Rotary walking system engagement platform and walking system engagement performance experimental method

Abstract

The present application relates to a kind of rotating walking system engagement platform and walking system engagement performance experimental method, the platform includes left and right two support seats and the engagement walking wheel and pin array, two support seats are fixed on platform table, the left and right ends of walking wheel axle are rotatably supported on corresponding support seat, one end of walking wheel axle is connected rotation driving device, vertical adjusting plate is provided on the platform table between two support seats, pin array is placed on vertical adjusting plate, pin array is embedded with a pair of horizontal adjusting plate between two support seats, horizontal adjusting plate is fixed relative to support seat, one end of pin array is provided with displacement, speed and acceleration sensor;The method is to use the platform to carry out experiment, start rotation driving device after changing experimental parameter each time, walking wheel drives pin array to move, obtains the sensing data of displacement, speed and acceleration sensor.The present application is used to carry out experimental research on the influencing factor, influencing mode and influence degree of the engagement performance of coal mining machine walking system.

Description

Technical Field

[0001] This invention relates to an experimental platform for testing the meshing performance of the traveling wheels and pins of a coal mining machine, and a method for verifying the meshing performance of the traveling system using the platform. Background Technology

[0002] The meshing between the traveling wheels of the coal mining machine and the pins of the conveyor is usually non-conjugate meshing. When used underground, the impact and vibration are more severe, which greatly affects the performance and lifespan of the traveling system.

[0003] The pin pitch and the center distance between the traveling wheels and the pins are two main factors affecting the meshing performance of the traveling system. By optimizing the tooth profile of the traveling wheels and the pins, the meshing performance of the coal mining machine's traveling system can be improved.

[0004] To improve meshing performance, the tooth profile of the traveling wheel is often designed as a composite tooth profile. However, composite tooth profiles vary greatly, and the best way to study their impact on the performance of the traveling system is through experiments. Currently, there is no similar experimental platform to verify and analyze the meshing performance of the traveling system. Most verification is done through software simulation or by making improvements based on problems encountered in actual use. Software simulation often fails to reflect reality, while making improvements based on actual use is time-consuming and costly. Summary of the Invention

[0005] The purpose of this invention is to provide a rotating walking system meshing platform and an experimental method for the meshing performance of the walking system, which is used to conduct experimental research on various influencing factors, influencing modes and their degree of influence on the meshing performance of the coal mining machine walking system.

[0006] The main technical solutions of this invention are as follows:

[0007] A rotary walking system meshing platform includes a rotary drive device, two left and right support seats, and meshing walking wheels and pins. The two support seats are fixedly installed on the platform surface. The left and right ends of the axle of the walking wheel are rotatably supported on the corresponding support seats. The rotary drive device is coaxially connected to one end of the axle of the walking wheel, and drives the walking wheel to rotate. A vertical adjustment plate is detachably and fixedly installed on the platform surface between the two support seats. The pins are placed on the vertical adjustment plate, which is a flat plate of uniform thickness. A pair of horizontal adjustment plates are embedded between the pins and the two support seats. The pair of horizontal adjustment plates are detachably and fixedly connected to the left and right support seats and guide the forward and backward movement of the pins. A displacement, speed, and acceleration sensor is installed at one end of the pins.

[0008] A rotary walking system meshing platform includes a rotary drive device, two left and right support seats, and meshing walking wheels and pins. The two support seats are fixedly installed on the platform surface. The left and right ends of the axle of the walking wheel are rotatably supported on the corresponding support seats. The rotary drive device is coaxially connected to one end of the axle of the walking wheel, and drives the walking wheel to rotate. A vertical adjustment plate is placed on the platform surface between the two support seats. The top plane of the vertical adjustment plate is divided into a front top plane and a rear top plane. The front and rear top planes can each be either a horizontal plane or an inclined plane with different heights at the front and rear ends. The pin has two sections, front and rear, which extend forward and backward and are detachably fixed to the front and rear top planes of the vertical adjustment plate, respectively. A pair of horizontal adjustment plates are embedded between the pin and the two support seats. The pair of horizontal adjustment plates are detachably fixed relative to the left and right support seats and guide the forward and backward movement of the pin. Displacement, speed, and acceleration sensors are installed at one end of the pin.

[0009] A rotating walking system meshing platform includes a rotation drive device, two left and right support seats, and meshing walking wheels and pins. The two support seats are fixedly mounted on the platform surface. The left and right ends of the axle of the walking wheel are rotatably supported on the corresponding support seats. The rotation drive device is coaxially connected to one end of the axle of the walking wheel, driving the walking wheel to rotate. A vertical adjustment plate is placed on the platform surface between the two support seats. The top plane of the vertical adjustment plate is divided into a front top plane and a rear top plane. The front and rear top planes can each be either a horizontal plane or an inclined plane with unequal heights at the front and rear ends. The pins have two sections, front and rear, which are detachably fixed to the vertical adjustment plate. On the front and rear top planes of the adjusting plate, a pair of horizontal adjusting plates are embedded between the pin row and the two left and right support seats. The outer vertical plate surface of the pair of horizontal adjusting plates is in contact with the corresponding side surface of the left and right support seats. The pair of horizontal adjusting plates is divided into a front section and a rear section. The front and rear sections are either flat plates of equal thickness or wedge plates of different thicknesses at the front and rear ends. The left and right inner plate surfaces of the front section are parallel, and the left and right inner plate surfaces of the rear section are parallel, and the distance between the left and right inner plate surfaces is equal at all points. The left and right sides of the front and rear pin rows are in contact with the left and right inner plate surfaces of the front and rear sections, respectively, and the pin rows are detachably fixed to the horizontal adjusting plates. Displacement, velocity, and acceleration sensors are installed at one end of the pin row.

[0010] The rotation drive device can be a motor, which is mounted on a motor base and the motor base is fixed to the platform surface.

[0011] The motor and the axle of the traveling wheel can be connected by a coupling.

[0012] The left and right ends of the axle of the walking wheel are each rotatably supported on the corresponding support seat by bearings. An end cover is also installed on one side of the support seat, and the end cover axially limits the corresponding bearing.

[0013] A groove may be provided on the platform surface between the two support seats, and the vertical adjustment plate can be detachably fixed in the groove.

[0014] Each of the left and right support bases can be fitted with a screw, with the tail end of the screw contacting the left and right sides of the pin array, respectively.

[0015] Each of the left and right support bases can be fitted with a screw, with the tail end of the screw contacting the left and right outer vertical plate surfaces of the pair of horizontal adjustment plates, respectively.

[0016] A method for testing the meshing performance of a walking system involves using the aforementioned rotary walking system meshing platform. The rotation drive device is activated to rotate the walking wheels, which in turn move the pin assembly. Sensor data from the displacement, velocity, and acceleration sensors are acquired to obtain the meshing performance data between the walking wheels and the pin assembly. The above process is repeated after changing the experimental parameters. The experimental parameters can be altered by implementing one or two of the following modifications:

[0017] 1) Replace the travel wheels and / or pin sets with different tooth profiles;

[0018] 2) Adjust the center distance between the walking wheel and the pin row by replacing the vertical adjustment plate with one of different thicknesses.

[0019] A method for testing the meshing performance of a walking system involves using the aforementioned rotary walking system meshing platform. The rotation drive device is activated to rotate the walking wheels, which in turn move the pin assembly. Sensor data from the displacement, velocity, and acceleration sensors are acquired to obtain the meshing performance data between the walking wheels and the pin assembly. The above process is repeated after changing the experimental parameters. The experimental parameters can be altered by implementing one or more of the following modifications:

[0020] 1) Replace the travel wheels and / or pin sets with different tooth profiles;

[0021] 2) Adjust the center distance between the walking wheel and the pin assembly by replacing the vertical adjustment plate with one of different thicknesses;

[0022] 3) Adjust the pin pitch by changing the distance between the front and rear pin sections;

[0023] 4) The vertical bending degree of the front and rear pin rows can be changed by replacing the vertical adjustment plates with different angles between the front and rear top planes.

[0024] A method for testing the meshing performance of a walking system involves using the aforementioned rotary walking system meshing platform. The rotation drive device is activated to rotate the walking wheels, which in turn move the pin assembly. Sensor data from the displacement, velocity, and acceleration sensors are acquired to obtain the meshing performance data between the walking wheels and the pin assembly. The above process is repeated after changing the experimental parameters. The experimental parameters can be altered by implementing one or more of the following modifications:

[0025] 1) Replace the travel wheels and / or pin sets with different tooth profiles;

[0026] 2) Adjust the center distance between the walking wheel and the pin assembly by replacing the vertical adjustment plate with one of different thicknesses;

[0027] 3) Adjust the pin pitch by changing the distance between the front and rear pin sections;

[0028] 4) The degree of vertical bending of the front and rear pin rows can be changed by replacing the vertical adjustment plates with different angles between the front and rear top planes.

[0029] 5) The horizontal bending degree of the front and rear pin rows can be changed by replacing the horizontal adjustment plates with different angles between the front inner side plate and the rear inner side plate.

[0030] The beneficial effects of this invention are:

[0031] The rotary walking system meshing platform of the present invention can simulate the underground working state of a coal mining machine walking system with various structural parameters by changing variables such as the thickness of the vertical adjustment plate, the spacing between the front and rear pin rows, the angle between the inner side plates of the front and rear sections of the horizontal adjustment plate, and the angle between the front and rear top planes of the vertical adjustment plate. It can also measure the kinematic parameters (including displacement, velocity, and acceleration) of the coal mining machine walking system, i.e., the meshing performance data, and then verify and optimize the tooth profile of the walking wheels and pin rows to improve the meshing performance of the walking system.

[0032] By using screws to apply a clamping force to the horizontal adjustment plate or pin assembly, a certain frictional torque is provided to the pin assembly, simulating the meshing resistance torque between the traveling wheel and the pin assembly. This allows the experimental conditions to be closer to real working conditions, improving the reliability and accuracy of the experiment. Attached Figure Description

[0033] Figure 1a This is a schematic diagram of the structure of an embodiment of the meshing platform of the rotary walking system of the present invention;

[0034] Figure 1b This is a schematic diagram of another embodiment of the meshing platform of the rotary walking system of the present invention;

[0035] Figure 2a A diagram showing the arrangement of a horizontal adjustment plate in an embodiment simulating the horizontal bending state of a pin assembly;

[0036] Figure 2b A diagram showing the arrangement of a horizontal adjustment plate in another embodiment simulating the horizontal bending state of a pin assembly;

[0037] Figure 3a A diagram showing the arrangement of a vertical adjustment plate in an embodiment simulating the vertical bending state of a pin array;

[0038] Figure 3b This is a diagram of the vertical adjustment plate arrangement for another embodiment simulating the vertical bending state of the pin row.

[0039] Figure label:

[0040] 1. Platform surface; 2. Motor mount; 3. Motor; 4. Coupling; 5. End cover; 6. Bearing; 7. Support base; 8. Traveling wheel; 9. Pin row; 10. Horizontal adjustment plate; 11. Positioning pin; 12. Screw; 13. Vertical adjustment plate; 14. Displacement / velocity / acceleration sensor. Detailed Implementation

[0041] like Figures 1a-3b As shown, this invention discloses a rotary walking system meshing platform (which may be simply referred to as a meshing platform). The first embodiment of the meshing platform (see...) Figure 1a The system includes a rotary drive device, two left and right support seats 7, and meshing traveling wheels 8 and pin rows 9. The two support seats are fixedly installed on the platform surface 1 (usually a horizontal plane). The left and right ends of the axle of the traveling wheels are rotatably supported on corresponding support seats, and the axis of the traveling wheels is oriented left and right (corresponding to...) Figure 1a The pin row extends horizontally (in the left-right direction). The rotation drive device is coaxially connected to one end of the axle of the walking wheel. The rotation drive device drives the walking wheel to rotate, and the pin row moves back and forth under the drive of the walking wheel. A vertical adjustment plate 13 is detachably and fixedly installed on the platform between the two support seats, and the pin row is placed on the vertical adjustment plate. The vertical adjustment plate is a flat plate of uniform thickness. A pair of horizontal adjustment plates 10 are embedded between the pin row and the two left and right support seats. The pair of horizontal adjustment plates is detachably and fixedly connected to the left and right support seats, and guides the back-and-forth movement of the pin row. The horizontal adjustment plates are preferably flat plates of uniform thickness. Correspondingly, the inner and outer vertical plates of the pair of horizontal adjustment plates are respectively in contact with the left and right sides of the pin row and the corresponding sides of the left and right support seats. The horizontal adjustment plates in the front-and-back direction are preferably located directly below the walking wheel. A displacement, velocity, and acceleration sensor 14 is installed at one end of the pin row to monitor the displacement, velocity, and acceleration of the pin row when it moves back and forth and their changes, thereby obtaining the meshing performance of the walking system. In this embodiment, the inner vertical plate surface of the pair of horizontal adjustment plates is configured as a guide surface when the pin row moves linearly.

[0042] In this embodiment, the pin row is a single-section pin row. Multiple vertical adjustment plates of different thicknesses can be fitted to the meshing platform. By replacing the vertical adjustment plates of different thicknesses, the meshing center distance A between the traveling wheel and the pin row can be changed.

[0043] The second embodiment of the meshing platform of the rotary walking system (see...) Figure 1b The system includes a rotary drive device, two left and right support seats 7, and meshing traveling wheels 8 and pin rows 9. The two support seats are fixedly installed on the platform surface 1 (usually a horizontal plane). The left and right ends of the axle of the traveling wheels are rotatably supported on the corresponding support seats, and the axis of the traveling wheels is oriented left and right (corresponding to...). Figure 1a The horizontal axis extends horizontally (in the left-right direction). The rotation drive device is coaxially connected to one end of the axle of the traveling wheel. The rotation drive device drives the traveling wheel to rotate, and the pin row moves back and forth under the drive of the traveling wheel. A vertical adjustment plate 13 is placed on the platform between the two support seats. The top plane of the vertical adjustment plate is divided into a front top plane and a rear top plane. The front and rear top planes can each adopt either a horizontal plane or an inclined plane with different heights at the front and rear ends. For example, the front and rear top planes can both be horizontal planes (see...). Figure 1b Alternatively, one plane can be horizontal, and the other can be a sloping plane that is higher in the front and lower in the back (see...). Figure 3a This creates an angle between the front and rear top planes. The pin array has two sections, front and rear, which extend forward and backward and are detachably fixed to the front and rear top planes of the vertical adjustment plate, respectively. For example... Figure 3a , 3b The pin 11 is used for detachable fixed connection. The left and right edges of the pin row preferably extend beyond the left and right edges of the vertical adjustment plate, respectively. A pair of horizontal adjustment plates 10 are embedded between the pin row and the two left and right support seats. These horizontal adjustment plates are detachably fixed to the left and right support seats and guide the forward and backward movement of the pin row. The horizontal adjustment plates are preferably flat plates of uniform thickness. Correspondingly, the inner and outer vertical surfaces of the horizontal adjustment plates are respectively in contact with the left and right sides of the pin row and the corresponding sides of the two left and right support seats. The horizontal adjustment plates are preferably located directly below the traveling wheels in the forward and backward direction. A displacement, velocity, and acceleration sensor 14 is installed at one end of the pin row to monitor the displacement, velocity, and acceleration of the pin row during forward and backward movement and their changes, thereby obtaining the meshing performance of the traveling system. In this embodiment, the pin row and the vertical adjustment plates constitute an assembly unit, with the vertical adjustment plates moving synchronously with the pin row. The inner vertical surfaces of the horizontal adjustment plates constitute the guide surface for the linear movement of the assembly unit.

[0044] For the meshing platform in the second embodiment, the main parameters of the vertical adjustment plate, besides its thickness, include the included angle between the front and rear top planes, which is numerically equal to the vertical bending β of the pin row. By setting the front and rear top plane structures and their included angle on the vertical adjustment plate, and then placing the pin row on the vertical adjustment plate, the vertical bending state of the pin row can be simulated. The larger the included angle between the front and rear top planes, the larger the vertical bending β. By replacing the vertical adjustment plate with different specifications, not only can the meshing center distance A between the traveling wheel and the pin row be changed, but also the vertical bending β of the pin row can be changed. Therefore, the meshing performance under different center distances and different vertical bending β conditions can be verified. When both the front and rear top planes are horizontal, the vertical adjustment plate also becomes a flat plate of uniform thickness. At this time, the included angle between the front and rear top planes can be considered to be zero, that is, there is no vertical bending.

[0045] Accordingly, multiple vertical adjustment plates of different specifications are required to be fitted to the meshing platform. The thickness and the included angle between the front and rear top planes of the different specifications of the vertical adjustment plates are different.

[0046] In the first and second embodiments, screws 12 can be installed on the left and right support seats respectively, and the tail end faces of the left and right screws 12 contact the left and right sides of the pin row. The screws 12 can exert a certain clamping effect on the pin row and provide a certain frictional torque to the pin row. This frictional torque is used to simulate the meshing resistance torque between the traveling wheel and the pin row, so that the experimental conditions can be closer to the real working conditions, and improve the reliability and accuracy of the experiment.

[0047] The third embodiment of the rotary walking system meshing platform includes a rotary drive device, two left and right support seats 7, and meshing walking wheels 8 and pin rows 9. The two support seats are fixedly installed on the platform surface 1 (usually a horizontal plane). The left and right ends of the axle of the walking wheel are rotatably supported on the corresponding support seats, and the axis of the walking wheel is oriented left and right (corresponding to...) Figure 1a The horizontal axis extends horizontally (in the left-right direction). The rotation drive device is coaxially connected to one end of the axle of the traveling wheel. The rotation drive device drives the traveling wheel to rotate, and the pin row moves back and forth under the drive of the traveling wheel. A vertical adjustment plate 13 is placed on the platform between the two support seats. The top plane of the vertical adjustment plate is divided into a front top plane and a rear top plane. The front and rear top planes can each adopt either a horizontal plane or an inclined plane with different heights at the front and rear ends. For example, the front and rear top planes can both be horizontal planes, or one can be a horizontal plane and the other can be an inclined plane with a lower front and higher rear (see...). Figure 3b This creates an angle between the front and rear top planes. The pin array has two sections, front and rear, which are detachably fixed to the front and rear top planes of the vertical adjustment plate, respectively. For example... Figure 3a , 3bA pin 11 is used for detachable fixing connection. Preferably, the left and right edges of the pin row extend beyond the left and right edges of the vertical adjustment plate, respectively. A pair of horizontal adjustment plates 10 are embedded between the pin row and the two left and right support seats. The outer vertical surfaces of these horizontal adjustment plates are in contact with the corresponding sides of the left and right support seats. These horizontal adjustment plates are divided into a front section and a rear section, each consisting of either a flat plate of equal thickness or a wedge-shaped plate with unequal thickness at the front and rear ends. For example, both the front and rear sections can be flat plates of equal thickness, or one can be a flat plate of equal thickness and the other a wedge-shaped plate (see [reference]). Figure 2a , 2b This design creates an angle between the inner surfaces of the front and rear sections. Regardless of the shape of the plates used in the front and rear sections, the left and right inner surfaces of the front section are parallel, and the left and right inner surfaces of the rear section are parallel, with equal spacing between the left and right inner surfaces. The left and right sides of the front and rear pin rows respectively fit against the left and right inner surfaces of the front and rear sections, and the pin rows are detachably fixed to the horizontal adjustment plate. The corresponding sides of the left and right support seats guide the forward and backward movement of the horizontal adjustment plate and the pin rows. A displacement, velocity, and acceleration sensor 14 is installed at one end of the pin row to monitor the displacement, velocity, and acceleration of the pin row during forward and backward movement and their changes, thereby obtaining the meshing performance of the walking system.

[0048] In this embodiment, the pin row, vertical adjustment plate, and horizontal adjustment plate constitute an assembly unit, and the vertical and horizontal adjustment plates move synchronously with the pin row. The opposite sides of the left and right support seats constitute the guide surfaces for the linear movement of the assembly unit.

[0049] For the meshing platform in the third embodiment, the specifications of the vertical adjustment plate are the same as in the second embodiment. The main parameter of the horizontal adjustment plate is the included angle between the inner surfaces of the front and rear sections, which is numerically equal to the horizontal bending α of the pin row. By arranging the front and rear pin rows according to the orientation of the inner surfaces of the horizontal adjustment plate, the horizontal bending state of the pin row can be simulated. The larger the included angle between the inner surfaces of the front and rear sections, the larger the horizontal bending α. By replacing the horizontal adjustment plate with different specifications, the horizontal bending α of the pin row can be changed, thus verifying the meshing performance under different horizontal bending α conditions. When both the front and rear sections are flat plates of equal thickness, the horizontal adjustment plate becomes a flat plate of uniform thickness. At this time, it can be considered that the included angle between the inner surfaces of the front and rear sections is zero, that is, there is no horizontal bending.

[0050] In the third embodiment, screws 12 can be installed on each of the left and right support seats, with the tail ends of the screws contacting the left and right outer vertical surfaces of the pair of horizontal adjustment plates, respectively. The screws 12 can exert a certain clamping effect on the horizontal adjustment plates, and are also used to simulate the meshing resistance torque between the traveling wheel and the pin row, so that the experimental conditions are closer to the real working conditions, improving the reliability and accuracy of the experiment.

[0051] In the third embodiment, the horizontal adjustment plates can also be in two pairs, front and rear, respectively corresponding to the front and rear sections. Each pair has one plate on the left and one on the right. The horizontal adjustment plates can also be integrated with the vertical adjustment plates into a single structure.

[0052] For all the aforementioned meshing platforms, the traveling wheels and pin rows are used to simulate the traveling wheels and pin rows of the actual coal mining machine's traveling system, respectively. The tooth profiles of the traveling wheels and pin rows are designed according to the corresponding parameters of the traveling wheels and pin rows of the actual coal mining machine's traveling system.

[0053] The platform surface can be a reference ground.

[0054] The rotation drive device can be a motor 3, which is mounted on a motor mount 2, and the motor mount is fixed to the platform surface. The motor provides a constant speed and torque for the entire meshing platform, and the motor mount provides support and a mounting base for the motor.

[0055] The motor and the axle of the traveling wheel are preferably connected by a coupling 4. The coupling can be used to compensate for misalignment between the motor and the traveling wheel.

[0056] The left and right ends of the axle of the walking wheel are rotatably supported on corresponding support seats by bearings 6. The bearings are used to support the rotation of the axle of the walking wheel, and the support seats are used to install the bearings.

[0057] An end cap 5 is also installed on one side of the support base, and the end cap axially limits the corresponding bearing.

[0058] A groove can also be provided on the platform surface between the two support seats, and the vertical adjustment plate can be detachably fixed in the groove.

[0059] The detachable fixing between the vertical adjustment plate and the platform surface, between the vertical adjustment plate and the pin row, between the horizontal adjustment plate and the support base, and between the horizontal adjustment plate and the pin row can all be achieved through the positioning pins 11. In this way, by changing the assembly and disassembly of several pin connections, the meshing platform structures corresponding to the above three embodiments can be switched.

[0060] The meshing platform can conduct various experiments. For example, by replacing the traveling wheels and / or pin rows with different tooth profiles, the influence of different tooth profiles on the meshing performance of the traveling system can be verified; by replacing the vertical adjustment plates with different thicknesses, the influence of different center distances A on the meshing performance of the traveling system can be verified; by adjusting the distance between the front and rear pin rows, the influence of different pitches B on the meshing performance of the traveling system can be verified; by replacing the horizontal adjustment plate, the influence of different pin row horizontal bends α on the meshing performance of the traveling system can be verified; and by replacing the vertical adjustment plate, the influence of different pin row vertical bends β on the meshing performance of the traveling system can be verified. Conversely, the tooth profile, meshing center distance A, and pin row pitch B can be modified based on the obtained meshing performance data, thereby optimizing the structural design of the coal mining machine's traveling system.

[0061] This invention also discloses a method for testing the meshing performance of a walking system: the experiment is conducted using the aforementioned rotary walking system meshing platform. The main operation process is as follows: the rotation drive device is activated to drive the walking wheel to rotate, and the walking wheel drives the pin assembly to move. The sensing data of the displacement, velocity, and acceleration sensors are acquired, thus obtaining the meshing performance data of the walking wheel and the pin assembly. The above process is repeated after each change of experimental parameters.

[0062] When conducting experiments using the meshing platform of the first embodiment, the experimental parameters can be changed by implementing one or both of the following modifications:

[0063] 1) Replace the travel wheels and / or pin sets with different tooth profiles;

[0064] 2) Adjust the center distance between the walking wheel and the pin row by replacing the vertical adjustment plate with one of different thicknesses.

[0065] The above-mentioned 1) can be used to verify the effect of the optimized tooth profile on the meshing performance, and 2) can be used to verify the influence of different center distances A on the meshing performance of the walking system. The tooth profile of the walking wheel and / or pin set can be modified based on the meshing performance data in subsequent experiments to determine the optimal tooth profile.

[0066] When conducting experiments using the meshing platform of the second embodiment, the experimental parameters can be changed by implementing one or more of the following modifications:

[0067] 1) Replace the travel wheels and / or pin sets with different tooth profiles;

[0068] 2) Adjust the center distance between the walking wheel and the pin assembly by replacing the vertical adjustment plate with one of different thicknesses;

[0069] 3) Adjust the pin pitch by changing the distance between the front and rear pin sections;

[0070] 4) The vertical bending degree of the front and rear pin rows can be changed by replacing the vertical adjustment plates with different angles between the front and rear top planes.

[0071] The above 3) can be used to verify the effect of different pitches B on the meshing performance of the walking system, and 4) can be used to verify the effect of different pin row vertical bending β on the meshing performance of the walking system.

[0072] When conducting experiments using the meshing platform of the third embodiment, the experimental parameters can be changed by implementing one or more of the following modifications:

[0073] 1) Replace the running wheels and / or pin sets with different tooth profiles;

[0074] 2) Adjust the center distance between the walking wheel and the pin assembly by replacing the vertical adjustment plate with one of different thicknesses;

[0075] 3) Adjust the pin pitch by changing the distance between the front and rear pin sections;

[0076] 4) The degree of vertical bending of the front and rear pin rows can be changed by replacing the vertical adjustment plates with different angles between the front and rear top planes.

[0077] 5) The horizontal bending degree of the front and rear pin rows can be changed by replacing the horizontal adjustment plates with different angles between the front inner side plate and the rear inner side plate.

[0078] The above 5) can be used to verify the effect of different pin row horizontal bending α on the meshing performance of the walking system.

[0079] It is worth noting that the experimental verification differs depending on whether the vertical and horizontal adjusting plates are flat or have an angle between them. When both the vertical and horizontal adjusting plates are flat plates of equal thickness, changing the center distance or pin pitch is a single experimental parameter change, verifying the effect of this single parameter change on the meshing performance of the running gear system. When at least one of the vertical and horizontal adjusting plates is a non-uniform thickness plate, the experiment involving changing the center distance or pin pitch is a composite experiment involving multiple parameters such as center distance or pin pitch, vertical bending, and / or horizontal bending, verifying the comprehensive effect of the center distance or pin pitch, along with pin bending and / or horizontal bending, on the meshing performance of the running gear system.

Claims

1. A rotating walking system meshing platform, characterized in that: The system includes a rotary drive device, two left and right support seats, and meshing traveling wheels and pins. The two support seats are fixedly mounted on the platform surface. The left and right ends of the axle of the traveling wheel are rotatably supported on the corresponding support seats. The rotary drive device is coaxially connected to one end of the axle of the traveling wheel, driving the traveling wheel to rotate. A vertical adjustment plate is placed on the platform surface between the two support seats. The top plane of the vertical adjustment plate is divided into a front top plane and a rear top plane, which can be either a horizontal plane or an inclined plane with unequal heights at the front and rear ends. The pins have two sections, front and rear, which are detachably fixed to the front and rear top planes of the vertical adjustment plate, respectively. A pair of horizontal pins are embedded between the pins and the two support seats. The adjustment plates have their outer vertical surfaces abutting against the corresponding sides of the left and right support bases. The pair of horizontal adjustment plates are divided into a front section and a rear section. The front and rear sections are either flat plates of equal thickness or wedge-shaped plates of unequal thickness at the front and rear ends. The left and right inner surfaces of the front section are parallel, and the left and right inner surfaces of the rear section are parallel, with equal spacing between the left and right inner surfaces. The left and right sides of the pin rows of the front and rear sections are abutting against the left and right inner surfaces of the front and rear sections, respectively, and the pin rows are detachably fixed to the horizontal adjustment plates. Displacement, velocity, and acceleration sensors are installed at one end of the pin rows. Screws are installed on the left and right support bases, and the tail ends of the left and right screws contact the left and right outer vertical surfaces of the pair of horizontal adjustment plates, respectively.

2. The rotating walking system meshing platform as described in claim 1, characterized in that: The rotation drive device is a motor, which is mounted on a motor base, and the motor base is fixed to the platform surface.

3. The rotating walking system meshing platform as described in claim 2, characterized in that: The motor is connected to the axle of the traveling wheel via a coupling.

4. The rotating walking system meshing platform as described in claim 3, characterized in that: The left and right ends of the axle of the walking wheel are each rotatably supported on the corresponding support seat by bearings. An end cover is also installed on one side of the support seat, and the end cover axially limits the corresponding bearing.

5. A method for testing the meshing performance of a walking system, characterized in that: The experiment was conducted using the meshing platform of the rotary walking system described in claim 1. The rotation drive device was activated to drive the walking wheel to rotate, and the walking wheel moved the pin assembly. The sensor data of the displacement, velocity, and acceleration sensors were acquired, thereby obtaining the meshing performance data of the walking wheel and the pin assembly. After changing the experimental parameters, the above process was repeated. The experimental parameters were changed by implementing one or more of the following modifications: 1) Replace the running wheels and / or pin sets with different tooth profiles; 2) Adjust the center distance between the walking wheel and the pin assembly by replacing the vertical adjustment plate with one of different thicknesses; 3) Adjust the pin pitch by changing the distance between the front and rear pin sections; 4) The degree of vertical bending of the front and rear pin rows can be changed by replacing the vertical adjustment plates with different angles between the front and rear top planes. 5) The horizontal bending degree of the front and rear pin rows can be changed by replacing the horizontal adjustment plates with different angles between the front inner side plate and the rear inner side plate.

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