CN112393922B - Walking supporting mechanism of walking mechanism and terrain simulation device - Google Patents
Walking supporting mechanism of walking mechanism and terrain simulation device Download PDFInfo
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- CN112393922B CN112393922B CN202011413155.XA CN202011413155A CN112393922B CN 112393922 B CN112393922 B CN 112393922B CN 202011413155 A CN202011413155 A CN 202011413155A CN 112393922 B CN112393922 B CN 112393922B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/0072—Wheeled or endless-tracked vehicles the wheels of the vehicle co-operating with rotatable rolls
- G01M17/0074—Details, e.g. roller construction, vehicle restraining devices
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Abstract
The invention belongs to the technical field of performance detection equipment of vehicles or special engineering machinery. The walking support mechanism of the walking mechanism comprises a steering mechanism, a chassis arranged on the steering mechanism, a roller component arranged on the chassis, a walking baffle arranged outside the walking mechanism and an elastic mechanism arranged between the walking mechanism and the walking baffle. The terrain simulation device comprises a base and a plurality of walking supporting mechanisms of the walking mechanisms arranged on the base, and the walking supporting mechanisms are arranged in one-to-one correspondence with the walking mechanisms on the measured engineering machinery. The technical scheme provided by the invention can support supporting structures of various traveling mechanisms, can realize mixed sliding type traveling simulation, adopts a structure that a plurality of rollers are distributed side by side to ensure that the movement and the steering are smooth, has high simulation degree and wider application range of modularized design aiming at the support of a single traveling mechanism, is more flexible to assemble and disassemble, and can be placed on a fixed surface or other auxiliary supporting structures to carry out various tests after being combined.
Description
Technical Field
The invention belongs to the technical field of performance detection equipment of vehicles or special engineering machinery, and particularly relates to a walking support mechanism of a walking mechanism and a terrain simulation device.
Background
As a mechanical product, under the condition of normal use of the vehicle, dynamic loads are generated on the whole vehicle, subsystems and key parts. In order to test the running condition of the vehicle in a real road condition, a road surface simulation device is designed and developed.
At present, the road surface simulation equipment can be divided into a simulator driving mode and an automobile static or passive running mode according to a power source; or the automobile runs to actively adapt to different simulated road conditions. The first mode cannot truly reflect the real situation of the automobile in operation, such as Chinese patent CN209802677U; the second is that the road condition is generally directly constructed, so a large place is needed, and the vehicle can only run straight, and the verification of the operation of the vehicle turning and other conditions can not be realized.
The existing road surface simulation equipment can only detect one project, for example, CN209525104U discloses a road surface simulation equipment for detecting whether the center of gravity of an automobile is reasonable or not and whether the damping performance of the automobile is perfect or not, which can effectively reduce the possibility of rollover of the automobile due to too high center of gravity when the automobile runs under a bad road condition. The Chinese patent CN105486519A transmits the lateral force of the steering wheel to the lateral force measuring mechanism through the floating dynamic road surface simulation mechanism, measures the lateral force of the steering wheel, and realizes the rapid detection and debugging of the lateral force of the steering wheel before delivery or during detection. And the simulator is used for single performance tests such as road surface simulation, automobile steering system and shock absorber tests under different working conditions.
The problems that the existing detection equipment is weak in adaptability, the simulation effect is distorted and the like are solved because the existing simulator faces the whole vehicle or engineering equipment, but in fact, the vehicle or the engineering equipment generally comprises a plurality of wheel tracks, which are collectively called as walking mechanisms, each walking mechanism is relatively independent, and can coordinately complete traveling, turning and the like, but at present, no proper mechanism capable of independently supporting each walking mechanism exists, so that the final simulation detection effect is hindered.
Disclosure of Invention
The invention provides a walking support mechanism of a walking mechanism and a terrain simulation device, which are used for solving the problems that the existing walking mechanism support mechanism is lacked and the simulation effect is limited.
In order to solve the technical problems, the technical scheme of the invention is as follows: the walking support mechanism of the walking mechanism comprises a steering mechanism, a chassis arranged on the steering mechanism, a roller assembly arranged on the chassis, a walking baffle arranged outside the walking mechanism and an elastic mechanism arranged between the walking mechanism and the walking baffle.
The traveling mechanism of the engineering machinery can rotate and turn, and the elastic mechanism elastically fixes the traveling mechanism on the chassis, so that the normal operation of the traveling mechanism is not hindered, and the traveling mechanism can not be separated from the roller assembly due to steering and the like.
The roller component simulates the ground contacted when the travelling mechanism travels, and when the travelling mechanism rotates, the roller component rotates along with the travelling mechanism, so that the advancing effect can be simulated; the walking baffle is convenient for the installation of running gear fixed, realizes the traveling of engineering machine tool simultaneously, turns to the safeguard function.
Optionally, the roller assembly includes a roller support and a plurality of rollers disposed on the roller support, and the surface of the roller is provided with knurled stripes.
The frictional force distribution between engineering machine tool and the drum subassembly can be optimized to the annular knurl stripe for the motion with turn to the smoothness, can change frictional force through setting up different annular knurl stripes, also can simulate various different road surfaces to a certain extent, for example pitch, slabstone, gobi etc..
Optionally, the walking mechanism further comprises a limiting mechanism, and the limiting mechanism clamps the walking mechanism between the elastic mechanism and the limiting mechanism.
Optionally, the limiting mechanism comprises a limiting frame and a carrier roller arranged on the limiting frame.
The limiting mechanism ensures that the travelling mechanism can move within a limited range in the running process and can provide balanced steering torque; the roller is horizontal, and the bearing roller is vertical, and the bearing roller structure can realize passively rotating for running gear's motion is more smooth.
Optionally, the limiting mechanism is divided into a front limiting mechanism located at the front side of the roller and a rear limiting mechanism located at the rear side of the roller.
The placing position of the limiting mechanism can be adjusted according to different types of running mechanisms (wheel type and crawler type with various parameters)
Optionally, the elastic mechanism comprises a front push plate and a rear push plate which are positioned on two sides of the walking baffle, a connecting rod which penetrates through the walking baffle and is connected with the front push plate and the rear push plate, a first spring and a second spring which are sleeved on the connecting rod, wherein the first spring is positioned between the front push plate and the walking baffle, and the second spring is positioned between the walking baffle and the rear push plate.
Through the elastic mechanism, the engineering machinery is convenient to install and fix, and the traveling and steering protection functions of the traveling mechanism are realized.
Optionally, the hole through which the connecting rod passes on the walking baffle is a kidney-shaped hole.
The waist-shaped hole can be transverse or longitudinal, and a certain movement allowance can exist when the walking mechanism is installed or moved. The waist-shaped holes on one walking baffle are of the same type, but for an engineering machine, the waist-shaped holes of the walking baffles corresponding to different walking mechanisms can be different, and the waist-shaped holes of the walking baffles located at different positions in the front and the back are respectively optimal in the transverse direction and the longitudinal direction, so that the walking mechanisms can have certain movement allowance in the transverse direction and the longitudinal direction when being installed and operated.
Optionally, the number of the connecting rods is 4, and the walking baffle plate is correspondingly provided with 4 waist-shaped holes, wherein three of the holes are located at three vertex angles of the equilateral triangle, and the other hole is located at the center of the equilateral triangle.
Optionally, the steering mechanism is a thrust bearing.
The invention also provides a terrain simulation device which comprises a base and a plurality of walking supporting mechanisms of the walking mechanisms arranged on the base, wherein the walking supporting mechanisms of the walking mechanisms are arranged in one-to-one correspondence with the walking mechanisms on the engineering machinery to be tested.
The engineering machinery refers to wheels with more than two wheels, such as a motorcycle, a three-wheeled electric vehicle, a four-wheeled vehicle or more, or a tracked vehicle, or mechanical equipment for special engineering moving through the wheels or the tracks, and the travelling mechanism refers to the wheels or the tracks.
Optionally, a heave adjusting mechanism is arranged between the walking support mechanism of the walking mechanism and the chassis.
The fluctuation adjusting mechanism is used for adjusting the height position of the walking supporting mechanism.
The relative high-low positions of the walking mechanisms can be adjusted by the fluctuation adjusting mechanism, so that various complex terrains can be simulated really.
Optionally, the heave adjustment mechanism is a cylinder mechanism.
Optionally, the heave adjustment mechanism comprises a triangular platform and three cylinders hinged to the triangular platform, the cylinders being located at three apexes of the triangular platform.
The three cylinders can realize the adjustment of the levelness of a single walking mechanism on the basis of the adjustment of the relative height between the walking mechanisms, thereby realizing a more real simulation effect.
The technical scheme provided by the invention can support supporting structures of various traveling mechanisms (wheel type and crawler type), can realize mixed sliding type traveling simulation, adopts a structure that a plurality of rollers are distributed side by side, ensures that the movement and the steering are smooth, has high simulation degree and wider application range of modular design and more flexible assembly and disassembly aiming at the support of a single traveling mechanism, and can be placed on a fixed surface or other auxiliary supporting structures for various tests after being combined.
Drawings
FIG. 1 is a schematic structural view of a walking support mechanism of a walking mechanism according to embodiment 1;
FIG. 2 is a schematic perspective view of a traveling support mechanism of the traveling mechanism according to embodiment 1;
FIG. 3 is a schematic structural view of a stopper mechanism according to embodiment 1;
FIG. 4 is a schematic structural view of a terrain simulation apparatus according to embodiment 2;
fig. 5 is a schematic structural view of the heave adjustment mechanism described in embodiment 2.
Shown in the figure:
01-a running mechanism, 100-a running support mechanism of the running mechanism, 110-a steering mechanism, 120-a chassis, 130-a roller assembly, 131-a roller bracket, 132-a roller, 140-a running baffle, 141-a waist-shaped hole, 150-an elastic mechanism, 151-a front push plate, 152-a rear push plate, 153-a connecting rod, 154-a first spring, 155-a second spring, 160-a limiting mechanism, 161-a limiting frame, 162-a carrier roller, 200-a base, 300-a fluctuation adjusting mechanism, 310-a triangular platform and 320-a cylinder mechanism.
Detailed Description
For the convenience of understanding, the walking support mechanism and the terrain simulator of the walking mechanism are described below with reference to embodiments, which should be understood to be merely illustrative and not limiting.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations and positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as being fixed or detachably or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Embodiment 1 traveling support mechanism of traveling mechanism
As shown in fig. 1, the walking support mechanism 100 of the walking mechanism includes a steering mechanism 110, a chassis 120 disposed on the steering mechanism 110, a roller assembly 130 disposed on the chassis 120, a walking baffle 140 disposed outside the walking mechanism 01, an elastic mechanism 150 disposed between the walking mechanism 01 and the walking baffle 140, and a limiting mechanism 160 disposed inside the walking mechanism 01, wherein the limiting mechanism 160 clamps the walking mechanism 01 between the elastic mechanism 150 and the limiting mechanism 160.
As shown in fig. 2, the steering mechanism 110 is a thrust bearing; with continued reference to fig. 2, the roller assembly 130 includes a roller frame 131 and a plurality of rollers 132 disposed on the roller frame 131, wherein the surfaces of the rollers 132 are provided with knurled stripes.
With continued reference to fig. 2, the walking board 140 is shown to be located at the outer side of the walking mechanism, and four waist-shaped holes 141 are provided on the walking board 140, which are longitudinal waist-shaped holes, and are distributed such that three are located at three vertex angles of the equilateral triangle, and the other is located at the center of the equilateral triangle.
With continued reference to fig. 1, the resilient mechanism 150 includes a front push plate 151 and a rear push plate 152 located at both sides of the walking board 140, 4 connecting rods 153 passing through the kidney-shaped holes 141 and connecting the front push plate 151 and the rear push plate 152, a first spring 154 and a second spring 155 sleeved on the connecting rods 153, the first spring 154 being located between the front push plate 151 and the walking board 140, and the second spring 155 being located between the walking board 140 and the rear push plate 152.
As shown in fig. 3, the limiting mechanism 160 includes a limiting frame 161 and a supporting roller 162 disposed on the limiting frame 161, and with reference to fig. 2, the limiting mechanism 160 is disposed on the front side of the drum, and the limiting mechanism 160 is disposed on the rear side of the drum.
The traveling mechanism 01 is stabilized at the drum assembly 130 by the traveling barrier 140, the elastic mechanism 150, and the stopper mechanism 160, and does not derail even when turning.
EXAMPLE 2 terrain simulation apparatus
In the present embodiment, the structure of the multi-degree-of-freedom terrain simulation apparatus according to the present invention is described by taking the most common four-wheel or four-crawler type traveling engineering equipment as an example.
As shown in fig. 4, the terrain simulation apparatus includes four traveling support mechanisms 100 and four bases 200 of the traveling mechanisms according to embodiment 1, which correspond to and support four traveling mechanisms distributed in the front-rear direction on both sides of the vehicle, and a heave adjustment mechanism 300 between the traveling support mechanisms 100 and the bases 200 of the traveling mechanisms.
As shown in fig. 5, the heave adjustment mechanism 300 includes a triangular platform 310, three cylinder mechanisms 320 hinged to the triangular platform 310, and a control system (not shown) for controlling the movement of the cylinder mechanisms 320, where the hinge is a hooke hinge, and the cylinder mechanisms 320 are located at three corners of the triangular platform 310.
Finally, it should be noted that: the above examples are only for illustrating the technical solutions of the present invention, and are not limited thereto. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: it is to be understood that modifications may be made to the technical solutions described in the foregoing embodiments, or some or all of the technical features may be equivalently replaced, and such modifications or replacements may not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. The walking support mechanism of the walking mechanism is characterized by comprising a steering mechanism, a chassis arranged on the steering mechanism, a roller assembly arranged on the chassis, a walking baffle arranged outside the walking mechanism, an elastic mechanism arranged between the walking mechanism and the walking baffle, and a limiting mechanism, wherein the limiting mechanism clamps the walking mechanism between the elastic mechanism and the limiting mechanism, the roller assembly comprises a roller support and a plurality of rollers arranged on the roller support, and knurling stripes are arranged on the surface of each roller.
2. The walking support mechanism of the walking mechanism according to claim 1, wherein the limiting mechanism comprises a limiting frame and a supporting roller arranged on the limiting frame.
3. The walking support mechanism of the walking mechanism according to claim 1, wherein the elastic mechanism comprises a front push plate and a rear push plate which are positioned at two sides of the walking baffle, a connecting rod which passes through the walking baffle and connects the front push plate and the rear push plate, and a first spring and a second spring which are sleeved on the connecting rod, wherein the first spring is positioned between the front push plate and the walking baffle, and the second spring is positioned between the walking baffle and the rear push plate.
4. The walking support mechanism of walking mechanism of claim 3, wherein the hole of the connecting rod passing through the walking board is a kidney-shaped hole.
5. The walking support mechanism of walking mechanism of claim 4, wherein said number of said connecting rods is 4, and said walking board is correspondingly provided with 4 kidney-shaped holes, three of them are located at three top corners of equilateral triangle, and another is located at the center of equilateral triangle.
6. A terrain simulation device is characterized by comprising a base and a plurality of walking supporting mechanisms of the walking mechanism according to any one of claims 1 to 5, wherein the walking supporting mechanisms of the walking mechanism are arranged on the base, and the walking supporting mechanisms of the walking mechanism are arranged in one-to-one correspondence with the walking mechanisms on a tested engineering machine.
7. A terrain simulator as claimed in claim 6, characterized in that a heave adjustment mechanism is provided between the running support mechanism of the running gear and the chassis.
8. A terrain simulator as claimed in claim 7, in which the heave adjustment mechanism comprises a triangular platform and three cylinders articulated to the triangular platform, the cylinders being located at the three apexes of the triangular platform.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011413155.XA CN112393922B (en) | 2020-12-03 | 2020-12-03 | Walking supporting mechanism of walking mechanism and terrain simulation device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011413155.XA CN112393922B (en) | 2020-12-03 | 2020-12-03 | Walking supporting mechanism of walking mechanism and terrain simulation device |
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| CN112393922A CN112393922A (en) | 2021-02-23 |
| CN112393922B true CN112393922B (en) | 2023-02-24 |
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| CN202011413155.XA Active CN112393922B (en) | 2020-12-03 | 2020-12-03 | Walking supporting mechanism of walking mechanism and terrain simulation device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112965399A (en) * | 2021-03-24 | 2021-06-15 | 中国人民解放军63653部队 | Semi-physical simulation test method and device for engineering mechanical equipment |
| CN113247549B (en) * | 2021-06-24 | 2021-10-08 | 福莱盈电子股份有限公司 | Flexible circuit board element transportation device |
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| DE102015204019A1 (en) * | 2015-03-05 | 2016-09-08 | Maha-Aip Gmbh & Co. Kg | Holding device for a wind tunnel scale and test method |
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|---|---|---|---|---|
| CN101460821A (en) * | 2006-06-05 | 2009-06-17 | 平尼法瑞那公开有限公司 | System for simulating the ground effect for testing vehicles or their simulacra in wind tunnels |
| CN202033189U (en) * | 2011-04-27 | 2011-11-09 | 荆州恒盛汽车***有限公司 | Force bearing device for simulating vehicle-mounted power steering gear |
| CN108919114A (en) * | 2018-04-26 | 2018-11-30 | 江苏大学 | A kind of hub motor experimental stand device and its experimental system |
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