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

Abstract

The present application relates to a kind of mobile 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, support seat is installed on platform table, the left and right ends of walking wheel axle are respectively rotationally supported on corresponding support seat, the one end of pin array is connected with the power output end of mobile drive device, vertical adjusting plate is installed on the platform table between two support seats, pin array is placed on vertical adjusting plate, a pair of horizontal adjusting plate is embedded between pin array and two support seats, horizontal adjusting plate is fixed, rotation encoder is coaxially installed on walking wheel;The method is to use the platform to implement verification, changes experimental parameter after starting mobile drive device, drives pin array to move, pin array drives walking wheel to rotate, obtains the sensing data of rotation encoder.The present application is used to carry out experimental study on the influencing factors, influencing mode and influence degree of the engagement performance of coal winning 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 mobile 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: A mobile walking system meshing platform includes a mobile 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 axles of the walking wheels are rotatably supported on the corresponding support seats. The mobile drive device is fixedly installed relative to the platform surface. The power output end of the mobile drive device is connected to one end of the pins. The mobile drive device drives the pins to move back and forth. A vertical adjustment plate is detachably 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 left and right support seats. The pair of horizontal adjustment plates are detachably fixedly connected relative to the left and right support seats and guide the back and forth movement of the pins. A rotary encoder is coaxially fixedly installed on the walking wheels.

[0007] A mobile walking system meshing platform includes a mobile 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 axles of the walking wheels are rotatably supported on the corresponding support seats. 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 pins have 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. The mobile drive device is fixedly installed relative to the platform surface. The power output end of the mobile drive device is connected to the front or rear end of the vertical adjustment plate. The mobile drive device drives the vertical adjustment plate and the pins to move back and forth. A pair of horizontal adjustment plates are embedded between the pins and the left and right support seats. The pair of horizontal adjustment plates are detachably fixedly connected relative to the left and right support seats and guide the forward and backward movement of the pins. A rotary encoder is coaxially fixedly installed on the walking wheels.

[0008] A mobile walking system meshing platform includes a mobile 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 axles of the walking wheels are rotatably supported on the corresponding support seats. 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 front and rear top planes of the vertical adjustment plate, respectively. The mobile drive device is fixedly mounted relative to the platform surface. The power output end of the mobile drive device is connected to the vertical adjustment plate. The front or rear end of the plate is connected, and the moving drive device drives the vertical adjustment plate and the pin row to move back and forth. A pair of horizontal adjustment 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 adjustment plates is in contact with the corresponding side surface of the left and right support seats. The pair of horizontal adjustment plates is divided into two parts: 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. The spacing between the left and right inner plate surfaces is equal. 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 adjustment plates. A rotary encoder is coaxially fixedly installed on the traveling wheel.

[0009] Each of the two support seats is equipped with a bearing, and the two ends of the axle of the traveling wheel are rotatably supported on the support seat by one of the bearings.

[0010] Each of the support bases is also equipped with an end cap, which axially limits the corresponding bearing. The two ends of the rotary encoder are respectively connected to one end of the wheel axle of the traveling wheel and the end cap near that section.

[0011] The mobile walking system engagement platform preferably includes a screw, which is mounted on the end cap at the other end of the axle near the walking wheel, with the tail end face of the screw contacting the other end face of the axle of the walking wheel.

[0012] The mobile drive device uses an electric cylinder. The power output end of the electric cylinder is hinged to the pin row or vertical adjustment plate by a connecting shaft, which extends horizontally to the left and right.

[0013] A method for testing the meshing performance of a walking system involves using the aforementioned mobile walking system meshing platform. The mobile drive device is activated, driving the pin assembly to move. The pin assembly drives the walking wheels to rotate. Sensing data from the rotary encoder is acquired, thereby obtaining 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 are altered by implementing one or two 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 row by replacing the vertical adjustment plate with one of different thicknesses.

[0014] A method for testing the meshing performance of a walking system involves using the aforementioned mobile walking system meshing platform. The mobile drive device is activated, driving the pin assembly to move. The pin assembly drives the walking wheels to rotate. Sensing data from the rotary encoder is acquired, thereby obtaining 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 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 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.

[0015] A method for testing the meshing performance of a walking system involves using the aforementioned mobile walking system meshing platform. The mobile drive device is activated, driving the pin assembly to move. The pin assembly drives the walking wheels to rotate. Sensing data from the rotary encoder is acquired, thereby obtaining 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 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.

[0016] The beneficial effects of this invention are: The mobile 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 the angular velocity and angular acceleration of the walking wheels) of the coal mining machine walking system in real time, i.e., the meshing performance data, and then optimize the tooth profile of the walking wheels and pin rows to improve the meshing performance of the walking system.

[0017] By using screws to apply pressure to the end of the traveling wheel, a certain frictional torque is provided to the traveling wheel, 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

[0018] Figure 1a This is a schematic diagram of the structure of an embodiment of the meshing platform of the mobile walking system of the present invention; Figure 1b This is a schematic diagram of another embodiment of the meshing platform of the mobile walking system of the present invention; Figure 2a A diagram showing the arrangement of a horizontal adjustment plate in an embodiment simulating the horizontal bending state of a pin assembly; Figure 2b A diagram showing the arrangement of a horizontal adjustment plate in another embodiment simulating the horizontal bending state of a pin assembly; Figure 3a A diagram showing the arrangement of a vertical adjustment plate in an embodiment simulating the vertical bending state of a pin array; Figure 3b This is a diagram of the vertical adjustment plate arrangement for another embodiment simulating the vertical bending state of the pin row.

[0019] Figure label: 1. Electric cylinder; 2. Connecting shaft; 3. Pin row; 4. Rotary encoder; 5. End cover; 6. Bearing; 7. Support base; 8. Traveling wheel; 9. Screw; 10. Horizontal adjustment plate; 11. Positioning pin; 12. Vertical adjustment plate; 13. Platform surface. Detailed Implementation

[0020] like Figures 1a-3b As shown, this invention discloses a mobile walking system meshing platform (which may be simply referred to as a meshing platform). A first embodiment of the meshing platform includes a mobile drive device, two left and right support seats 7, and meshing walking wheels 8 and pin rows 3. The two support seats are fixedly installed on the platform surface 13 (usually a horizontal plane). The left and right ends of the axle of the walking wheels are rotatably supported on corresponding support seats, and the axis of the walking wheels is oriented left and right (corresponding to...) Figure 1b The pin row extends horizontally (in the left and right directions). The mobile drive device is fixedly installed relative to the platform surface. The power output end of the mobile drive device is connected to one end of the pin row. The mobile drive device drives the pin row to move back and forth, and the pin row drives the walking wheel to rotate. A vertical adjustment plate 12 is detachably and fixedly installed on the platform surface 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 relative 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 directions are preferably located directly below the walking wheel. A rotary encoder 4 is coaxially fixedly installed on the walking wheel for real-time measurement of the angular velocity and angular acceleration of the walking wheel and their changes, thereby obtaining the meshing performance of the walking system.

[0021] 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.

[0022] The second embodiment of the engagement platform of the mobile walking system (see...) Figure 1a The system includes a mobile drive unit, two left and right support seats 7, and meshing traveling wheels 8 and pin rows 3. The two support seats are fixedly installed on the platform surface 13 (usually a horizontal plane). The left and right ends of the axles of the traveling wheels are rotatably supported on corresponding support seats, and the axes of the traveling wheels are oriented left and right (corresponding to...) Figure 1b Extending horizontally (in the left-right direction). A vertical adjustment plate 12 is placed on the platform between the two supports. 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. For example, the front and rear top planes can both be horizontal planes (see...). Figure 1a 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 or vice versa (see [reference]). Figure 3a , 3b 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 system uses pins 11 for detachable and fixed connection. Preferably, the left and right edges of the pin row extend beyond the left and right edges of the vertical adjustment plate, respectively. The moving drive device is fixedly installed relative to the platform surface. The power output end of the moving drive device is connected to the front or rear end of the vertical adjustment plate. The moving drive device drives the vertical adjustment plate and the pin row to move back and forth, and the pin row drives the traveling wheels to rotate. 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 and fixedly connected relative to the left and right support seats, and guide 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 surfaces 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 two left and right support seats. Preferably, the horizontal adjustment plates are located directly below the traveling wheels in the front-back direction. A rotary encoder 4 is coaxially fixedly installed on the traveling wheels for real-time measurement of the angular velocity and angular acceleration of the traveling wheels and their changes, thereby obtaining the meshing performance of the traveling system.

[0023] In this embodiment, the pin row and the vertical adjustment plate constitute an assembly unit, with the pin row moving synchronously with the vertical adjustment plate. The inner vertical plate surface of the pair of horizontal adjustment plates serves as a guide surface for the linear movement of the assembly unit.

[0024] 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.

[0025] 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.

[0026] The third embodiment of the mobile walking system engagement platform (see...) Figure 1bThe system includes a mobile drive unit, two left and right support seats 7, and meshing traveling wheels 8 and pin rows 3. The two support seats are fixedly installed on the platform surface 13 (usually a horizontal plane). The left and right ends of the axles of the traveling wheels are rotatably supported on corresponding support seats, and the axes of the traveling wheels are oriented left and right (corresponding to...) Figure 1b Extending horizontally (in the left-right direction). A vertical adjustment plate 12 is placed on the platform between the two supports. 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. For example, the front and rear top planes can both be horizontal planes (see...). Figure 1a 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 or vice versa (see [reference]). Figure 3a , 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 , 3b The pins 11 are used for detachable fixing. Preferably, the left and right edges of the pin row extend beyond the left and right edges of the vertical adjustment plate, respectively. The moving drive device is fixedly installed relative to the platform surface. The power output end of the moving drive device is connected to the front or rear end of the vertical adjustment plate. The moving drive device drives the vertical adjustment plate and the pin row to move back and forth, and the pin row drives the traveling wheels to rotate. 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 the pair of horizontal adjustment plates are in contact with the corresponding sides of the two left and right support seats. The pair of horizontal adjustment 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-shaped plates with unequal thickness at the front and rear ends. For example, the front and rear sections can both be flat plates of equal thickness, or one can be a flat plate of equal thickness and the other a wedge-shaped plate (see...). 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, as are the left and right inner surfaces of the rear section, with equal spacing between all points on 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 rotary encoder 4 is coaxially fixedly mounted on the traveling wheel to measure the angular velocity and angular acceleration of the traveling wheel in real time and their changes, thereby obtaining the meshing performance of the traveling system.

[0027] In this embodiment, the pin row, vertical adjustment plate, and horizontal adjustment plate constitute an assembly unit, and the horizontal adjustment plate and pin row move synchronously with the vertical adjustment plate. The opposite sides of the left and right support seats constitute guide surfaces when the assembly unit moves linearly.

[0028] 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.

[0029] 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.

[0030] 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.

[0031] The platform surface can be a reference ground.

[0032] Each of the two support seats is equipped with a bearing 6, and the two ends of the axle of the traveling wheel are rotatably supported on the support seat by one of the bearings. The bearings are used to support the rotation of the axle of the traveling wheel, and the support seats are used to support the bearings.

[0033] Each support base has an end cap 5 installed on one side, which axially limits the corresponding bearing. The two ends of the rotary encoder are respectively connected to one end of the wheel axle of the traveling wheel and the end cap near that end.

[0034] The mobile walking system meshing platform also includes a screw 9, which is installed on the end cap at the other end of the axle near the walking wheel. The tail end of the screw contacts the other end face of the axle of the walking wheel. The screw 9 can provide a certain axial clamping effect on the walking wheel, which is equivalent to providing a certain frictional torque to the walking wheel. This frictional torque is used to simulate the meshing resistance torque between the walking wheel and the pin assembly, so that the experimental conditions are closer to the real working conditions, improving the reliability and accuracy of the experiment.

[0035] The moving drive device is preferably an electric cylinder 1. The electric cylinder provides power to the entire meshing platform, enabling the pin row to move at a constant speed.

[0036] In the first embodiment, the power output end of the electric cylinder is preferably hinged to the pin assembly via the connecting shaft 2. In the second and third embodiments, the power output end of the electric cylinder is preferably hinged to the vertical adjustment plate via the connecting shaft 2. The connecting shaft 2 extends horizontally to the left and right.

[0037] 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.

[0038] 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.

[0039] This invention also discloses a method for testing the meshing performance of a walking system: the experiment is conducted using the aforementioned mobile walking system meshing platform. The main operation process is as follows: the mobile drive device is activated to directly or indirectly drive the pin row to move, the pin row drives the walking wheel to rotate, and the sensing data of the rotary encoder is acquired, thus obtaining the meshing performance data between the walking wheel and the pin row. The above process is repeated after each change of experimental parameters.

[0040] When conducting experiments using the meshing platform described in the first embodiment, the experimental parameters can be changed by implementing one or both 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 row by replacing the vertical adjustment plate with one of different thicknesses.

[0041] 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.

[0042] 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: 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 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.

[0043] 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.

[0044] 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: 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.

[0045] 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.

[0046] 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 mobile walking system meshing platform, characterized in that: The device includes a mobile drive unit, two left and right support seats, and meshing wheels and pins. The two support seats are fixedly installed on the platform surface. The left and right ends of the wheel axles of the wheels are rotatably supported on the corresponding support seats. The mobile drive unit is fixedly installed relative to the platform surface. The power output end of the mobile drive unit is connected to one end of the pins. The mobile drive unit drives the pins to move back and forth. A vertical adjustment plate is detachably 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 fixedly connected relative to the left and right support seats and guide the back and forth movement of the pins. A rotary encoder is coaxially fixedly installed on the wheels.

2. The mobile walking system meshing platform as described in claim 1, characterized in that: Each of the two support seats is equipped with a bearing, and the two ends of the axle of the traveling wheel are rotatably supported on the support seat by one of the bearings.

3. The mobile walking system meshing platform as described in claim 2, characterized in that: Each support base has an end cap installed on one side, which axially limits the corresponding bearing. The two ends of the rotary encoder are respectively connected to one end of the wheel axle of the traveling wheel and the end cap near that end.

4. The mobile walking system meshing platform as described in claim 3, characterized in that: It also includes screws, which are mounted on the end cap at the other end of the axle near the travel wheel, with the tail end face of the screw contacting the other end face of the axle of the travel wheel.

5. The mobile walking system meshing platform as described in claim 1, characterized in that: The mobile drive device uses an electric cylinder, and the power output end of the electric cylinder is hinged to the pin row with a connecting shaft as the pin, and the connecting shaft extends horizontally to the left and right.

6. A mobile walking system engagement platform, characterized in that: The system includes a mobile drive unit, two left and right support seats, and meshing wheels and pins. The two support seats are fixedly mounted on the platform surface. The left and right ends of the wheel axles of the wheels are rotatably supported on the corresponding support seats. 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 pins have 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. The mobile drive unit is fixedly mounted relative to the platform surface. The power output end of the mobile drive unit is connected to the front or rear end of the vertical adjustment plate. The mobile drive unit drives the vertical adjustment plate and the pins to move back and forth. A pair of horizontal adjustment plates are embedded between the pins 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 pins. A rotary encoder is coaxially fixedly mounted on the wheels.

7. The mobile walking system meshing platform as described in claim 6, characterized in that: Each of the two support seats is equipped with a bearing, and the two ends of the axle of the traveling wheel are rotatably supported on the support seat by one of the bearings.

8. The mobile walking system meshing platform as described in claim 7, characterized in that: Each support base has an end cap installed on one side, which axially limits the corresponding bearing. The two ends of the rotary encoder are respectively connected to one end of the wheel axle of the traveling wheel and the end cap near that end.

9. The mobile walking system meshing platform as described in claim 8, characterized in that: It also includes screws, which are mounted on the end cap at the other end of the axle near the travel wheel, with the tail end face of the screw contacting the other end face of the axle of the travel wheel.

10. The mobile walking system meshing platform as described in claim 6, characterized in that: The moving drive device uses an electric cylinder. The power output end of the electric cylinder is hinged to the vertical adjustment plate by a connecting shaft, which extends horizontally to the left and right.

11. A mobile walking system meshing platform, characterized in that: The system includes a mobile drive unit, two left and right support seats, meshing wheels, and a pin array. The two support seats are fixedly mounted on the platform surface. The left and right ends of the wheel axles are rotatably supported on the corresponding support seats. 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, each of which can be either a horizontal plane or an inclined plane with unequal heights at the front and rear ends. 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. The mobile drive unit is fixedly mounted relative to the platform surface, and the power output end of the mobile drive unit is connected to the front or rear end of the vertical adjustment plate. The connection and movement drive device drives the vertical adjustment plate and pin row to move back and forth. A pair of horizontal adjustment 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 adjustment plates is in contact with the corresponding side surface of the left and right support seats. The pair of horizontal adjustment 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 spacing between the left and right inner plate surfaces is equal. 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 adjustment plates. A rotary encoder is coaxially fixedly installed on the traveling wheel.

12. The mobile walking system meshing platform as described in claim 11, characterized in that: Each of the two support seats is equipped with a bearing, and the two ends of the axle of the traveling wheel are rotatably supported on the support seat by one of the bearings.

13. The mobile walking system meshing platform as described in claim 12, characterized in that: Each support base has an end cap installed on one side, which axially limits the corresponding bearing. The two ends of the rotary encoder are respectively connected to one end of the wheel axle of the traveling wheel and the end cap near that end.

14. The mobile walking system meshing platform as described in claim 13, characterized in that: It also includes screws, which are mounted on the end cap at the other end of the axle near the travel wheel, with the tail end face of the screw contacting the other end face of the axle of the travel wheel.

15. The mobile walking system meshing platform as described in claim 11, characterized in that: The moving drive device uses an electric cylinder. The power output end of the electric cylinder is hinged to the vertical adjustment plate by a connecting shaft, which extends horizontally to the left and right.

16. A method for testing the meshing performance of a walking system, characterized in that: Experiments were conducted using the mobile walking system meshing platform described in claims 1, 2, 3, 4, or 5. The mobile drive device was activated to drive the pin row to move, and the pin row drove the walking wheel to rotate. The sensing data of the rotary encoder was acquired, thereby obtaining the meshing performance data between the walking wheel and the pin row. After changing the experimental parameters, the above process was repeated. The experimental parameters were changed by implementing one or two 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 row by replacing the vertical adjustment plate with one of different thicknesses.

17. A method for testing the meshing performance of a walking system, characterized in that: The experiment was conducted using the mobile walking system meshing platform described in claims 6, 7, 8, 9, or 10. The mobile drive device was activated to drive the pin row to move, and the pin row drove the walking wheel to rotate. The sensing data of the rotary encoder was acquired, thereby obtaining the meshing performance data between the walking wheel and the pin row. 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 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.

18. A method for testing the meshing performance of a walking system, characterized in that: Experiments were conducted using the mobile walking system meshing platform described in claims 11, 12, 13, 14, or 15. The mobile drive device was activated to move the pin array, which in turn caused the walking wheels to rotate. Sensing data from the rotary encoder was acquired, thereby obtaining the meshing performance data between the walking wheels and the pin array. The above process was repeated after changing the experimental parameters. The experimental parameters were altered 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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