CN111721550A - Device and method for detecting grip force and service life of driving wheel - Google Patents
Device and method for detecting grip force and service life of driving wheel Download PDFInfo
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- CN111721550A CN111721550A CN202010506004.2A CN202010506004A CN111721550A CN 111721550 A CN111721550 A CN 111721550A CN 202010506004 A CN202010506004 A CN 202010506004A CN 111721550 A CN111721550 A CN 111721550A
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- 238000004088 simulation Methods 0.000 claims abstract description 28
- 238000001514 detection method Methods 0.000 claims abstract description 12
- 238000005096 rolling process Methods 0.000 claims abstract description 12
- 239000000725 suspension Substances 0.000 claims description 43
- 239000006247 magnetic powder Substances 0.000 claims description 25
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- 239000000463 material Substances 0.000 description 4
- 238000005507 spraying Methods 0.000 description 4
- 239000004568 cement Substances 0.000 description 2
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Abstract
The detection device for the grip force and the service life of the driving wheel comprises: the driving wheel unit comprises a supporting device, a pushing device and a driving wheel assembly; the road surface simulation unit is arranged below the driving wheel unit and comprises a first supporting part, a second supporting part and a roller assembly; the control unit comprises a master controller, a driving wheel control circuit, a brake unit controller and a pushing device controller; the method for detecting the grip force and the service life comprises the following steps: adjusting the position of the driving wheel assembly to enable the driving wheel assembly to be in close contact with the rolling surface and used for simulating the driving wheel to be in close contact with the simulated road surface; and then measuring the grip force by adjusting the brake unit and detecting the service life. The invention has the beneficial effects that: different road surface conditions can be simulated; the effect of different anti-skid patterns can be tested; the service life of the driving wheel can be tested; it is possible to detect when the drive wheels start to slip; the fault tolerance rate of the system is improved.
Description
Technical Field
The invention relates to a device and a method for detecting the grip and the service life of a driving wheel.
Background
With the great development of intelligent logistics, the application of warehouse logistics vehicles is more and more extensive, the same requirements for the warehouse logistics vehicles are higher and higher, and goods need to be sent from a warehouse to a workshop and often need to pass through different pavements. The driving wheel tires of the prior warehouse logistics vehicles mostly adopt smooth surfaces, and the driving wheel in the form is simple to manufacture and high in economy; however, when the storage vehicle runs on a road with accumulated rain, water films are easily generated between the road surfaces on the smooth surfaces of the driving wheels, and the storage vehicle slips.
The anti-skid lines on the tires increase friction force for the driving wheels in the process of load running, reduce the phenomenon of skidding and ensure stable and light running. More and more non-slip drive wheels are used. But the adaptability of the driving wheel to different road surfaces can be better improved according to the pattern, and few professional devices can accurately detect the influence of different patterns on the driving wheel.
When the roundness of the wheel surface of the driving wheel is not high enough, the bearing process is not high enough, or other accidental factors cause the driving wheel to be possibly pinned during operation, and the driving wheel is difficult to detect.
Disclosure of Invention
The invention aims to test the problems that the anti-skid patterns can improve the grip force of a driving wheel on a wet road surface, the service life of the driving wheel can be shortened, and the like, and provides an experimental device capable of simulating the driving wheel state when a warehouse logistics vehicle runs, which can simulate different road surfaces, realize the load change of the vehicle and the real-time change of ground friction load loading, and briefly simulate the joint movement working condition of an industrial robot.
The invention discloses a device for detecting the grip force and the service life of a driving wheel, which is characterized by comprising the following components:
the driving wheel unit comprises a supporting device, a pushing device and a driving wheel assembly, wherein a position adjusting part is movably arranged at the upper part of the supporting device and used for installing the pushing device to adjust the position of the driving wheel assembly; the pushing device is suspended on the position adjusting part, and a pushing end at the bottom of the pushing device is provided with a driving wheel assembly for driving the driving wheel assembly to move so as to adjust the distance between the driving wheel and the road surface simulation unit; the driving wheel assembly is arranged at the pushing end of the pushing device, a wheel edge motor is arranged on the wheel edge of the driving wheel assembly, and the signal connecting end of the wheel edge motor is electrically connected with the corresponding port of the control unit, so that the driving wheel assembly is contacted with the road surface simulation unit under the control of the pushing device and the control unit to detect the ground gripping force and the service life of the driving wheel;
the road surface simulation unit is arranged below the driving wheel unit and comprises a first supporting part, a second supporting part and a roller assembly, wherein the first supporting part and the second supporting part are arranged at two ends of the roller assembly and are used for supporting the roller assembly; the roller assembly is supported below the driving wheel unit through the first supporting part and the second supporting part, is positioned on a motion track of the driving wheel assembly, and is connected with a torque output end shaft of the braking unit through a first shaft end, so that the roller assembly receives torque transmitted by the braking unit;
the braking unit is arranged on one side of the road surface simulation unit, the torque output end of the braking unit is connected with the first shaft end of the roller assembly, and the signal input end of the braking unit is linked with the corresponding signal output end point of the control unit and is used for outputting set torque to the roller assembly under the control of the control unit so as to simulate the road surface condition and measure the ground gripping force and the service life of the driving wheel;
the control unit comprises a master controller, a driving wheel control circuit, a braking unit controller and a pushing device controller, wherein signal transmission ports of the driving wheel control circuit, the braking unit controller and the pushing device controller are respectively and electrically connected with a signal transmission port of the master controller, and the driving wheel control circuit is electrically connected with a signal input end of a driving wheel assembly and used for controlling the movement of the driving wheel assembly; the signal output end of the brake unit controller is electrically connected with the signal input end of the brake unit and is used for controlling the torque generated by the brake unit; and the signal output end of the pushing device controller is electrically connected with the signal input end of the pushing device and is used for controlling the pushing end of the pushing device to stretch and drive the driving wheel assembly to generate thrust on the road simulation unit.
The supporting device comprises a first supporting seat, a sliding plate and a positioning screw, and a sliding groove for the sliding plate to insert is formed in the top of the first supporting seat; the sliding plate is inserted into the sliding groove of the first supporting seat, and a through hole with threads is reserved on the central axis of the sliding plate and is used for allowing a positioning screw to be screwed in to realize locking between the sliding plate and the first supporting seat;
the pushing device comprises a hydraulic cylinder and a suspension, the top of the hydraulic cylinder is suspended at the end part of the sliding plate, and the pushing end of the hydraulic cylinder is fixedly connected with the suspension for mounting the driving wheel assembly;
the driving wheel assembly comprises a driving wheel, a driving wheel mounting shaft and a wheel edge motor, the driving wheel is mounted at the bottom of the suspension through the driving wheel mounting shaft, and a central shaft of the driving wheel is kept parallel to a central shaft of the roller assembly; the wheel edge motor is arranged on the suspension, the output end of the wheel edge motor is connected with one end of the driving wheel mounting shaft, and the control end of the wheel edge motor is electrically connected with the signal output end of the driving wheel control circuit and used for driving the driving wheel to rotate around the circumferential direction of the central shaft of the driving wheel under the control of the control unit.
The spout at first supporting seat top is trapezoidal, and the side of first supporting seat is equipped with the floor that is used for improving first supporting seat structural strength.
The suspension comprises an upper suspension, a spring and a lower suspension, and the upper suspension is provided with a threaded hole for connecting a pushing device; the lower suspension is provided with a plurality of positioning holes for fixing the driving wheel; the cross sections of the upper and lower suspension slide rails are not circular, so that the upper and lower suspensions are prevented from rotating when the spring stretches.
The first supporting part comprises a first bearing seat and a second supporting seat; the second supporting part comprises a second bearing seat and a third supporting seat; the first bearing seat and the second bearing seat are respectively connected with the second supporting seat and the third supporting seat through bolts, and the first bearing seat, the second bearing seat and the roller component are kept coaxial; the roller assembly is arranged below the driving wheel unit and comprises a roller, a first roller shaft and a second roller shaft, wherein the roller is sleeved on the roller shaft and fixedly connected with the roller shaft, and the roller is respectively erected on the first supporting part and the second supporting part through the first roller shaft and the second roller shaft; the first roller shaft and the second roller shaft are square shafts, the central shafts of the first roller shaft and the second roller shaft are coaxial and are parallel to the central shaft of the driving wheel mounting shaft, and the first roller shaft is connected with the torque output end of the braking unit through a first coupler and used for receiving the torque of the braking unit.
The brake unit is a magnetic powder brake, is arranged on one side of the first support part and is coaxial with the first bearing seat, and a torque output shaft of the magnetic powder brake is connected with the first roller shaft through a first coupler; and the signal output end of the magnetic powder brake is electrically connected with the signal input end of the brake unit and is used for controlling the torque generated by the brake unit.
The device for detecting the grip force and the service life of the driving wheel further comprises a speed detection unit, wherein the speed detection unit is arranged on the side surface of the road surface simulation unit and comprises a fourth supporting seat and a rotating speed sensor, and the fourth supporting seat is arranged on one side of the road surface simulation unit and is used for supporting the rotating speed sensor; the rotating speed sensor is installed on the fourth supporting seat, the detection input end of the rotating speed sensor is connected with the second roller shaft of the roller assembly, and the signal output end of the rotating speed sensor is electrically connected with the corresponding port of the master controller and used for detecting the rotating speed of the roller assembly.
The device for detecting the grip force and the service life of the driving wheel further comprises a spraying device, the spraying device is arranged beside the road surface simulation unit and comprises a simulated rainwater spray head and a connecting pipe, the first end of the connecting pipe is communicated with an external water source pipeline, and the second end of the connecting pipe extends to the position of the roller assembly; the simulated rainwater spray head is installed at the second end of the connecting pipe, and a water outlet hole of the simulated rainwater spray head is aligned to the rolling surface of the roller component and used for simulating a road surface under a rainwater condition.
The method for detecting the grip force of the driving wheel by using the device for detecting the grip force and the service life of the driving wheel is characterized by comprising the following steps of:
1) mounting a driving wheel assembly on a suspension of a pushing end of a hydraulic cylinder, adjusting a sliding plate to enable the axis of the driving wheel and the axis of a roller wheel to be in the same vertical plane, and screwing a screw to fix the driving wheel;
2) the simulated rainwater spray head is opened, and water flow starts to be sprayed on the roller to simulate the ground in rainy days;
3) the control unit controls the hydraulic cylinder to generate thrust through the pushing unit controller so as to simulate the positive pressure of loaded warehouse logistics vehicles on the driving wheels, so that the driving wheels can be in close contact with the rolling surface and the driving wheels can be simulated to be in close contact with a simulated road surface;
4) the driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start rotating until the driving wheel stably rotates;
5) the magnetic powder brake controller is used for setting a gradually increased torque generated by the magnetic powder brake, the torque is transmitted to the roller through the first coupler, and when the torque is continuously increased until the rotating speed of the roller is lower than that of a driving wheel, the tire begins to slip; when the torque is increased to the point that the driving wheel can not drive the roller to rotate, the torque at the moment is the maximum gripping torque of the driving wheel on the water accumulating surface, and the torque is divided by the radius of the driving wheel, namely the maximum gripping force.
The method for detecting the grip force of the driving wheel by using the device for detecting the grip force and the service life of the driving wheel is characterized by comprising the following steps of:
1) mounting a driving wheel assembly on a suspension of a pushing end of a hydraulic cylinder, adjusting a sliding plate to enable the axis of the driving wheel and the axis of a roller wheel to be in the same vertical plane, and screwing a screw to fix the driving wheel;
2) the control unit controls the hydraulic cylinder to generate thrust through the pushing unit controller so as to simulate the positive pressure of loaded warehouse logistics vehicles on the driving wheels, so that the driving wheels can be in close contact with the rolling surface and the driving wheels can be simulated to be in close contact with a simulated road surface;
3) the driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start rotating until the driving wheel stably rotates;
4) the magnetic powder brake is arranged through the brake unit controller to generate torque T for simulating the friction force between the ground and the driving wheel, and the unit is N m:
T＝(G+M)×g×f×r (1)；
wherein G is the dead weight of the vehicle and the unit is kg; m is rated load and the unit is kg; g is the acceleration of gravity in m/s2(ii) a r is the radius of the driving wheel and is m; f is the rolling friction coefficient of the material of the wheel and the roller.
5) The driving wheel runs under rated load for a preset time, then stops, and detects the wear condition of the tire surface;
6) taking down the drive wheel that has anti-skidding decorative pattern, trade the drive wheel on plain noodles, carry out the same time of wear test under the same condition, compare the tire wear condition of two drive wheels: the initial tire thicknesses of the two driving wheels are consistent, and the tire thickness change conditions of the two driving wheels are measured after the tires are tested for the same time under the same pressure.
The invention has the beneficial effects that:
the invention can simulate different road conditions including whether it rains or not and different road materials, and can more accurately measure the real ground gripping force of the driving wheel under different conditions.
The invention can test the effect of different anti-skid patterns. And (5) inspecting the difference of the ground gripping force generated by different anti-skid patterns.
The invention can test the service life of the driving wheel and can test whether the added antiskid patterns can aggravate the abrasion degree of the tire surface of the driving wheel.
The invention can detect when the driving wheel begins to slip through the rotating speed sensor.
The invention can prevent the driving wheel from being pinned due to insufficient roundness of the wheel surface through the suspension, so that the pressure applied to the roller by the driving wheel is more balanced, and the fault-tolerant rate of the system is improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the first supporting seat of the present invention.
Fig. 3 is a schematic view of the construction of the skateboard of the present invention.
Fig. 4 is a schematic view of the scroll wheel assembly of the present invention.
Fig. 5 is a schematic structural view of the first connecting shaft of the present invention.
Fig. 6 is a structural schematic view of a second connecting shaft of the present invention.
Fig. 7 is a schematic structural diagram of a second support seat according to the present invention (the third support seat and the second support seat have the same structure and size, and therefore are not separately shown in the drawings).
FIG. 8 is a schematic structural view of a fourth supporting seat according to the present invention.
Fig. 9 is a schematic structural view of the suspension of the present invention.
FIG. 10 is an overall structural schematic of embodiment 3 of FIG. 3.
Fig. 11 is a structural view of the motor support bracket of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
With reference to the accompanying drawings:
embodiment 1 a driving wheel grip and life detection device according to the present invention includes:
the driving wheel unit comprises a supporting device, a pushing device and a driving wheel assembly, wherein a position adjusting part is movably arranged at the upper part of the supporting device and used for installing the pushing device to adjust the position of the driving wheel assembly; the pushing device is suspended on the position adjusting part, and a pushing end at the bottom of the pushing device is provided with a driving wheel assembly for driving the driving wheel assembly to move so as to adjust the distance between the driving wheel and the road surface simulation unit; the driving wheel assembly is arranged at the pushing end of the pushing device, a wheel edge motor is arranged on the wheel edge of the driving wheel assembly, and the signal connecting end of the wheel edge motor is electrically connected with the corresponding port of the control unit, so that the driving wheel assembly is contacted with the road surface simulation unit under the control of the pushing device and the control unit to detect the ground gripping force and the service life of the driving wheel;
the road surface simulation unit is arranged below the driving wheel unit and comprises a first supporting part, a second supporting part and a roller assembly, wherein the first supporting part and the second supporting part are arranged at two ends of the roller assembly and are used for supporting the roller assembly; the roller assembly is supported below the driving wheel unit through the first supporting part and the second supporting part, is positioned on a motion track of the driving wheel assembly, and is connected with a torque output end shaft of the braking unit through a first shaft end, so that the roller assembly receives torque transmitted by the braking unit;
the braking unit is arranged on one side of the road surface simulation unit, the torque output end of the braking unit is connected with the first shaft end of the roller assembly, and the signal input end of the braking unit is linked with the corresponding signal output end point of the control unit and is used for outputting set torque to the roller assembly under the control of the control unit so as to simulate the road surface condition and measure the ground gripping force and the service life of the driving wheel;
the control unit comprises a master controller, a driving wheel control circuit, a braking unit controller and a pushing device controller, wherein signal transmission ports of the driving wheel control circuit, the braking unit controller and the pushing device controller are respectively and electrically connected with a signal transmission port of the master controller, and the driving wheel control circuit is electrically connected with a signal input end of a driving wheel assembly and used for controlling the movement of the driving wheel assembly; the signal output end of the brake unit controller is electrically connected with the signal input end of the brake unit and is used for controlling the torque generated by the brake unit; and the signal output end of the pushing device controller is electrically connected with the signal input end of the pushing device and is used for controlling the pushing end of the pushing device to stretch and drive the driving wheel assembly to generate thrust on the road simulation unit.
The supporting device comprises a first supporting seat 6, a sliding plate 4 and a positioning screw 5, wherein a sliding groove 61 for the sliding plate to insert is formed in the top of the first supporting seat 6; the sliding plate 4 is inserted into the sliding groove of the first supporting seat 6, and a threaded through hole 41 is reserved on the central axis of the sliding plate for the positioning screw 5 to be screwed in so as to realize the locking between the sliding plate 4 and the first supporting seat 6;
the pushing device comprises a hydraulic cylinder 3 and a suspension 2, the top of the hydraulic cylinder 3 is suspended at the end part of the sliding plate 4, and the pushing end of the hydraulic cylinder 3 is fixedly connected with the suspension for mounting the driving wheel assembly;
the driving wheel assembly comprises a driving wheel 1, a driving wheel mounting shaft and a wheel edge motor, the driving wheel is mounted at the bottom of the suspension through the driving wheel mounting shaft, and a central shaft of the driving wheel is kept parallel to a central shaft of the roller assembly; the wheel edge motor is arranged on the suspension, the output end of the wheel edge motor is connected with one end of the driving wheel mounting shaft, and the control end of the wheel edge motor is electrically connected with the signal output end of the driving wheel control circuit and used for driving the driving wheel to rotate around the circumferential direction of the central shaft of the driving wheel under the control of the control unit.
The spout at 6 tops of first supporting seat is trapezoidal, and the side of first supporting seat is equipped with the floor that is used for improving first supporting seat structural strength.
The first supporting part comprises a first bearing seat 9 and a second supporting seat 10; the second support portion comprises a second bearing seat 16 and a third bearing seat 15; the first bearing seat and the second bearing seat are respectively connected with the second supporting seat and the third supporting seat through bolts, and the first bearing seat, the second bearing seat and the roller component are kept coaxial; the roller assembly is arranged below the driving wheel unit and comprises a roller 13, a first roller shaft 11 and a second roller shaft 14, wherein the roller is sleeved on the roller shaft and fixedly connected with the roller shaft, and the roller is respectively erected on the first supporting part and the second supporting part through the first roller shaft and the second roller shaft; the first roller shaft 11 and the second roller shaft 14 are square shafts, and the central shafts of the first roller shaft and the second roller shaft are coaxial and parallel to the central shaft of the driving wheel installation shaft, wherein the first roller shaft is connected with the torque output end of the braking unit through a first coupler and used for receiving the torque of the braking unit.
The brake unit is a magnetic powder brake 7 which is arranged on one side of the first support part and is coaxial with the first bearing seat, and a torque output shaft of the magnetic powder brake is connected with the first roller shaft through a first coupler 8; and the signal output end of the magnetic powder brake is electrically connected with the signal input end of the brake unit and is used for controlling the torque generated by the brake unit.
The device for detecting the grip force and the service life of the driving wheel further comprises a speed detection unit, wherein the speed detection unit is arranged on the side surface of the road surface simulation unit and comprises a fourth supporting seat 17 and a rotating speed sensor 18, and the fourth supporting seat 17 is arranged on one side of the road surface simulation unit and is used for supporting the rotating speed sensor 18; the speed sensor is installed on the fourth supporting seat, the detection input end of the speed sensor is connected with the second roller shaft of the roller assembly through the second coupler 19, and the signal output end of the speed sensor is electrically connected with the corresponding port of the master controller and used for detecting the rotating speed of the roller assembly.
The device for detecting the grip force and the service life of the driving wheel further comprises a spraying device, the spraying device is arranged beside the road surface simulation unit and comprises a simulated rainwater spray head 12 and a connecting pipe, the first end of the connecting pipe is communicated with an external water source pipeline, and the second end of the connecting pipe extends to the position of the roller assembly; the simulated rainwater spray head is installed at the second end of the connecting pipe, and a water outlet hole of the simulated rainwater spray head is aligned to the rolling surface of the roller component and used for simulating a road surface under a rainwater condition.
The axial leads of the output shaft of the magnetic powder brake 7, the first coupler 8, the first bearing seat 8, the first connecting shaft 10, the roller 11, the second connecting shaft 13, the second bearing seat 15, the second coupler 16 and the rotating speed sensor 18 are positioned on the same straight line.
The top end of the first supporting seat 6 is provided with a trapezoidal sliding groove, so that the sliding plate 4 can freely slide along a straight line in the first supporting seat. The first supporting seat 6 bears the great bending moment generated by the hydraulic cylinder 3, and is provided with the rib plate, so that the structural strength of the first supporting seat 6 is improved. The section of the sliding way of the sliding plate 4 is trapezoidal, the sliding way is matched with the sliding groove at the upper end of the first supporting seat 6, a through hole with threads is reserved on the central axis of the sliding plate, and the purpose of positioning the sliding plate can be achieved when the positioning screw 5 is screwed at the position.
The sections of two ends of the roller 13 are square and can be nested with square grooves on the first connecting shaft 11 and the second connecting shaft 14, and the material of the roller is selected according to the ground to be simulated (if the cement ground is formed by pouring cement); the first connecting shaft 11 and the second connecting shaft 14 are of relatively similar construction, the main difference being the difference in the journal remote from the end of the roller coupling groove. The structure of the first connecting shaft 11 is briefly described below: the first straight line section mainly plays a role in connection, and the first straight line section 20 is connected with an output shaft of the magnetic powder brake 7 through a coupler; the second straight line segment 21 is the inner shaft corresponding to the bearing; the third straight section 22 is a positioning shoulder; the water retaining disc 23 mainly prevents water from splashing when the rainwater spray head 12 is opened; the square groove 24 is used for fixing the roller 13.
The speed sensor 18 is used to obtain the speed of the roller, and the speed of the driving wheel can be obtained by its own encoder.
The suspension 2 is mainly composed of three parts: upper suspension 25, spring 26, lower suspension 27. The upper suspension is provided with a threaded hole for connecting the hydraulic cylinder 3; the lower suspension is provided with 4 positioning holes for fixing the driving wheel. The upper and lower suspension ramps are not circular in cross-section to prevent rotation between the upper and lower suspensions as spring 26 expands and contracts.
Example 3 this example differs from example 1 in that: the braking unit is a servo motor 28, the servo motor 28 is arranged on one side of the first supporting part through a motor supporting seat 29 and is coaxial with the first bearing seat, and a torque output shaft of the servo motor 28 is connected with the first roller shaft through a first coupler 8; the signal output end of the magnetic powder brake is electrically connected with the signal input end of the brake unit and is used for controlling the torque generated by the brake unit, namely, the axial leads of the output shaft of the servo motor, the first coupler 8, the first bearing seat 8, the first connecting shaft 10, the roller 11, the second connecting shaft 13, the second bearing seat 15, the second coupler 16 and the rotating speed sensor 18 are positioned on the same straight line.
Embodiment 4 a method for detecting a grip force of a driving wheel using a driving wheel grip force and life detection apparatus according to the present invention includes the steps of:
1) mounting a driving wheel assembly on a suspension of a pushing end of a hydraulic cylinder, adjusting a sliding plate to enable the axis of the driving wheel and the axis of a roller wheel to be in the same vertical plane, and screwing a screw to fix the driving wheel;
2) the simulated rainwater spray head is opened, and water flow starts to be sprayed on the roller to simulate the ground in rainy days;
3) the control unit controls the hydraulic cylinder to generate thrust through the pushing unit controller so as to simulate the positive pressure of loaded warehouse logistics vehicles on the driving wheels, so that the driving wheels can be in close contact with the rolling surface and the driving wheels can be simulated to be in close contact with a simulated road surface;
4) the driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start rotating until the driving wheel stably rotates;
5) the magnetic powder brake controller is used for setting a gradually increased torque generated by the magnetic powder brake, the torque is transmitted to the roller through the first coupler, and when the torque is continuously increased until the rotating speed of the roller is lower than that of a driving wheel, the tire begins to slip; when the torque is increased to the point that the driving wheel can not drive the roller to rotate, the torque at the moment is the maximum gripping torque of the driving wheel on the water accumulating surface, and the torque is divided by the radius of the driving wheel, namely the maximum gripping force.
Embodiment 5 a method for detecting a grip force of a driving wheel using the apparatus for detecting a grip force and a life of a driving wheel according to the present invention includes the steps of:
1) mounting a driving wheel assembly on a suspension of a pushing end of a hydraulic cylinder, adjusting a sliding plate to enable the axis of the driving wheel and the axis of a roller wheel to be in the same vertical plane, and screwing a screw to fix the driving wheel;
2) the control unit controls the hydraulic cylinder to generate thrust through the pushing unit controller so as to simulate the positive pressure of loaded warehouse logistics vehicles on the driving wheels, so that the driving wheels can be in close contact with the rolling surface and the driving wheels can be simulated to be in close contact with a simulated road surface;
3) the driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start rotating until the driving wheel stably rotates;
4) the magnetic powder brake is arranged through the brake unit controller to generate torque T for simulating the friction force between the ground and the driving wheel, and the unit is N m:
T＝(G+M)×g×f×r (1)；
wherein G is the dead weight of the vehicle and the unit is kg; m is rated load and the unit is kg; g is the acceleration of gravity in m/s2(ii) a r is the radius of the driving wheel and is m; f is the rolling friction coefficient of the material of the wheel and the roller.
5) The driving wheel runs under rated load for a preset time, then stops, and detects the wear condition of the tire surface;
6) and taking off the driving wheel with the antiskid patterns, replacing the driving wheel with the smooth surface, carrying out abrasion test under the same condition for the same time, and comparing the tire abrasion conditions of the two driving wheels.
The embodiments described in this specification are merely illustrative of implementations of the inventive concept and the scope of the present invention should not be considered limited to the specific forms set forth in the embodiments but includes equivalent technical means as would be recognized by those skilled in the art based on the inventive concept.
Claims (10)
1. Ground power and life-span detection device are grabbed to drive wheel, its characterized in that includes:
the driving wheel unit comprises a supporting device, a pushing device and a driving wheel assembly, wherein a position adjusting part is movably arranged at the upper part of the supporting device and used for installing the pushing device to adjust the position of the driving wheel assembly; the pushing device is suspended on the position adjusting part and comprises a hydraulic cylinder and a suspension, the top of the hydraulic cylinder is suspended on the end part of the sliding plate, and the pushing end of the hydraulic cylinder is fixedly connected with the suspension for mounting the driving wheel assembly and is used for driving the driving wheel assembly to move so as to adjust the distance between the driving wheel and the road surface simulation unit; the suspension comprises an upper suspension, a spring and a lower suspension, and the upper suspension is provided with a threaded hole for connecting a pushing device; the lower suspension is provided with a plurality of positioning holes for fixing the driving wheel assembly; the driving wheel assembly is arranged at the pushing end of the pushing device, a wheel edge motor is arranged on the wheel edge of the driving wheel assembly, and the signal connecting end of the wheel edge motor is electrically connected with the corresponding port of the control unit, so that the driving wheel assembly is contacted with the road surface simulation unit under the control of the pushing device and the control unit to detect the ground gripping force and the service life of the driving wheel;
the road surface simulation unit is arranged below the driving wheel unit and comprises a first supporting part, a second supporting part and a roller assembly, wherein the first supporting part and the second supporting part are arranged at two ends of the roller assembly and are used for supporting the roller assembly; the roller assembly is supported below the driving wheel unit through the first supporting part and the second supporting part, is positioned on a motion track of the driving wheel assembly, and is connected with a torque output end shaft of the braking unit through a first shaft end, so that the roller assembly receives torque transmitted by the braking unit;
the braking unit is arranged on one side of the road surface simulation unit, the torque output end of the braking unit is connected with the first shaft end of the roller assembly, and the signal input end of the braking unit is linked with the corresponding signal output end point of the control unit and is used for outputting set torque to the roller assembly under the control of the control unit so as to simulate the road surface condition and measure the ground gripping force and the service life of the driving wheel;
the control unit comprises a master controller, a driving wheel control circuit, a braking unit controller and a pushing device controller, wherein signal transmission ports of the driving wheel control circuit, the braking unit controller and the pushing device controller are respectively and electrically connected with a signal transmission port of the master controller, and the driving wheel control circuit is electrically connected with a signal input end of a driving wheel assembly and used for controlling the movement of the driving wheel assembly; the signal output end of the brake unit controller is electrically connected with the signal input end of the brake unit and is used for controlling the torque generated by the brake unit; and the signal output end of the pushing device controller is electrically connected with the signal input end of the pushing device and is used for controlling the pushing end of the pushing device to stretch and drive the driving wheel assembly to generate thrust on the road simulation unit.
2. The driving wheel grip and life detecting device according to claim 1, wherein: the supporting device comprises a first supporting seat, a sliding plate and a positioning screw, and a sliding groove for the sliding plate to insert is formed in the top of the first supporting seat; the sliding plate is inserted into the sliding groove of the first supporting seat, and a through hole with threads is reserved on the central axis of the sliding plate and is used for allowing a positioning screw to be screwed in to realize locking between the sliding plate and the first supporting seat;
the driving wheel assembly comprises a driving wheel, a driving wheel mounting shaft and a wheel edge motor, the driving wheel is mounted at the bottom of the suspension through the driving wheel mounting shaft, and a central shaft of the driving wheel is kept parallel to a central shaft of the roller assembly; the wheel edge motor is arranged on the suspension, the output end of the wheel edge motor is connected with one end of the driving wheel mounting shaft, and the control end of the wheel edge motor is electrically connected with the signal output end of the driving wheel control circuit and used for driving the driving wheel to rotate around the circumferential direction of the central shaft of the driving wheel under the control of the control unit.
3. The driving wheel grip and life detecting device according to claim 2, wherein: the spout at first supporting seat top is trapezoidal, and the side of first supporting seat is equipped with the floor that is used for improving first supporting seat structural strength.
4. The driving wheel grip and life detecting device according to claim 2, wherein: the cross sections of the upper and lower suspension slide rails are not circular, so that the upper and lower suspensions are prevented from rotating when the spring stretches.
5. The driving wheel grip and life detecting device according to claim 3 or 4, wherein: the first supporting part comprises a first bearing seat and a second supporting seat; the second supporting part comprises a second bearing seat and a third supporting seat; the first bearing seat and the second bearing seat are respectively connected with the second supporting seat and the third supporting seat through bolts, and the first bearing seat, the second bearing seat and the roller component are kept coaxial; the roller assembly is arranged below the driving wheel unit and comprises a roller, a first roller shaft and a second roller shaft, wherein the roller is sleeved on the roller shaft and fixedly connected with the roller shaft, and the roller is respectively erected on the first supporting part and the second supporting part through the first roller shaft and the second roller shaft; the first roller shaft and the second roller shaft are square shafts, the central shafts of the first roller shaft and the second roller shaft are coaxial and are parallel to the central shaft of the driving wheel mounting shaft, and the first roller shaft is connected with the torque output end of the braking unit through a first coupler and used for receiving the torque of the braking unit.
6. The driving wheel grip and life detecting device according to claim 5, wherein: the brake unit is a magnetic powder brake, is arranged on one side of the first support part and is coaxial with the first bearing seat, and a torque output shaft of the magnetic powder brake is connected with a first shaft end of the roller shaft through a first coupler; and the signal output end of the magnetic powder brake is electrically connected with the signal input end of the brake unit and is used for controlling the torque generated by the brake unit.
7. The driving wheel grip and life detecting device according to claim 1, wherein: the speed detection unit is arranged on the side face of the road surface simulation unit and comprises a fourth supporting seat, a rotating speed sensor and an angle sensor, wherein the fourth supporting seat is arranged on one side of the road surface simulation unit and used for supporting the rotating speed sensor; the rotating speed sensor is arranged on the fourth supporting seat, the detection input end of the rotating speed sensor is connected with the second roller shaft of the roller assembly, and the signal output end of the rotating speed sensor is electrically connected with the corresponding port of the master controller and used for detecting the rotating speed of the roller assembly; the angle sensor is arranged on the rotating speed sensor, and the signal output ends of the angle sensor are electrically connected with corresponding ports of the master controller and used for detecting the coaxiality of the roller assemblies and the rotating speed sensor.
8. The driving wheel grip and life detecting device according to claim 1, wherein: the road surface simulation device comprises a road surface simulation unit, a road surface simulation unit and a connecting pipe, wherein the road surface simulation unit is arranged on the road surface, the road; the simulated rainwater spray head is installed at the second end of the connecting pipe, and a water outlet hole of the simulated rainwater spray head is aligned to the rolling surface of the roller component and used for simulating a road surface under a rainwater condition.
9. The method for detecting the grip of the driving wheel by using the apparatus for detecting the grip and service life of the driving wheel according to any one of claims 1 to 8, comprising the steps of:
1) mounting a driving wheel assembly on a suspension of a pushing end of a hydraulic cylinder, adjusting a sliding plate to enable the axis of the driving wheel and the axis of a roller wheel to be in the same vertical plane, and screwing a screw to fix the driving wheel;
2) the simulated rainwater spray head is opened, and water flow starts to be sprayed on the roller to simulate the ground in rainy days;
3) the control unit controls the hydraulic cylinder to generate thrust through the pushing unit controller so as to simulate the positive pressure of loaded warehouse logistics vehicles on the driving wheels, so that the driving wheels can be in close contact with the rolling surface and the driving wheels can be simulated to be in close contact with a simulated road surface;
4) the driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start rotating until the driving wheel stably rotates;
5) the magnetic powder brake controller is used for setting a gradually increased torque generated by the magnetic powder brake, the torque is transmitted to the roller through the first coupler, and when the torque is continuously increased until the rotating speed of the roller is lower than that of a driving wheel, the tire begins to slip; when the torque is increased to the point that the driving wheel can not drive the roller to rotate, the torque at the moment is the maximum gripping torque of the driving wheel on the water accumulating surface, and the torque is divided by the radius of the driving wheel, namely the maximum gripping force.
10. The method for detecting the grip of the driving wheel using the apparatus for detecting the grip and service life of the driving wheel as set forth in any one of claims 1 to 8, comprising the steps of:
1) mounting a driving wheel assembly on a suspension of a pushing end of a hydraulic cylinder, adjusting a sliding plate to enable the axis of the driving wheel and the axis of a roller wheel to be in the same vertical plane, and screwing a screw to fix the driving wheel;
2) the control unit controls the hydraulic cylinder to generate thrust through the pushing unit controller so as to simulate the positive pressure of loaded warehouse logistics vehicles on the driving wheels, so that the driving wheels can be in close contact with the rolling surface and the driving wheels can be simulated to be in close contact with a simulated road surface;
3) the driving wheel control circuit controls the driving wheel with the set anti-skid pattern to start rotating until the driving wheel stably rotates;
4) the magnetic powder brake is arranged through the brake unit controller to generate torque T for simulating the friction force between the ground and the driving wheel, and the unit is N m:
T＝(G+M)×g×f×r (1)；
wherein G is the dead weight of the vehicle and the unit is kg; m is rated load and the unit is kg; g is the acceleration of gravity in m/s2(ii) a r is the radius of the driving wheel and is m; f is a roller made of wheel and roller materialCoefficient of dynamic friction;
5) the driving wheel runs under rated load for a preset time, then stops, and detects the wear condition of the tire surface;
6) and taking off the driving wheel with the antiskid patterns, replacing the driving wheel with the smooth surface, carrying out abrasion test under the same condition for the same time, and comparing the tire abrasion conditions of the two driving wheels.
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| CN111721550B (en) | 2024-07-19 |
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