A test device for mechanical properties of wheel-soil interaction based on a series moving pair mechanism

Abstract

This invention discloses a wheel-soil interaction mechanical performance testing device based on a series moving pair mechanism, comprising a support box, a wheel and its driving test module, a vertical and lateral driving test module, a longitudinal driving test module, a lateral driving test module, and a data processing module. Under soft soil conditions, the device can control wheel speed, vertical load, lateral tilt angle, longitudinal travel speed, and lateral slippage, while simultaneously monitoring parameters such as wheel settlement, longitudinal force, lateral force, and lateral tilt force. The data processing module analyzes the collected data to generate wheel-soil interaction mechanical characteristic curves. This device can efficiently acquire mechanical performance data of elastic wheels on soft ground, providing a reliable basis for vehicle dynamics simulation and structural design.

Description

Technical Field

[0001] This invention belongs to the field of wheel ground mechanical performance testing, and particularly relates to a test device for the mechanical performance of the interaction between an elastic wheel and soft ground. Background Technology

[0002] Wheels are a crucial component of a vehicle's running gear and the only part of a wheeled vehicle in contact with the ground. The mechanical properties of the interaction between the wheels and the ground play a decisive role in the vehicle's driving performance. To obtain the mechanical characteristics of the interaction between the wheels and the ground, researchers have designed various types of experimental devices. For conventional passenger vehicles, which mainly travel on hard surfaces such as paved roads, fixed experimental devices such as CN101949776B and CN117405419B can be used. These devices solve the problem of testing the multi-degree-of-freedom mechanical properties of wheels on hard surfaces. For special vehicles such as military vehicles, agricultural vehicles, and lunar rovers, which need to travel on soft ground, researchers have designed soil trough experimental devices such as CN 113092137 A, CN 115676273 A, CN 109406172 B, and CN119124661 A. These devices can test performance parameters such as wheel sinkage, load-bearing capacity, slip ratio, and driving force when a wheel travels on soft ground, solving the problem of testing wheel load-bearing capacity and driving capacity. However, they cannot obtain a more complete set of mechanical characteristics of the wheel when traveling on soft ground. Furthermore, to test the driving force performance of the wheel under different slip ratios on soft ground, these devices add a control drive for the wheel's forward speed to the wheel rotation drive. Thus, the measured wheel-ground force data essentially includes the driving force controlled by the wheel's forward speed. This speed-controlled driving force data needs to be measured separately and combined with the data obtained from the wheel itself to obtain the true driving force performance data under different slip ratios. This excessive number of testing steps increases the complexity of the testing system, making it not only difficult to operate but also affecting the accuracy of the test data.

[0003] To study vehicle performance on soft ground, it is necessary to obtain the mechanical properties of the interaction between the elastic wheel and the soft ground. Vehicle dynamics research primarily focuses on wheel mechanical properties, including data on wheel settlement and longitudinal driving force under different loads, slip ratios, and roll angles, as well as data on wheel settlement and lateral driving force under different loads, sideslip angles, and roll angles. Existing soil trough testing devices, on the one hand, only focus on the vertical and longitudinal mechanical properties of the wheel, which is incomplete; on the other hand, they neglect the influence of slip ratio-controlled drive on longitudinal force testing, requiring separate testing and compensation, thus affecting the practical application scope and effectiveness. It is necessary to design a device that can test the longitudinal and lateral mechanical properties of wheel-soil interaction under different loads, slip ratios, sideslip angles, and roll angles, based on the data requirements of vehicle dynamics research, to achieve the testing of the mechanical properties of the interaction between the elastic wheel and the soft ground with a simpler and more reliable structure. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a test device for detecting the mechanical properties of the interaction between an elastic wheel and a soft ground. This device can test the longitudinal and lateral mechanical properties of the interaction between the elastic wheel and the soft ground under different loads, slip ratios, sideslip angles, and roll angles, providing data support for vehicle dynamics simulation and design.

[0005] To achieve the above objectives, the technical solution provided by the present invention is as follows:

[0006] A test device for mechanical properties of wheel-soil interaction based on a series moving pair mechanism includes several major modules such as a support box and soft soil, wheels and their driving test module, vertical and lateral driving test module, longitudinal driving test module, lateral driving test module, and control and data processing module. The various parts are connected by a detachable structure and can be disassembled and replaced.

[0007] The support box is the load-bearing component of the entire device. It is loaded with loose soil according to testing requirements and provides an installation foundation for other modules. The support box adopts a detachable, modular structure for disassembly and transportation. The lateral drive test module is connected to the support box via a sliding joint, allowing it to slide along the lateral tracks between the support boxes. The longitudinal drive test module is connected to the lateral drive test module via a sliding joint, allowing it to slide along the longitudinal tracks between the lateral drive test modules. The vertical and lateral drive test modules are connected to the longitudinal drive test module, allowing them to slide along the vertical tracks between the longitudinal drive test modules. The wheels and their drive test modules are fixedly connected to the vertical and lateral drive test modules, driving the wheels to rotate at different speeds. The data processing module monitors data from each module and performs data analysis and processing.

[0008] The lateral drive test module uses two series-connected unidirectional sliding pairs to connect the longitudinal drive test module to the support box; a force sensor is installed on the first-level sliding pair to test the lateral force between the wheel and the ground when the wheel moves laterally; a drive unit is installed on the second-level sliding pair to drive the entire longitudinal drive test module to move laterally along the sliding pair, and to coordinate with the longitudinal movement speed to enable the wheel to slide on the ground at different sideslip angles.

[0009] The longitudinal drive test module uses two series-connected unidirectional sliding pairs to link the vertical and lateral drive test modules with the lateral drive test module; a force sensor is installed on the first-level sliding pair to test the longitudinal force between the wheel and the ground when the wheel moves longitudinally; a drive unit is installed on the second-level sliding pair to drive the overall longitudinal movement speed of the installed vertical and lateral drive test modules, and cooperates with the wheel and its drive test module to realize the wheel's movement on the ground under different slip ratio conditions.

[0010] The vertical and lateral drive test module uses a series of revolute and prismatic joints to connect the wheel and its drive test module with the longitudinal drive test module; the drive unit is installed on the revolute joint to adjust and maintain the wheel traveling on the ground at different lateral tilt angles; the prismatic joint is equipped with sensors to test the vertical displacement and sinkage of the wheel during its travel.

[0011] The control and data processing module controls the wheels to travel on the ground under different loads, slip ratios, and roll angles, and tests data such as sinkage and longitudinal driving force; it coordinates the control of the wheel rotation speed and longitudinal driving speed to enable the wheels to travel on the ground with different slip ratios, and monitors the wheel hook traction force and sinkage; it coordinates the control of the wheel longitudinal travel speed and lateral movement speed to enable the wheels to slide on the ground with different sideslip ratios, and monitors the wheel lateral force and sinkage.

[0012] Compared with the prior art, the present invention provides a test device for the mechanical properties of soil under wheel action based on a series moving pair mechanism, which has the following beneficial effects:

[0013] (1) The wheel-soil action mechanical performance test device of the present invention adopts a detachable connection structure, which is convenient to disassemble and replace. Different specifications of modules can be selected and combined according to different elastic wheels and ground to meet the test requirements of different elastic wheels.

[0014] (2) The longitudinal drive test module and the transverse drive test module of the mechanical performance test device for soil action of the present invention adopt the method of series moving pairs to combine the test and drive, thus eliminating the influence of the drive mechanism on the test from the structure, and the system is simple and reliable.

[0015] (3) The mechanical performance test device for wheel-soil interaction of the present invention adopts a modular structure, which combines the driving and testing of several degrees of freedom such as longitudinal, lateral, vertical and tilting between the elastic wheel and the soft ground, and can obtain complete data on the forces and vertical settlement between the elastic wheel and the soft ground. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments or prior art, the drawings used in the description of the embodiments or prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the overall structure of a test device for mechanical properties of wheel-soil action based on a series moving pair mechanism, provided in an embodiment of this application.

[0018] Figure 2 A schematic diagram of the mechanism of the mechanical property test device for wheel-soil action based on the series moving pair mechanism provided in the embodiments of this application.

[0019] Figure 3 A schematic diagram of the transverse drive module structure of the mechanical performance testing device for soil-wheel action provided in this application embodiment.

[0020] Figure 4 A schematic diagram of the longitudinal drive test module structure of the mechanical property testing device for soil-wheel action provided in the embodiments of this application.

[0021] Figure 5 This is a schematic diagram of the vertical and lateral tilting drive test module structure of the mechanical performance testing device for soil action provided in the embodiments of this application.

[0022] Figure 6A schematic diagram of the control and data processing module system of the mechanical property testing device for soil action provided in the embodiments of this application.

[0023] Figure 7 Curves showing the relationship between sideslip angle and lateral force under different load conditions.

[0024] Figure 8 Curves showing the relationship between slip ratio and longitudinal force under different load conditions.

[0025] In the diagram: 101 Loose soil; 102 Wheel and its drive test module; 103 Vertical and lateral drive test module; 104 Longitudinal drive test module; 105 Lateral drive test module; 301 Lateral slide module; 302 Drive motor; 303 Tension sensor; 304 Slide rail; 305 Slide rail seat; 401 Horizontal guide rod; 402 Tension sensor; 403 Longitudinal support plate; 404 Longitudinal support plate; 405 Stepper motor; 406 Synchronous pulley; 407 Synchronous belt; 408 Guide shaft mounting bracket; 409 Box-type linear bearing; 501 Spherical bearing; 502 Through-type motor; 503 Connecting plate; 504 Vertical guide rod; 505 Stepper motor; 506 Linear bearing; 507 Welded mounting frame; 508 Counterweight; 509 Guide rod retainer; 510 Hinge. Detailed Implementation

[0026] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0027] The wheel-soil interaction mechanical performance testing device based on a series sliding joint mechanism provided in this invention mainly includes a support box and soft soil, a wheel and its drive testing module, a vertical and lateral drive testing module, a longitudinal drive testing module, a lateral drive testing module, and a data processing module. The support box is the load-bearing component of the entire device; the wheel and its drive testing module controls the wheel to travel on the soft ground at different speeds and monitors data such as wheel speed; the vertical and lateral drive testing module controls the wheel to travel on the soft ground with different vertical loads and lateral tilt angles and monitors data such as wheel settlement and lateral tilt angle; the longitudinal drive testing module uses a series sliding joint mechanism to control the wheel's travel speed on the soft ground and monitors the longitudinal force during wheel travel; the lateral drive testing module uses a series sliding joint mechanism to control the wheel's lateral displacement and lateral velocity on the soft ground and monitors the lateral force during wheel travel; the data processing module processes the monitored data such as vehicle speed, lateral tilt angle, longitudinal force, and lateral force to generate wheel-soil interaction mechanical characteristic curves. This experimental setup can be used to quickly obtain the mechanical properties of an elastic wheel on soft ground, providing data for vehicle dynamics simulation and design, and improving vehicle dynamics performance and design level.

[0028] like Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, this embodiment of the invention provides a test device for the mechanical properties of wheel-soil interaction based on a series moving pair mechanism. It includes several major modules such as a support box and loose soil 101, a wheel and its driving test module 102, a vertical and lateral driving test module 103, a longitudinal driving test module 104, a lateral driving test module 105, and a control and data processing module. The various parts are connected by a detachable structure and can be disassembled and replaced.

[0029] The support box is the load-bearing component of the entire device. It is loaded with soil of different parameters according to the test requirements. Angle brackets, guide rail seats and guide rails are installed on the support to provide a stable installation foundation for other modules. Rollers are installed at the bottom. The whole adopts a detachable and modular structure for easy disassembly and transportation.

[0030] like Figure 3The lateral module shown mainly consists of a lateral slide module 301, a drive motor 302, a force sensor 303, a slide rail 304, and a slide rail base 305. The slide module can slide freely laterally along the slide rail, which is fixed to the slide rail base. The slide rail base is fixedly mounted on the support housing using angle brackets. A force sensor is installed at one end of the slide module, 1 cm away from the support housing. When the slide module is subjected to a lateral force, it slides laterally, causing the force sensor to register a force reading, thus obtaining the required lateral force. A drive motor is connected to the slide module to realize the lateral movement of the slide. Different lateral speeds can be achieved by controlling the motor's output speed.

[0031] like Figure 4 The longitudinal drive test module 4 shown mainly consists of a horizontal guide rod 401, a tension sensor 402, a longitudinal support plate 403, a longitudinal support plate 404, a stepper motor 405, a synchronous pulley 406, a synchronous belt 407, a guide shaft mounting bracket 408, and a box-type linear bearing 409. The longitudinal drive device is slidably connected to the transverse drive device via a slider on the transverse slide module. A force sensor is installed at the forward end of the longitudinal drive device (i.e., the forward direction of the wheel), 1 cm away from the front baffle. When the longitudinal drive device is subjected to longitudinal force, it will move forward along the horizontal guide rod. At this time, the force sensor presses against the front baffle, and the force sensor generates a reading to realize the real-time measurement of the longitudinal force. The synchronous pulley on the longitudinal drive device is connected to the stepper motor, and the synchronous belt is fixedly connected to the vertical drive device (the synchronous belt is pressed tightly onto the vertical drive device by a pressure plate). When the motor is driven (assuming the wheel does not rotate), the synchronous pulley drags the vertical and lateral drive devices and the wheel forward through the belt. By using a motor to drive the wheels and generate rotational speed, the wheels can travel on the test surface with different slip ratios.

[0032] like Figure 5The vertical and lateral tilt drive test module shown mainly consists of a spherical bearing 501, a through-type motor 502, a connecting plate 503, a vertical guide rod 504, a stepper motor 505, a linear bearing 506, a welded mounting frame 507, a counterweight 508, a guide rod retainer 509, and a hinge 510. The connecting plate is fixed to the slider on the horizontal guide rail in the longitudinal drive device to achieve horizontal guidance. The vertical guide rod is fixedly installed on the connecting plate, and the welded mounting frame is installed on the slider of the vertical guide rail to achieve vertical guidance. Simultaneously, a motor, a right-angle reducer, and a connecting flange are installed within the welded mounting frame to provide power to the wheel. Different weights can be installed on the welded frame to adjust the wheel load. The wheel can move up and down along the vertical guide rod. A displacement sensor is installed on the welded frame; after the wheel sinks on the road surface, the vertical displacement and sinkage of the wheel can be measured by the displacement sensor. The through-type motor drives the connecting plate to rotate around the intersection point, and the other end of the connecting plate is connected to the wheel and the welded mounting frame. Therefore, the wheel tilt angle can be adjusted by controlling the output of the through-type motor.

[0033] like Figure 6 The control and data processing module is shown. The control system mainly consists of a power supply, a host computer, a programmable logic controller (PLC), and a stepper motor controller. The host computer uses a TIA Portal V19 to write control programs, and control commands are written to the PLC via data cables. The stepper motor drivers are connected to the PLC using a common cathode wiring method. Motor speed is controlled by adjusting the pulse frequency in the Pulse Command Plus, and the direction is adjusted to control the wheel's travel direction. Sensors are connected via the SSCOM software to collect wheel travel-related parameters (longitudinal driving force, etc.). During testing, different driving conditions can be controlled by controlling the start / stop and output speed of different motors. Real-time reading of sensor readings allows for monitoring of wheel longitudinal force, lateral force, and sinkage.

[0034] like Figure 1 The diagram shows the test setup. The wheel is connected to the setup via a connecting flange. During the test, a drive motor applies torque to rotate the wheel, simulating the wheel's movement. The control and data processing module controls the start and stop of each motor to achieve different test conditions. In the wheel test, if the stepper motor drives the pulley and synchronous belt, the synchronous belt drags the wheel forward while the wheel motor rotates, allowing the wheel to move forward with different slip ratios. The participation of the through-type motor allows the wheel to achieve different roll angles. In the wheel test, if the drive motor drives the lateral module slider to move laterally, and the synchronous belt and wheel also move forward, the wheel can travel on the road surface with different roll angles. Force and displacement sensors installed in the test setup can measure the lateral or longitudinal forces, as well as the vertical displacement or sinking of the wheel under different conditions.

[0035] This experimental setup uses a support box as its basic load-bearing frame, filled with loose soil 101, and constructs a multi-degree-of-freedom motion reference system through guide rails and angle brackets. The wheel and its drive test module 102 is mounted on the vertical and lateral drive test module 103. The vertical and lateral drive test module 103 is further connected to the longitudinal drive test module 104 via a slider. The longitudinal drive test module 104 is in turn connected to the lateral drive test module 105 via a series sliding pair. This forms a multi-stage series motion chain: lateral drive test module 105 – longitudinal drive test module 104 – vertical and lateral drive test module 103 – wheel and its drive test module 102. The modules are oriented and move relative to each other through guide rail pairs and slider pairs. The control and data processing module is connected to each drive motor and sensor to uniformly schedule the actions of each kinematic pair, achieving coordinated control of three-dimensional spatial motion and attitude adjustment.

[0036] The transverse slide module 301 in the transverse drive test module 105 is fixed to the support housing via a slide rail 304 and a slide rail base 305. The drive motor 302 is connected to the transverse slide module 301 and provides transverse drive force. The tension sensor 303 is arranged at the end of the slide to sense the transverse force. When the transverse slide module 301 moves along the slide rail 304 under the action of the drive motor 302, the longitudinal drive test module 104 mounted on it undergoes transverse displacement as a whole.

[0037] The longitudinal drive test module 104 forms a low-friction guide pair with the box-type linear bearing 409 via the horizontal guide rod 401. The stepper motor 405 drives the longitudinal support plate 403 and longitudinal support plate 404 to move along the wheel travel direction via the synchronous pulley 406 and the synchronous belt 407. At the same time, the tension sensor 402 forms a contact constraint relationship with the front baffle, and outputs longitudinal force data in real time during the longitudinal displacement process. The lateral and longitudinal movements are superimposed through structural series connection, so that the wheel movement trajectory can form arbitrary planar direction components.

[0038] The vertical and lateral tilt drive test module 103 is rigidly connected to the slider in the longitudinal drive test module 104 via the connecting plate 503, achieving synchronous transmission with longitudinal movement. The vertical guide rod 504 and the linear bearing 506 form a vertical guide pair. The welded mounting frame 507 moves up and down under the constraint of the guide pair. The counterweight 508 is used to adjust the wheel load, forming an adjustable vertical pressure loading mechanism. The through-type motor 502 drives the connecting plate 503 to rotate around the spatial hinge axis via the spherical bearing 501 and the hinge 510, thereby changing the wheel mounting posture and realizing the adjustment of the lateral tilt angle. The vertical displacement and lateral tilt movement are coupled within the same module through the guide pair and the revolute pair, allowing the wheel to both sink and tilt, thus realistically simulating the complex force state during wheel-ground contact.

[0039] During the experiment, the control and data processing module sends control signals to the stepper motor 405, drive motor 302, and through-type motor 502 via a programmable controller, forming a multi-degree-of-freedom coordinated control of lateral displacement, longitudinal displacement, vertical loading, and tilt adjustment. The wheel and its drive test module 102 achieves rotational motion by outputting torque from its own drive motor, while the longitudinal drive test module 104 achieves overall forward movement through synchronous belt transmission, thus establishing a composite motion relationship of wheel rolling and sliding. The lateral drive test module 105 provides lateral displacement to realize the sideslip condition. The vertical and tilt drive test module 103 achieves normal load loading through the counterweight 508 and vertical guide rod 504, and achieves attitude adjustment through the through-type motor 502. The tension sensor 303 and tension sensor 402 respectively collect lateral force and longitudinal force, and the displacement sensor monitors vertical displacement. All signals are uniformly transmitted to the control and data processing module for processing, thereby realizing accurate testing of the mechanical properties of wheel-ground interaction under multi-condition coupling.

[0040] Example 1: Foundation Series Moving Pair Rotary Mechanics Test Structure

[0041] In this embodiment, the test device includes a split-type support box for easy disassembly and installation, and improved structural stability. The box is filled with soft soil to simulate actual working conditions. The drive system of the test device adopts a multi-module series layout. Each drive module is connected in an orderly manner through a dedicated sliding joint to ensure the accuracy and stability of motion transmission: the lateral drive module is detachably connected to the support box through a first sliding joint, the longitudinal drive module is connected to the lateral drive module through a second sliding joint, and the vertical and tilt drive modules are connected to the longitudinal drive module through a third sliding joint. The third sliding joint enables vertical adaptive lifting to determine the wheel sinking situation. The wheel drive module is fixed on the vertical and tilt drive modules to ensure the accuracy and reliability of wheel operation.

[0042] The aforementioned drive modules, through a series connection, ensure that the movement paths of the wheels in the lateral, longitudinal, and vertical directions are strictly separated, and the force transmission paths in each direction do not overlap. This avoids mechanical coupling errors caused by the superposition of multiple degrees of freedom and provides a basis for the independent measurement of wheel-earth interaction forces.

[0043] Example 2: Lateral force decoupling test of transverse tandem sliding joint

[0044] In this embodiment, the lateral drive module adopts a series structure of two sliding joints arranged in the same direction, which simultaneously realize the driving function and force measurement function through the front and rear hierarchical arrangement. Among them, the lateral force sensing unit is arranged on the sliding joint closer to the wheel, which can collect the lateral force between the wheel and the soil in real time during the test; the lateral drive unit is arranged on the sliding joint farther from the wheel, which realizes the overall lateral movement of the longitudinal motion module through the cooperation of the motor and the transmission mechanism, and can provide the lateral movement speed for the wheel in actual operation.

[0045] Through the above-mentioned series structure design that separates the driving path and the measurement path, the force measuring moving pair where the lateral force sensing unit is located only transmits the lateral force generated by the interaction between the wheel and the soil, and does not bear the driving force output by the lateral driving unit or the system motion load. Structurally, this avoids the coupling influence of interference factors such as driving load, friction resistance, and mechanism deformation on the force measurement results, thereby improving the reliability of the data under sideslip conditions.

[0046] Example 3: Traction and slip ratio control of longitudinal tandem sliding pairs

[0047] In this embodiment, the longitudinal drive module employs two sliding joint structures arranged in the same direction along the travel direction. A longitudinal force sensing unit is installed on the sliding joint on the side away from the starting point of wheel movement to collect traction force in real time; a longitudinal drive unit is installed on the other sliding joint to control the wheels, vertical and lateral drive modules as a whole to achieve smooth straight-line travel at a specified speed.

[0048] In wheel-soil tests, traction performance testing under different slip ratio conditions can be achieved by coordinating the longitudinal drive speed and wheel rotation speed. The longitudinal double sliding pair structure ensures that the traction measurement path and the drive path are independent of each other, so that the longitudinal force sensing unit only bears the real traction force generated by the wheel-soil action. This ensures that the traction measurement is not affected by drive inertia and mechanism friction, highlighting the real influence of slip ratio changes on the wheel-soil action force.

[0049] Example 4: Settlement Test under Combined Vertical and Lateral Loading

[0050] In this embodiment, the vertical and lateral drive modules adopt a series integrated structure of revolute and prismatic joints. Through the functional decoupling and coordinated operation of the two types of kinematic joints, integrated control of wheel lateral tilt angle adjustment and vertical mechanical loading is achieved. The motor drives the connecting plate to rotate around the hinge point to tilt the wheel at a set angle and maintain the angle stability without disturbance during the test; the vertical prismatic joint is used to apply vertical load and collect the wheel sinking displacement.

[0051] This series structure completely decouples the roll angle adjustment from the vertical loading process, effectively avoiding problems such as additional fluctuations in vertical load and displacement measurement distortion caused by changes in roll angle in traditional integrated mechanisms. This enables accurate measurement of wheel sinking characteristics under different roll angle conditions, revealing the influence of roll on wheel-soil contact state.

[0052] Example 5: Testing of Rotary Soil Mechanical Properties under Multi-condition Cooperative Control

[0053] In this embodiment, the control and data processing module performs unified and coordinated control of wheel speed, longitudinal drive speed, lateral movement speed, and vertical load. By setting different combinations of control parameters, the module can simulate four typical working conditions of the wheel in soft soil: pure rolling (matching wheel speed and longitudinal speed), traction slip (adjusting the difference between the two to set the slip ratio), lateral sideslip (controlling the ratio of lateral and longitudinal speeds), and combined tilt (combining vertical load and tilt angle adjustment), comprehensively covering the wheel-soil interaction scenario.

[0054] Under various operating conditions, the module synchronously collects longitudinal force, lateral force, settlement, and wheel roll information through multi-channel sensors. After time synchronization and noise reduction processing, data accuracy and consistency are ensured. The processed data is then fitted and analyzed to generate wheel-soil mechanical characteristic curves, providing consistent input data for vehicle dynamics modeling.

[0055] Example 6: Application Scenarios for Deconstructable Transportation and Repeatable Testing

[0056] In this embodiment, each drive module is detachably connected to the support housing. After the test, the entire unit can be disassembled and transported to different test sites, solving the problems of inconvenient transportation and poor adaptability of integrated devices. By changing the soft soil filler with different parameters and repeating the above test procedure, comparative tests of the mechanical properties of soil under different soil conditions can be achieved.

[0057] This structure ensures that the device maintains a consistent mechanical loading and measurement mechanism under different test conditions, highlighting the advantages of the tandem moving pair structure in terms of versatility and repeatability.

[0058] The above embodiments systematically demonstrate the structural decoupling mechanism, measurement path separation mechanism, and multi-condition collaborative loading capability of the series moving pairs in the test of soil-wheel action force. This fully illustrates that the technical solution can stably and accurately achieve the test of soil-wheel mechanical properties, and has significant technological advancement and engineering application value.

[0059] A wheel-soil interaction test rig was built according to experimental requirements. This device can measure the longitudinal and lateral forces of the wheel in real time, obtain different wheel slip rates and settlement amounts, and provide reliable data for wheel-soil interaction mechanical analysis.

[0060] Combination Figure 7 and Figure 8 The test results show that the wheel-soil action mechanical performance testing device constructed based on the series moving joint mechanism of this invention has good mechanical response consistency and controllability in multi-condition coupled testing. From Figure 7 It can be seen that under different load conditions of 100N, 200N, and 300N, as the sideslip angle gradually increases, the wheel lateral force generally exhibits an approximately linear growth trend. Furthermore, with the increase of the normal load, the lateral force curve shifts upwards overall, indicating that the device can stably apply and maintain different vertical loads and accurately reflect the law of wheel-soil lateral force variation with the sideslip angle. At the same time, although the curve exhibits some fluctuations, the overall trend is clear, demonstrating that the experimental device still possesses good data acquisition stability and repeatability in soft soil environments.

[0061] like Figure 8 As shown, under different loads of 100N, 200N, and 300N, the longitudinal force exhibits a typical characteristic of first rapidly increasing and then stabilizing with the increase of slip ratio, and a plateau region is formed in the higher slip ratio range, which conforms to the classical mechanical laws of wheel-slip interaction. With the increase of load, the longitudinal driving force increases significantly, indicating that this device can effectively simulate the changes in wheel traction performance under different load conditions and accurately capture the influence of slip ratio on traction force.

[0062] comprehensive Figure 7 and Figure 8 The results show that this invention, through the synergistic effect of the lateral drive test module, the longitudinal drive test module, and the vertical and tilt drive test modules, achieves independent control and coupled loading of the sideslip angle, slip ratio, and normal load, enabling multi-parameter combined working condition tests to be completed on a unified test platform. This device not only improves the accuracy and repeatability of soil mechanical property testing but also expands the testing capabilities under complex working conditions, demonstrating significant engineering application value and research promotion significance.

[0063] The above are merely specific embodiments of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications, equivalent substitutions, and improvements made by those skilled in the art within the scope of the technology disclosed in the present invention and within the spirit and principles of the present invention should be included within the scope of protection of the present invention. Those skilled in the art can make various modifications and refinements without departing from the spirit and scope of the present invention. Therefore, the scope of protection of the present invention shall be determined by the scope defined in the claims.

Claims

1. A test device for the mechanical properties of wheel-soil interaction based on a series moving pair mechanism, characterized in that, It includes a support box, soft soil, wheels and their drive test modules, vertical and lateral drive test modules, longitudinal drive test modules, lateral drive test modules, and control and data processing modules; The lateral drive test module is connected to the support box via a first sliding joint, the longitudinal drive test module is connected to the lateral drive test module via a second sliding joint, the vertical and lateral drive test module is connected to the longitudinal drive test module via a third sliding joint, and the wheel and its drive test module are fixedly connected to the vertical and lateral drive test module. The first, second, and third moving pairs are arranged in series along the force transmission direction, so that the lateral movement, longitudinal movement, and vertical load adjustment of the wheel in soft soil are independently decoupled, realizing the separation test of wheel-soil interaction force under different degrees of freedom of motion.

2. The experimental apparatus according to claim 1, characterized in that, The support box adopts a split structure, and each module is detachably connected to the support box to adapt to the filling and replacement of soft soil with different parameters.

3. The experimental apparatus according to claim 1, characterized in that, The wheel and its drive test module include a wheel drive unit and a speed detection unit, which are used to independently control the wheel speed while maintaining the spatial position constraint of the wheel.

4. The experimental apparatus according to claim 1, characterized in that, The control and data processing module is used to synchronously collect wheel speed, vertical displacement, longitudinal force and lateral force, and generate wheel-soil mechanical characteristic curves.

5. Based on the test apparatus described in claim 1, a wheel-soil interaction force testing system based on a series moving pairs in the same direction is characterized in that, The lateral drive test module and the longitudinal drive test module each adopt two series moving joint structures arranged in the same direction, wherein the first-level moving joint is equipped with a force sensing unit and the second-level moving joint is equipped with a drive unit. The force between the wheel and the loose soil is directly measured by the first-level sliding joint, and the wheel is driven to move as a whole by the second-level sliding joint, so that the driving force input path and the force measurement path are separated.

6. The testing system according to claim 5, characterized in that, The secondary moving pair of the lateral drive test module is used to control the lateral displacement speed of the wheel and coordinate with the longitudinal movement speed to realize the side slip condition loading of the wheel on soft soil.

7. The testing system according to claim 5, characterized in that, The secondary moving pair of the longitudinal drive test module is used to control the longitudinal travel speed of the wheel and coordinate with the wheel speed to realize the wheel-slip force test under different slip ratio conditions.

8. A method for testing the mechanical properties of soil-wheel interaction based on the test apparatus according to any one of claims 1 to 7, characterized in that, Includes the following steps: Fill the bracket box with loose soil and complete the initial wheel position calibration; The vertical load and roll angle of the wheel are set using the vertical and roll drive test modules; Through the coordinated control of the longitudinal drive test module and the wheel drive test module, the wheel is made to travel in soft soil at a preset slip ratio. Through the coordinated control of the lateral drive test module and the longitudinal drive test module, the wheel is made to slip in soft soil at a preset sideslip rate. During the test, longitudinal force, lateral force, and wheel sinkage were collected to form a wheel-soil interaction mechanics dataset.

9. The test method according to claim 8, characterized in that, By keeping the lateral drive test module stationary and controlling only the longitudinal drive test module and wheel speed, the longitudinal wheel-ear force can be tested independently.

10. The test method according to claim 8, characterized in that, By keeping the wheel speed and longitudinal drive speed constant, and only changing the moving speed of the lateral drive test module, the lateral force of the wheel under sideslip conditions can be tested independently.

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