CN104122102B - Soil strength test board for wheel - Google Patents
Soil strength test board for wheel Download PDFInfo
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- CN104122102B CN104122102B CN201410312429.4A CN201410312429A CN104122102B CN 104122102 B CN104122102 B CN 104122102B CN 201410312429 A CN201410312429 A CN 201410312429A CN 104122102 B CN104122102 B CN 104122102B
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- moving frame
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Abstract
The invention relates to a soil strength test board for a wheel. The soil strength test board for the wheel comprises a test board bracket, a wheel and a soil groove body which interacts with the wheel, the soil groove body is arranged at the lower part of the inside of the test board bracket, and the wheel is located at the upper surface of the soil groove body in a rolling press mode; the wheel is connected below a variable load mechanism through a steering mechanism, and the variable load mechanism is connected with a driven wheel drive mechanism through vertical and horizontal moving mechanisms so as to be movably hanged on two upper beams of the test board bracket; the rotating shaft of the wheel is directly connected with an active wheel drive mechanism. The soil strength test board for the wheel can use a counterweight block to change the weight of the soil strength test board for the wheel under an offline state so as to simulate the acting force between the wheel and the ground under different vehicle weights; a slider-crank mechanism changes the distance between two isotropic magnets so as to change the repulsive force there-between to simulate the online real-time vertical load change of the wheel of an air cushion vehicle; the active wheel drive mechanism and the driven wheel drive mechanism simulate the active movement form and driven movement form of the wheel.
Description
Technical field
The present invention relates to a kind of wheel soil power testboard, particularly one kind can change in real time online takes turns vertical effect
The wheel soil power testboard of power.
Background technology
Earth surface has the soft ground environment such as large-area marsh, beach, desert, is related to oil, mining industry, transport
Numerous agro-industrial sectors such as industry, fishery, forestry, agricultural and military field.Off-road vehicle in soft ground run, walking mechanism
It is susceptible to sagging depth, resistance is big, efficiency is low, skidding is serious, or even the problem that cannot be travelled at all, it is therefore necessary to design is opened
Soil power testboard is sent out, for studying walking mechanism（Mainly wheel）With the interaction mode of weak soil, accordingly optimization design
Walking mechanism, improves soft ground by property.
The proposition of wheel soil power testboard design is considered as problems with：First, rationally determine type of drive.It is existing
Some testboards generally individually adopt wheel hub motor active drive mode（One is Chinese invention patent application number
200610076321.5 disclosed in suitable for planetary detection vehicle wheel travelling performance test trolley device）Or individually
Moved using step motor drive testboard, so as to band motor car wheel does driven motions（One Chinese invention patent application number
201110429111.0 disclosed in ground walking test system of lunar surface inspection device）, it has the disadvantage cannot be while simulate actively
With driven two kinds of motion morphologies.Second, rationally change vertical load.Existing testboard generally changes vertical load using offline
（One is suitable for planetary detection vehicle wheel mobility disclosed in Chinese invention patent application number 200610076321.5
The trolley device that can be tested）, that is, needing offline increase and decrease balancing weight manually to change the size of analysis of wheel vertical direction loading force, it lacks
Point is the size that cannot in real time change vertical loads power online.
Based on requirements above, the present invention proposes that one kind can measure multiple soil parameters, can simulate active and driven two
Plant motion morphology, can in real time change the wheel soil power testboard for taking turns vertical active force online.
The content of the invention
It is an object of the invention to propose a kind of defect existed for prior art, there is provided a kind of wheel soil power test
Platform, can measure multiple soil parameters, can simulate actively and driven two kinds of motion morphologies, can hang down with changing wheel in real time online
To active force.
To achieve these goals, the present invention is adopted the following technical scheme that：
A kind of wheel soil power testboard, including a testboard, a wheel and one and wheel interaction
Soil box body, it is characterised in that：The soil box body is placed in bottom in testboard support, upper table of the vehicle wheel rolling presses in soil box body
Face；The wheel is connected to the lower section of a varying load mechanism by a steering mechanism, and the varying load mechanism passes through one
Moves vertically and horizontally mechanism connects the driven drive mechanism of wheel and activity is lifted on two of the testboard support
On crossbeam；The rotating shaft of wheel is directly connected to a wheel active driving mechanisms.
The structure of the testboard support：Two left columns and two right columns are vertically parallel to each other, solid respectively
Dingan County is mounted on four testboard universal wheels, and two entablatures and two sills are parallel to each other in the horizontal direction, two ends
It is respectively and fixedly installed on left column and right column, two central posts are parallel with left column and right column, and two ends are separately mounted to
On entablature and sill, straight line guide rail seat is respectively installed on two entablatures, straight line is installed on straight line guide rail seat and is led
Rail.
The wheel active driving mechanisms and the structure of steering mechanism：The wheel is arranged on a power transmission shaft, the biography
Moving axis left end is arranged on a wheel stand left end by bearing, and is connected with an angular-rate sensor, and right-hand member passes through axle
Hold installed in wheel stand right-hand member, and be connected with a torque sensor, a decelerator and a wheel hub motor successively, structure
Into the wheel active driving mechanisms：A vibrating sensor is installed in the wheel stand side, above successively with a deceleration
Device, a steer motor are connected with a six-dimension force sensor, and the six-dimension force sensor is by a fixed plate and counterweight
Case is connected.
The varying load mechanism：One crank motor is arranged on a vertical slide rail frame, by a decelerator successively
It is connected with a crank, connecting rod, a magnet slide block, the magnet slide block is arranged in a chute track, the chute
In an adjustment block, the adjustment block is arranged on the ballast box, and balancing weight is placed in ballast box；One pressure sensing
Device is connected respectively with the chute and ballast box, and a Magnet is arranged on pressure transducer, and is embedded in chute track；It is described
Crank, connecting rod, magnet slide block, chute constitute a slider-crank mechanism, the adjustment block, ballast box, balancing weight and slide crank
Block mechanism constitutes the varying load mechanism.
The moves vertically and horizontally mechanism and the structure of the driven drive mechanism of wheel：Four one slide rails respectively with ballast box and
One vertical slide rail frame is connected, and a linear displacement transducer is arranged between ballast box and vertical slide rail frame, vertical slide rail
Frame is fixedly connected with a horizontal moving frame, and two line slideways are installed under horizontal moving frame, and the line slideway is arranged on two
On straight line guide rail seat, the ballast box, slide rail, vertical slide rail frame and horizontal moving frame constitute moves vertically and horizontally mechanism, and one
Individual feed screw nut is fixedly mounted in a feed screw nut fixed plate, leading screw and feed screw nut screw and one end successively with
One screw block, shaft coupling, a spindle motor are connected, and a horizontal moving frame fixed plate is fixed with horizontal moving frame
Connection, horizontal moving frame fixed plate is connected with a feed screw nut fixed plate by screw bolt and nut, is pacified under horizontal moving frame
The line slideway is filled, line slideway is arranged on straight line guide rail seat, and the horizontal moving frame is fixedly connected with vertical slide rail frame,
The slide rail is connected respectively with vertical slide rail frame and ballast box, the spindle motor, leading screw, line slideway, vertically and horizontally
Travel mechanism, wheel stand and wheel constitute the driven drive mechanism of wheel.
The present invention compared with prior art, enters with following obvious prominent substantive distinguishing features and notable technology
Step：First, both individually can be moved with wheel-hub motor driven vehicle wheel, it is also possible to using wheel as driven pulley, individually with leading screw electricity
Machine band motor car wheel driven motions.This drivewheel/driven pulley is multi-modal to simulate the multiformity for adding testboard function.Second,
Using simple mechanism（Slider-crank mechanism）And physical property（Same sex Magnet repels each other）, wheel can be in real time changed online vertical
The size of institute's stress on direction.3rd, testboard and soil box body are separate component, and bottom is mounted on universal wheel, are easy to test
The carrying of device, facilitates soil box body to change different types of soil.4th, the line slideway of testboard be conducive to greatly reducing plus
The power being loaded on leading screw, and in active drive, leading screw is separated with horizontal moving frame, and line slideway can replace leading screw to do level
It is mobile.
Description of the drawings
Fig. 1 is wheel soil power testboard front view
Fig. 2 is wheel soil power testboard left view
Fig. 3 is moves vertically and horizontally mechanism's front view
Fig. 4 is moves vertically and horizontally mechanism's left view
Fig. 5 is varying load mechanism structure figure
Fig. 6 is to move horizontally rack assumption diagram
Fig. 7 is testboard rack assumption diagram.
Specific embodiment
The preferred embodiments of the present invention are elaborated below in conjunction with the accompanying drawings.The embodiment is in technical solution of the present invention
Under the premise of implement, give specific embodiment and the course of work, but protection scope of the present invention is not limited to the embodiment.
Embodiment one：
1. referring to Fig. 1～Fig. 7, this wheel soil power testboard, including testboard support A, a wheel 22 and
The individual soil box body 8 interacted with wheel 22, it is characterised in that：The soil box body 8 is placed in bottom in testboard support A, institute
State the upper surface that wheel 22 is rolled over soil box body 8；The wheel 22 is connected to a varying load mechanism by a steering mechanism B
The lower section of C, the varying load mechanism C by one moves vertically and horizontally mechanism D connect driven drive mechanism E of wheel and
Activity is lifted on two entablatures 3 of the testboard support A；The rotating shaft of wheel 22 is directly connected to a wheel active drive
Mechanism F.
Embodiment two：
The present embodiment is essentially identical with embodiment one, and special feature is as follows：
The structure of the testboard support A：Two left columns 11 and two right columns 7 are vertically parallel to each other, point
It is not fixedly mounted on four testboard universal wheels 17, two entablatures 3 and two sills 9 are mutually put down in the horizontal direction
OK, two ends are respectively and fixedly installed on left column 11 and right column 7, and two central posts 12 are parallel with left column 11 and right column 7,
Two ends are separately mounted on entablature 3 and sill 9, and on two entablatures 3 straight line guide rail seat 2 is respectively provided with, and straight line is led
Line slideway 14 is installed on rail chair 2.
The structure of the wheel active driving mechanisms F and steering mechanism B：The wheel 22 is arranged on a power transmission shaft,
The power transmission shaft left end is arranged on a left end of wheel stand 27 by bearing, and is connected with an angular-rate sensor 30, right
End by bearing be arranged on the right-hand member of wheel stand 27, and successively with 28, decelerator of a torque sensor and a wheel hub
Motor 29 is connected, and constitutes the wheel active driving mechanisms F：The side of the wheel stand 27 is installed by one vibrating sensor
23, it is connected with 24, steer motor 26 of a decelerator and a six-dimension force sensor 25 successively above, the six-dimensional force
Sensor 25 is connected by a fixed plate with ballast box 36.
The varying load mechanism C：One crank motor 40 is arranged on a vertical slide rail frame 45, by a decelerator
It is connected with 31, one, crank, 32, one, a connecting rod magnet slide block 33 successively, the magnet slide block 33 is arranged on a chute 38
In track, the chute 38 is arranged in an adjustment block 37, and the adjustment block 37 is arranged on the ballast box 36, in ballast box 36
Place balancing weight 6；One pressure transducer 35 is connected respectively with the chute 38 and ballast box 36, and a Magnet 34 is arranged on pressure
On force transducer 35, and it is embedded in the track of chute 38；The crank 31, connecting rod 32, magnet slide block 33, chute 38 constitute a song
Handle slide block mechanism, the adjustment block 37, ballast box 36, balancing weight 6 constitute the varying load mechanism C with slider-crank mechanism.
The structure of the moves vertically and horizontally mechanism D and driven drive mechanism E of wheel：Four one slide rails 5 respectively with counterweight
Case 36 is connected with a vertical slide rail frame 45, and a linear displacement transducer 21 is arranged on ballast box 36 and vertical slide rail frame 45
Between, vertical slide rail frame 45 is fixedly connected with a horizontal moving frame 44, horizontal moving frame 44 times installations, two line slideways 14,
The line slideway 14 be arranged on two straight line guide rail seats 2 on, the ballast box 36, slide rail 5, vertical slide rail frame 45 with move horizontally
Frame 44 constitutes moves vertically and horizontally mechanism D, and a feed screw nut 41 is fixedly mounted in a feed screw nut fixed plate 47, and one
Root leading screw 48 screw with feed screw nut 41 and one end successively with 13, shaft coupling of a screw block, a phase of spindle motor 4
Connection, a horizontal moving frame fixed plate 46 is fixedly connected with horizontal moving frame 44, horizontal moving frame fixed plate 46 and a silk
Thick stick nut fixed plate 47 is connected by bolt 42 with nut 43, and horizontal moving frame installs the line slideway 14, straight line 44 times
Guide rail 14 is arranged on straight line guide rail seat 2, and the horizontal moving frame 44 is fixedly connected with vertical slide rail frame 45,5 points of the slide rail
It is not connected with vertical slide rail frame 45 and ballast box 36, the spindle motor 4, leading screw 48, line slideway 14, vertically and horizontally moves
Motivation structure D, wheel stand 27 constitute driven drive mechanism E of wheel with wheel 22.
Embodiment three：
As shown in Fig. 1～Fig. 7, this wheel soil power testboard, including infrared ray sensor receiving terminal 1, straight line guide rail seat
2nd, entablature 3, spindle motor 4, slide rail 5, balancing weight 6, right column 7, soil box body 8, sill 9, soil box crossbeam 10, left column
11st, central post 12, screw block 13, line slideway 14, soil box line slideway 15, soil box straight line guide rail seat 16, testboard universal wheel
17th, soil box body universal wheel 18, scraping mechanism 19, infrared ray sensor transmitting terminal 20, linear displacement transducer 21, wheel 22, shake
Dynamic sensor 23, decelerator 24, six-dimension force sensor 25, steer motor 26, wheel stand 27, torque sensor 28, wheel hub electricity
Machine 29, angular-rate sensor 30, crank 31, connecting rod 32, magnet slide block 33, Magnet 34, pressure transducer 35, ballast box 36, tune
Monoblock 37, chute 38, decelerator 39, crank motor 40, feed screw nut 41, bolt 42, nut 43, move horizontally support 44, hang down
Straight sliding rail rack 45, move horizontally bracket fixing plate 46, feed screw nut fixed plate 47 and leading screw 48；Left column 11, right column 7,
Central post 12, entablature 3 and sill 9 constitute testboard support A.The left column 11 and right column 7 of testboard support A is along vertical
Direction is parallel to each other, and is respectively and fixedly installed on testboard universal wheel 17, facilitates testboard to carry, entablature 3 and the edge of sill 9
Horizontal direction is parallel to each other, and two ends are separately mounted on left column 11 and right column 7, in order to ensure crossbeam it is rigid, prevent produce
The big deformation of life, central post 12 is parallel with left column 11 and right column 7, and two ends are separately mounted on entablature 3 and sill 9,
Straight line guide rail seat 2 is installed on entablature 3, line slideway 14 is installed on straight line guide rail seat 2.
As shown in figure 5, crank 31, connecting rod 32, magnet slide block 33, chute 38 constitute slider-crank mechanism, adjustment block 37, match somebody with somebody
Loaded van 36, balancing weight 6 constitute varying load mechanism C with slider-crank mechanism.Crank motor 40 is arranged on vertical slide rail frame 45, is led to
Cross decelerator 39 to be connected with crank 31, connecting rod 32, magnet slide block 33 successively, magnet slide block 33 is arranged in the track of chute 38, it is sliding
Groove 38 is arranged in adjustment block 37, and adjustment block 37 is arranged on ballast box 36, and balancing weight 6 is placed in ballast box 36, can be adjusted
Testboard weight, pressure transducer 35 is connected respectively with chute 38 and ballast box 36, and Magnet 34 is arranged on pressure transducer 35,
And be embedded in the track of chute 38.Obviously, in slider-crank mechanism motor process, magnet slide block 33 be placed in pressure transducer 35
On Magnet 34 between distance will change and produce the active force that repels each other of change, pressure transducer 35 can measure two blocks of magnetic
The active force that repels each other changed between ferrum, so as to the online size for changing analysis of wheel vertical direction force in real time, realizes the online of testboard
Real-time varying load function.
As shown in Fig. 3, Fig. 4 and Fig. 6, ballast box 36, slide rail 5, vertical slide rail frame 45 constitute vertical with horizontal moving frame 44
With horizontal mobile mechanism D, wheel hub motor 29, wheel 22, wheel stand 27 constitute wheel actively with moves vertically and horizontally mechanism D
Drive mechanism F, spindle motor 4, leading screw 48, moves vertically and horizontally line slideway 14, mechanism D, wheel stand 27 and wheel 22
Constitute driven drive mechanism E of wheel.One end of leading screw 48 be arranged on feed screw nut 41 in, end successively with screw block 13, shaft coupling
Device, spindle motor 4 are connected, and feed screw nut 41 is fixedly mounted in feed screw nut fixed plate 47, feed screw nut fixed plate 47 with
Horizontal moving frame fixed plate 46 is connected by bolt 42 with nut 43, and horizontal moving frame fixed plate 46 is consolidated with horizontal moving frame 44
Fixed connection, 44 times installation line slideways 14 of horizontal moving frame, line slideway 14 is arranged on straight line guide rail seat 2, horizontal moving frame
44 are fixedly connected with vertical slide rail frame 45, and slide rail 5 is connected respectively with vertical slide rail frame 45 and ballast box 36, it is ensured that wheel is hanging down
Nogata degree of freedom upwards, in order to measure the sinkage of driving wheel 22, linear displacement transducer 21 is arranged on ballast box 36 and hangs down
Between straight sliding rail frame 45, ballast box 36 by fixed plate successively with six-dimension force sensor 25, steer motor 26, decelerator 24 and car
Wheel support 27 is connected, and wheel 22 is arranged on the power transmission shaft of wheel stand 27, and power transmission shaft left end is arranged on wheel by bearing
The left end of support 27, and be connected with angular-rate sensor 30, angular-rate sensor 30 is used to measure the angular velocity of wheel 22, transmission
Axle right-hand member is arranged on the right-hand member of wheel stand 27 by bearing, is connected with torque sensor 28, decelerator and wheel hub motor 22 successively
Connect.When user removes the bolt 42 and nut 43 being connected between feed screw nut fixed plate 47 and horizontal moving frame fixed plate 46,
So that separating between leading screw 48 and following horizontal moving frame 44, wheel hub motor 29 is individually enabled and drives testboard to enter water-filling
Translation is dynamic, and now line slideway 14 replaces leading screw 48 to move horizontally, it is possible to achieve the active exercise form of wheel 22；Work as user
Feed screw nut fixed plate 47 is connected with horizontal moving frame fixed plate 46 by bolt 42 and nut 43 so that leading screw 48 is with
The horizontal moving frame 44 in face is integrally formed, and spindle motor 4 is individually enabled and drives leading screw 48 to rotate, and drives horizontal moving frame 44 to occur
Translational motion, it is possible to achieve the driven motions form of wheel 22；When user consolidates feed screw nut fixed plate 47 and horizontal moving frame
Fixed board 46 is connected by bolt 42 with nut 43, and while enable wheel hub motor 29 and spindle motor 4, controls wheel hub motor
29 and the rotating speed of spindle motor 4, it is possible to achieve motion morphology of the wheel 22 under different slip rates.
The present invention is a kind of wheel soil power testboard that can in real time change online and take turns vertical active force, by with soil
The cooperation of cell body 8 completes the test experiments for taking turns ground active force and torque.Scraping mechanism 19 is arranged on soil box line slideway 15, should
The bottom of scraping mechanism 19 contacts with soil in soil box body 8, it is ensured that soil elemental height and flatness, and with ballast box 36, sliding
The moves vertically and horizontally mechanism D that rail 5, vertical slide rail frame 45 and horizontal moving frame 44 are constituted is engaged, it is ensured that before test, wheel
22 proceed by test in the sustained height of soil box body 8；The both sides of horizontal moving frame 44 are symmetrically installed with infrared ray sensor transmitting
End 20, testboard support A or so two ends are symmetrically installed with infrared ray sensor receiving terminal 1, it is ensured that wheel 22 reaches two in test
Motion is automatically stopped during end；Soil box body 8 can be moved by the soil box universal wheel 18 installed in the bottom of soil box body 8, is convenient for changing
Different types of soil.
Claims (4)
1. a kind of wheel soil power testboard, an including testboard support（A）, a wheel（22）With one and wheel（22）
The soil box body of interaction（8）, it is characterised in that：The soil box body（8）It is placed in testboard support（A）Interior bottom, the car
Wheel（22）It is rolled over soil box body（8）Upper surface；The wheel（22）By a steering mechanism（B）It is connected to a varying load
Mechanism（C）Lower section, the varying load mechanism（C）By a moves vertically and horizontally mechanism（D）One wheel of connection is driven
Drive mechanism（E）And activity is lifted on the testboard support（A）Two entablatures（3）On；Wheel（22）Rotating shaft it is direct
One wheel active driving mechanisms of connection（F）；The varying load mechanism（C）：One crank motor（40）It is vertical installed in one
Sliding rail frame（45）On, by a decelerator successively with a crank（31）, a connecting rod（32）, a magnet slide block（33）Phase
Even, the magnet slide block（33）Installed in a chute（38）In track, the chute（38）Installed in an adjustment block（37）On,
The adjustment block（37）Installed in ballast box（36）On, ballast box（36）Middle placement balancing weight（6）；One pressure transducer（35）Point
Not with the chute（38）And ballast box（36）It is connected, a Magnet（34）Installed in pressure transducer（35）On, and it is embedded in cunning
Groove（38）In track；The crank（31）, connecting rod（32）, magnet slide block（33）, chute（38）A slider-crank mechanism is constituted,
The adjustment block（37）, ballast box（36）, balancing weight（6）The varying load mechanism is constituted with slider-crank mechanism（C）.
2. wheel soil power testboard according to claim 1, it is characterised in that：The testboard support（A）Structure：
Two left columns（11）With two right columns（7）Vertically it is parallel to each other, is respectively and fixedly installed to four testboards universal
Wheel（17）On, two entablatures（3）With two sills（9）It is parallel to each other in the horizontal direction, two ends fixedly mount respectively
In left column（11）And right column（7）On, two central posts（12）With left column（11）And right column（7）It is parallel, two ends difference
Installed in entablature（3）And sill（9）On, two entablatures（3）On straight line guide rail seat is respectively installed（2）, straight line leads
Rail chair（2）On line slideway is installed（14）.
3. wheel soil power testboard according to claim 1, it is characterised in that：The wheel active driving mechanisms（F）
And steering mechanism（B）Structure：The wheel（22）On a power transmission shaft, the power transmission shaft left end is arranged on by bearing
One wheel stand（27）Left end, and with an angular-rate sensor（30）It is connected, right-hand member is by bearing installed in wheel
Frame（27）Right-hand member, and successively with a torque sensor（28）, decelerator and a wheel hub motor（29）It is connected, constitutes
The wheel active driving mechanisms（F）；The wheel stand（27）Side is installed by one vibrating sensor（23）, above successively with
One decelerator（24）, a steer motor（26）With a six-dimension force sensor（25）It is connected, the six-dimension force sensor
（25）By a fixed plate and ballast box（36）It is connected.
4. wheel soil power testboard according to claim 1, it is characterised in that：The moves vertically and horizontally mechanism
（D）And the driven drive mechanism of wheel（E）Structure：Four one slide rails（5）Respectively with ballast box（36）With a vertical slide rail frame
（45）It is connected, a linear displacement transducer（21）Installed in ballast box（36）With vertical slide rail frame（45）Between, it is vertical sliding
Rail gantry（45）With a horizontal moving frame（44）It is fixedly connected, horizontal moving frame（44）Two line slideways of lower installation（14）, should
Line slideway（14）Installed in two straight line guide rail seats（2）On, the ballast box（36）, slide rail（5）, vertical slide rail frame（45）With
Horizontal moving frame（44）Constitute moves vertically and horizontally mechanism（D）, a feed screw nut（41）It is fixedly mounted on a leading screw spiral shell
Female fixed plate（47）On, a leading screw（48）With feed screw nut（41）Screw and one end successively with a screw block（13）, one
Individual shaft coupling, a spindle motor（4）It is connected, a horizontal moving frame fixed plate（46）With horizontal moving frame（44）It is fixed to connect
Connect, horizontal moving frame fixed plate（46）With a feed screw nut fixed plate（47）By bolt（42）And nut（43）It is connected,
Horizontal moving frame（44）It is lower that the line slideway is installed（14）, line slideway（14）Installed in straight line guide rail seat（2）On, the water
Translation moving frame（44）With vertical slide rail frame（45）It is fixedly connected, the slide rail（5）Respectively with vertical slide rail frame（45）And ballast box
（36）It is connected, the spindle motor（4）, leading screw（48）, line slideway（14）, moves vertically and horizontally mechanism（D）, wheel
Frame（27）With wheel（22）Constitute the driven drive mechanism of wheel（E）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410312429.4A CN104122102B (en) | 2014-07-02 | 2014-07-02 | Soil strength test board for wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410312429.4A CN104122102B (en) | 2014-07-02 | 2014-07-02 | Soil strength test board for wheel |
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| Publication Number | Publication Date |
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| CN104122102A CN104122102A (en) | 2014-10-29 |
| CN104122102B true CN104122102B (en) | 2017-05-10 |
Family
ID=51767603
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410312429.4A Expired - Fee Related CN104122102B (en) | 2014-07-02 | 2014-07-02 | Soil strength test board for wheel |
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| SU568702A1 (en) * | 1974-11-04 | 1977-08-15 | Ордена Октябрьской Революции Всесоюзный Государственный Проектно-Изыскательский И Научно-Исследовательский Институт Энергетических Систем И Электрических Сетей "Энергосетьпроект" | Device for determining strengh of soils under natural conditions |
| CN1831506A (en) * | 2006-04-21 | 2006-09-13 | 北京航空航天大学 | Trolley for testing planetary detection vehicle wheel moving performance |
| CN101000282A (en) * | 2006-12-15 | 2007-07-18 | 哈尔滨工业大学 | Multifunction test device for wheel motion performance of planetary detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2010054419A (en) * | 2008-08-29 | 2010-03-11 | Jfe Steel Corp | Method of testing soil of engineering work material |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SU568702A1 (en) * | 1974-11-04 | 1977-08-15 | Ордена Октябрьской Революции Всесоюзный Государственный Проектно-Изыскательский И Научно-Исследовательский Институт Энергетических Систем И Электрических Сетей "Энергосетьпроект" | Device for determining strengh of soils under natural conditions |
| CN1831506A (en) * | 2006-04-21 | 2006-09-13 | 北京航空航天大学 | Trolley for testing planetary detection vehicle wheel moving performance |
| CN101000282A (en) * | 2006-12-15 | 2007-07-18 | 哈尔滨工业大学 | Multifunction test device for wheel motion performance of planetary detection robot |
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