deep space exploration, a planet vehicle is used for carrying scientific loads to complete scientific exploration of the surface of a planet, a six-wheel planet vehicle is a scheme mainly adopted internationally at present, an active suspension mechanism is adopted by a planet vehicle in China, and the height of the vehicle body can be changed (a planet vehicle variable active suspension mechanism CN 201911135824.9 and a six-wheel planet exploration vehicle telescopic suspension mechanism CN 200810209565.5).

Disclosure of Invention

The invention provides a traction testing device for a planet vehicle in a vacuum high-low temperature environment, which can adapt to the deformation of a planet vehicle body through an active suspension, independently apply resistance moment loads to 6 pawl-type wheels, and can finish the traction testing of the planet vehicle in the vacuum high-low temperature environment.

A traction testing device for a planet vehicle in a vacuum high-temperature and low-temperature environment comprises a frame, 6 sets of wheel resistance loading units, a traction rope, a tension sensor and a testing and controlling cabinet;

the wheel resistance loading unit comprises a loading driving wheel, a crawler belt, a driven wheel, a supporting column, a torque and rotating speed sensor, a loading motor and a speed reducer;

6 sets of wheel resistance loading units are arranged on the rack, and the distance between the wheel resistance loading units is matched with the wheel spacing of the planet vehicle; the planet vehicle is positioned on the wheel resistance loading unit, the pawl wheel of the planet vehicle is in contact with the crawler, the surface of the crawler is provided with a pawl type shifting sheet structure, and the pawl wheel of the planet vehicle is in contact with the pawl type shifting sheet structure on the surface of the crawler; the pull sensor is arranged on the planet car body and connected with the rack through the traction rope, and the connecting point of the traction rope and the rack is at the same height as the mass center of the planet car, so that the influence of accessory bending moment on the planet car is avoided;

the track needs to have a predetermined length, and when the planet carrier main suspension is deformed, the vehicle body is raised or lowered, and the ratchet wheel can move back and forth on the track.

When the wheel resistance is loaded, a control signal is given by the testing and controlling cabinet, the loading motor and the speed reducer drive the loading driving wheel to rotate, the loading driving wheel drives the track and the driven wheel to move, and the pawl type shifting piece structure on the track is in contact action with pawl wheels of the planet vehicle, so that the wheel resistance is generated.

During testing, the wheel resistance loading unit firstly enters a no-load control mode, the planet vehicle moves forwards, the loading driving wheel drives the crawler and the driven wheel to move at the same speed as the loading driving wheel, at the moment, the indication number of the tension sensor is small, and errors caused by friction of a rotating shaft system of the wheel resistance loading unit are mainly generated. The wheel resistance is gradually increased, namely the reading of the torque sensor is increased, the wheel of the planet vehicle moves with load, and the reading of the tension sensor is the traction force of the planet vehicle at the moment.

The 6 sets of wheel resistance loading units are independently controlled, and the simulation of different loads of the front wheel, the middle wheel and the rear wheel in the process of the planet vehicle going up and down a slope can be realized.

The rack is spliced by I-shaped steel, so that the rack has higher rigidity and does not deform in the test process; the surface of the frame is coated with a heat insulating material, so that the frame is prevented from being deformed due to overhigh or overlow temperature in a high-temperature and low-temperature environment.

The hauling cable is made of Kevlar materials and has the advantages of being light in weight and resistant to high and low temperature environments.

The tension sensor adopts a one-way tension and compression sensor, and is coated with a heat insulating material, so that the phenomenon that the reading of the sensor drifts due to the temperature in high and low temperature environments is avoided.

The loading driving wheel and the loading driven wheel both adopt ceramic bearings, so that the increase of deformation friction force of the rotating pair in high and low temperature environments is avoided, and the test error is increased.

The pawl type shifting sheet structure on the crawler is made of non-metal materials, and the pawl type shifting sheet structure interacts with pawls on pawl wheels of the planet vehicle to simulate the advancing resistance of the wheels in the rotating process.

The torque and rotating speed sensor is used for testing the rotating speed and the torque of the loading driving wheel, so that the moving speed of the crawler belt is matched with the rotating speed of the loading driving wheel, and the resistance load applied to the wheels is obtained through the torque; the torque and rotating speed sensor has a heat preservation measure, so that temperature drift is avoided.

The loading motor and the speed reducer are used for driving a loading driving wheel to realize wheel resistance loading; the loading motor and the speed reducer are both in solid lubrication to adapt to a vacuum environment, and the loading motor and the speed reducer are also provided with heat preservation measures to avoid the clamping stagnation of a revolute pair caused by high and low temperatures.

The test and control cabinet is used for testing readings of the tension sensor, the torque sensor and the rotating speed sensor and driving the loading motor to move through closed-loop feedback control.

The invention has the beneficial effects that:

the invention can adapt to the deformation of a planet vehicle body through the active suspension, independently apply resisting moment loads to 6 pawl type wheels, and can finish the traction test of the planet vehicle in a vacuum high-low temperature environment.

Drawings

FIG. 1 is a side view of the present invention;

FIG. 2 is a top view of the present invention.

Detailed Description

Referring to fig. 1 and 2, a traction testing device for a planet vehicle in a vacuum high-temperature and low-temperature environment comprises a frame 1, 6 sets of wheel resistance loading units 2, a traction rope 3, a tension sensor 4 and a testing and control cabinet 5;

the wheel resistance loading unit 2 comprises a loading driving wheel 2-1, a crawler 2-2, a driven wheel 2-3, a support column 2-4, a torque and rotating speed sensor 2-5, a loading motor and a speed reducer 2-6;

6 sets of wheel resistance loading units 2 are arranged on the frame 1, and the distance between the wheel resistance loading units 2 is matched with the wheel spacing of the planet vehicle; the planet vehicle is positioned on the wheel resistance loading unit 2, a pawl wheel 7 of the planet vehicle is in contact with the crawler 2-2, the surface of the crawler 2-2 is provided with a pawl type shifting sheet structure 2-7, and the pawl wheel 7 of the planet vehicle is in contact with the pawl type shifting sheet structure 2-7 on the surface of the crawler 2-2; the tension sensor 4 is arranged on the planet vehicle body 6, the tension sensor 4 is connected with the rack 1 through the traction rope 3, and the connecting point of the traction rope 3 and the rack 1 is at the same height with the mass center of the planet vehicle, so that the influence of accessory bending moment on the planet vehicle is avoided;

the track 2-2 is required to have a predetermined length, and when the planet carrier main suspension is deformed, the vehicle body is raised or lowered, and the click wheel 7 can move back and forth on the track 2-2.

When the wheel resistance is loaded, a control signal is given by the testing and controlling cabinet, the loading motor and the speed reducer 2-6 drive the loading driving wheel 2-1 to rotate, the loading driving wheel 2-1 drives the crawler belt 2-2 and the driven wheel 2-3 to move, and the pawl type shifting piece structure on the crawler belt 2-2 is in contact action with the pawl wheel 7 of the planet vehicle, so that the wheel resistance is generated.

During testing, the wheel resistance loading unit 2 firstly enters a no-load control mode, the planet vehicle moves forwards, the loading driving wheel 2-1 drives the crawler belt 2-2 and the driven wheel 2-3 to move at the same speed as the loading driving wheel 2-1, and at the moment, the indication number of the tension sensor 4 is small, and errors mainly caused by friction of a rotating shaft system of the wheel resistance loading unit 2 are avoided. The wheel resistance is gradually increased, namely the reading of the torque sensor is increased, the wheel of the planet vehicle moves with load, and the reading of the tension sensor 4 is the traction force of the planet vehicle.

The 6 sets of wheel resistance loading units 2 are independently controlled, and the simulation of different loads of front, middle and rear wheels in the process of the planet vehicle going up and down a slope can be realized.

The rack 1 is spliced by I-shaped steel, has higher rigidity, and does not deform in the test process; the surface of the frame 1 is coated with heat insulation materials, so that the frame is prevented from being deformed due to overhigh or overlow temperature under high and low temperature environments.

The hauling cable 3 is made of Kevlar materials and has the advantages of being light in weight and resistant to high and low temperature environments.

The tension sensor 4 adopts a one-way tension and compression sensor, and the tension sensor 4 is coated with a heat insulating material, so that the phenomenon that the temperature causes the drift of the sensor readings in high and low temperature environments is avoided.

The loading driving wheel 2-1 and the loading driven wheel 2-3 both adopt ceramic bearings, so that the increase of deformation friction force of the rotating pair in high and low temperature environments is avoided, and the test error is increased.

The pawl type shifting sheet structure on the crawler 2-2 is made of 2-7 bits of non-metal materials, and the pawl type shifting sheet structure 2-7 interacts with pawls on a pawl wheel 7 of the planet vehicle to simulate the advancing resistance of the wheel in the rotating process.

The torque and rotation speed sensor 2-5 is used for testing the rotation speed and the torque of the loading driving wheel 2-1, so that the movement speed of the crawler 2-2 is matched with the rotation speed of the loading driving wheel 2-1, and the resistance load applied to the wheels is obtained through the torque; the torque and rotating speed sensors 2-5 have heat preservation measures to avoid temperature drift.

The loading motor and the speed reducer 2-6 are used for driving the loading driving wheel 2-1 to realize wheel resistance loading; the loading motor and the speed reducers 2 to 6 are both solid lubricated to adapt to a vacuum environment, and the loading motor and the speed reducers also have heat preservation measures to avoid the clamping stagnation of a rotating pair caused by high and low temperatures.

The test and control cabinet 5 is used for testing readings of the tension sensor 4 and the torque and rotating speed sensors 2-5 and driving the loading motor to move through closed-loop feedback control.