Dynamic Load Estimation Method for Measuring and Transmitting Cyclic Dynamic Stress of Crawler Travel Structure

Abstract

The present invention belongs to the technical field of force monitoring between chain plates of a crawler driving structure for coal mine tunneling, and solves the problem that the dynamic load measurement of the existing coal mine crawler driving structure cannot be implemented; a dynamic load estimation method for cyclic dynamic stress measurement and transmission of the crawler driving structure is provided, the wireless signal transmission situation is obtained through HFSS simulation, and the structure of the metal matrix is optimized; and through the rigid-flexible coupling dynamics simulation method, the position where the stress change is the largest at the measured track link is determined, and the strain gauge is bonded at the deformation position found on the actual measured track link; finally, the dynamic load data is obtained through calculation, and the simulation model is corrected through multiple experiments and simulations. The present invention can realize the estimation of the dynamic load of the crawler driving structure and the health monitoring of the crawler driving structure through the combination of wireless transmission simulation, dynamics simulation and actual testing.

Description

Technical Field

[0001] The invention belongs to the technical field of stress monitoring between chain plates of a crawler driving structure for coal mine tunneling, and particularly relates to a dynamic load estimation method for measuring and transmitting cyclic dynamic stress of a crawler driving structure. Background Technique

[0002] Due to its good passing performance, flexible steering ability and high load-bearing capacity, the crawler driving structure has been widely used in coal mine tunneling robots. The failure of the crawler driving structure means that the whole machine cannot continue to work. The failures of the crawler structure are mostly related to the fracture and fatigue failure of the crawler chain links. Therefore, it is of great engineering significance to use sensors to collect the stress of the crawler chain links in real time to realize the measurement of the dynamic load between the chain plates of the crawler driving structure.

[0003] There is a kind of rubber crawler plate on the market, which can be bolted to the steel crawler plate of a coal mine tunneling robot. Its beneficial effect is that it can replace the steel crawler plate to directly contact and collide with the ground, which can well protect the steel crawler plate and extend the service life of the whole crawler driving structure.

[0004] Since the crawler driving structure is in a long-term rotational motion state under extreme underground road conditions, and the direct contact between the steel crawler plate and the ground makes it impossible to directly install the stress acquisition device on the crawler plate, it is very difficult to use the existing mine sensors to realize the real-time measurement of the dynamic load between the chain plates of the crawler driving structure. Summary of the Invention

[0005] Aiming at the deficiency that the dynamic load measurement of the existing coal mine crawler driving structure cannot be smoothly implemented, the purpose of the invention is to provide a dynamic load estimation method for measuring and transmitting cyclic dynamic stress of a crawler driving structure. The wireless signal transmission situation is obtained through HFSS simulation to optimize the structure of the metal matrix; and through the rigid-flexible coupling dynamics simulation method, the position with the largest stress change at the measured chain link is determined, and the strain gauge is bonded at this deformation position on the actual measured chain link. The stress data is collected and wirelessly transmitted in real time through the stress acquisition and transmission module; by correcting the simulation model, the actually measured stress data and the stress data obtained in the simulation software recurdyn are within the same order of magnitude, and the corresponding dynamic load data is calculated. Through continuous optimization and correction, a most realistic and reliable simulation model is finally obtained.

[0006] To achieve the above purpose, the invention adopts the following technical scheme. A dynamic load estimation method for measuring and transmitting cyclic dynamic stress of a crawler driving structure includes the following steps:

[0007] S1: Conduct 1:1 three-dimensional modeling of the crawler running structure. Import the measured composite crawler shoes in the three-dimensional model into the HFSS simulation software. In the HFSS simulation software, use the transmitting antenna and the receiving antenna to simulate the stress acquisition and transmission module and the host computer respectively, and use the air box to simulate the actual signal transmission space to establish a wireless transmission simulation model;

[0008] S2: Conduct HFSS simulation to simulate the wireless signal transmission situation of the stress acquisition and transmission module in the measured composite crawler shoes. According to the simulation situation, improve the metal matrix structure of the measured composite crawler shoes in the entity and the three-dimensional model;

[0009] S3: Import the improved three-dimensional model in S2 into the dynamics simulation software recurdyn to establish the constraints and contacts of each component, and establish a crawler running structure dynamics model;

[0010] S4: Flexibilize the measured composite crawler shoes and the measured track links connected to them in the crawler running structure dynamics model to establish a rigid-flexible coupling dynamics simulation model of the crawler running structure;

[0011] S5: Conduct recurdyn simulation to obtain the area with the largest stress change when the measured track link connected to the measured composite crawler shoes moves around the crawler loop for one week;

[0012] S6: Find the area with the largest stress change on the measured track link of the entity and paste a strain gauge in this area;

[0013] S7: Connect the strain gauge to the stress acquisition and transmission module in the measured composite crawler shoes of the entity to realize real-time measurement of actual strain data. The acquisition and transmission module wirelessly transmits the acquired data to the host computer;

[0014] S8: Compare the actually measured stress data with the stress data obtained in the simulation software recurdyn, and calculate the corresponding dynamic load data. Through multiple experiments and simulations, correct the simulation model to ensure that the simulated and measured dynamic load data have a high degree of coincidence and consistency.

[0015] Preferably, in S2, change the slit size of the electromagnetic wave transmission hole in the metal matrix in the wireless transmission simulation model, compare the wireless transmission simulation situation, so that the electromagnetic wave signal can be transmitted out maximally, find the optimal metal matrix structure in the wireless transmission simulation model, and optimize the metal matrix structure of the measured composite crawler shoes in the entity and the three-dimensional model according to this structure.

[0016] Preferably, in S4, the combined track shoe and the track link to be tested in the crawler travel structure dynamics model in S3 are imported into the Ansys software, the combined track shoe and the track link to be tested are meshed through the APDL module in the Ansys software, and the combined track shoe and the track link to be tested with the meshed components are imported into recurdyn to replace the combined track shoe and the track link to be tested which are rigid bodies in the original model, thereby completing the flexibility step.

[0017] Preferably, in S8, the simulation model is corrected so that the actually measured stress data and the stress data obtained in the simulation software recurdyn are within the same order of magnitude, and the corresponding dynamic load data are calculated. Through continuous optimization and correction, a most realistic and reliable simulation model is finally obtained.

[0018] Preferably, in S8, the correction parameters include the stiffness coefficient and damping coefficient of the Bushing force connecting the track shoes in the rigid-flexible coupling dynamics simulation model of the track travel structure, and the friction coefficient between the track shoes and the ground and each track wheel.

[0019] Preferably, in S8, the calculation formula of the dynamic load F of the crawler traveling structure is:

[0020] F=EAε

[0021] Where: E is the elastic modulus of the measured track link, A is the cross-sectional area, and ε is the measured strain value.

[0022] Preferably, in S1, in the wireless transmission simulation model, the transmitting antenna is placed in a accommodating groove on the metal substrate for accommodating the stress collection and sending module, and the receiving antenna and the combined track shoe under test are both placed in an air box.

[0023] Preferably, at least one combined track plate to be tested is installed on the track ring of the entity's track traveling structure, and the combined track plates to be tested on the two track rings are symmetrical relative to the track traveling structure; the combined track plate to be tested of the entity comprises a metal substrate, a clamping plate and a steel track plate to be tested, which are sequentially connected from the outside to the inside, wherein a stress collection and transmission module and a power supply module are built-in at one end of the metal substrate close to the clamping plate, and electromagnetic wave transmission holes are opened on both sides of the metal substrate at positions corresponding to the stress collection and transmission modules, and the electromagnetic wave transmission holes are sealed by insulating polyurethane side plates; a clamping plate through hole is opened at one end of the clamping plate close to the steel track plate for the cable connecting the strain gauge and the stress collection and transmission module to pass through, the chain track segment to be tested is fixed to the end of the steel track plate to be tested away from the clamping plate, and a cable channel is provided on the steel track plate to be tested.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention obtains the wireless signal transmission situation through HFSS simulation and optimizes the structure of the metal matrix; by utilizing the characteristic that the measured track link at the measured combined crawler plate deforms under the cyclic dynamic tension of the crawler ring, and through the rigid-flexible coupling dynamics simulation method, the position with the largest stress change at the measured track link is determined, and the strain gauge is bonded at this deformation position on the actual measured track link; finally, the dynamic load data is obtained through calculation. Through multiple experiments and simulations, the simulation model is corrected to make the simulated and measured dynamic load data highly consistent, and ultimately a most realistic and reliable simulation model is obtained.

[0026] 2. Compared with the current dynamic load estimation methods, the present invention can directly measure the dynamic load from the dynamic strain of the measured track link of the crawler, reducing costs and increasing accuracy.

[0027] 3. The present invention also involves a method combining wireless transmission simulation, dynamics simulation and actual testing. Using this method, the dynamic load of the crawler running structure can be estimated and the health monitoring of the crawler running structure can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0029] Figure 1 is the flow chart of this embodiment;

[0030] Figure 2 is the schematic diagram of the dynamics simulation of the crawler running structure of this embodiment;

[0031] Figure 3 is the schematic diagram of the bonding position of the strain gauge of this embodiment;

[0032] Figure 4 is the exploded structure schematic diagram of the combined crawler plate of this embodiment;

[0033] Figure 5 is the schematic diagram of the wireless transmission simulation of this embodiment;

[0034] Figure 6 is the partial enlarged view of the wireless transmission simulation of this embodiment;

[0035] Figure 7 is the comparison diagram of the electromagnetic wave transmission simulation of this embodiment;

[0036] Figure 8 is the corresponding diagram of the simulated and measured stresses of this embodiment.

[0037] In the figure: 1 - the combined crawler shoe to be measured; 1.1 - metal matrix; 1.11 - electromagnetic wave transmission hole and slot; 1.12 - heat dissipation hole; 1.2 - splint; 1.21 - through hole of the splint; 1.22 - annular groove; 1.3 - the steel crawler shoe to be measured; 2 - the track link to be measured; 3 - strain gauge; 4 - stress acquisition and transmission module; 5 - host computer; 6 - insulating polyurethane side plate; 7 - transmitting antenna; 8 - receiving antenna; 9 - air box; 10 - power supply module; 11 - silicone plug; 12 - sealing ring; 13 - shock-absorbing rubber block. Specific implementation manner

[0038] Combined with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative labor belong to the scope protected by the present invention.

[0039] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they do not have technical essence. Any modification of the structure, change of the ratio relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should still fall within the scope that the technical content disclosed by the present invention can cover. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any such actual relationship or order between these entities.

[0040] The present invention provides an embodiment:

[0041] A dynamic load estimation method for measuring and transmitting cyclic dynamic stress of a crawler driving structure includes the following steps:

[0042] S1: Perform 1:1 three-dimensional modeling on the crawler driving structure, import the combined crawler shoe 1 to be measured in the three-dimensional model into the HFSS simulation software, use the transmitting antenna 7 and the receiving antenna 8 in the HFSS simulation software to respectively simulate the stress acquisition and transmission module 4 and the host computer 5, and use the air box 9 to simulate the actual signal transmission space to establish a wireless transmission simulation model;

[0043] S2: Perform HFSS simulation to simulate the wireless signal transmission situation of the stress acquisition and transmission module 4 in the combined crawler shoe 1 to be measured, and improve the metal matrix 1.1 structure of the combined crawler shoe 1 to be measured in the entity and the three-dimensional model according to the simulation situation.

[0044] S3: Import the improved 3D model in S2 into the dynamics simulation software Recurdyn to establish the constraints and contacts of each component, and establish the dynamics model of the crawler running structure;

[0045] S4: Flexibilize the measured combined crawler plate 1 and the measured track link 2 connected thereto in the dynamics model of the crawler running structure to establish a rigid-flexible coupling dynamics simulation model of the crawler running structure;

[0046] S5: Conduct Recurdyn simulation to obtain the area with the largest stress change when the measured track link 2 connected to the measured combined crawler plate 1 moves one week around the crawler ring;

[0047] S6: Locate the area with the largest stress change on the physical measured track link 2 and paste the strain gauge 3 in this area;

[0048] S7: Connect the strain gauge 3 to the stress acquisition and transmission module 4 inside the physical measured combined crawler plate 1 to realize the real-time measurement of the actual strain data, and the acquisition and transmission module 4 wirelessly transmits the acquired data to the upper computer 5;

[0049] S8: Compare the actually measured stress data with the stress data obtained in the simulation software Recurdyn, and calculate the corresponding dynamic load data. Through multiple experiments and simulations, the simulation model is corrected to ensure that the simulated and measured dynamic load data have a high degree of coincidence and consistency. Finally, a most realistic and reliable simulation model and dynamic load data are obtained, thereby realizing the dynamic load estimation of the cyclic dynamic stress measurement and transmission of the crawler running structure.

[0050] As Figure 1 shown, the present invention obtains the wireless signal transmission situation through HFSS simulation and optimizes the structure of the metal matrix 1.1; utilizes the characteristic that the measured track link 2 at the measured combined crawler plate 1 deforms under the cyclic dynamic tension of the crawler ring. Through the rigid-flexible coupling dynamics simulation method, the position with the largest stress change at the measured track link 2 is determined. Locate this deformation position on the actual measured track link 2 and bond the strain gauge, and realize the real-time acquisition and upload of stress data through the stress acquisition and transmission module 4; finally, calculate the dynamic load data, and through multiple experiments and simulations, correct the simulation model to ensure that the simulated and measured dynamic load data have a high degree of coincidence and consistency.

[0051] In this embodiment, at least one combined track plate 1 is installed on the track ring of the crawler running structure of the entity, and the measured combined track plates 1 on the two track rings are symmetric with respect to the crawler running structure; the original track plates on the track rings are all connected by rubber track plates and steel track plates to protect the crawler running structure; one original track plate is selected at the symmetric position of each of the two track rings on both sides of the crawler running structure and its structure is modified to become the measured combined track plate 1; as Figure 4 shown, the measured combined track plate 1 includes a metal matrix 1.1, a clamping plate 1.2 and a measured steel track plate 1.3 which are sequentially attached and connected from the outside to the inside. Among them, a stress acquisition and transmission module 4 and a power supply module 10 are built in one end of the metal matrix 1.1 close to the clamping plate 1.2. The model of the stress acquisition and transmission module 4 is DH5905, which can convert the tiny strain change output by the strain bridge circuit into a voltage change. After amplifying and detecting the strain signal input to the strain bridge circuit, performing low-pass filtering and A / D conversion, the stress data collected in real time is wirelessly transmitted to the host computer 5 through the internal WiFi module for analysis and storage.

[0052] Electromagnetic wave transmission holes 1.11 are opened on both sides of the metal matrix 1.1 corresponding to the position of the stress acquisition and transmission module 4. A complete metal shell will completely shield the 2.4GHz wireless signal. Therefore, it is necessary to open holes with appropriate sizes on the side of the metal matrix 1.1 to transmit the wireless signal; use HFSS software for simulation to optimize the structure of the metal matrix 1.1 to ensure that the opened electromagnetic wave transmission holes 1.11 can transmit the wireless stress data to the host computer 5; according to the electromagnetic wave transmission theory, when the receiving power of the host computer 5 is greater than the receiving sensitivity, the host computer 5 can receive the wireless data transmitted by the wireless sensing system; considering that the crawler running structure travels on complex road conditions, the electromagnetic wave transmission holes 1.11 are sealed by an insulating polyurethane side plate 6. Since electromagnetic waves can easily pass through insulator materials, the insulating polyurethane side plate 6 made of polyurethane material fills the holes of the metal matrix 1.1, and the gap between the metal matrix 1.1 and the insulating polyurethane side plate 6 is sealed with sealant.

[0053] Shock-absorbing rubber blocks 13 are provided on both sides of the bottom of the metal matrix 1.1. When the crawler running structure is running normally, the shock-absorbing rubber blocks 13 on both sides are responsible for directly contacting the ground and lifting the metal matrix 1.1 to reduce the stress and vibration of the internal modules of the metal matrix 1.1; counterbores are opened at the middle positions of the two shock-absorbing rubber blocks 13, and two inner hexagon bolts respectively connect the shock-absorbing rubber blocks 13, the metal matrix 1.1, the clamping plate 1.2 and the steel track plate 1.3 through the counterbores; considering the heat generation effect of the power supply module 10, a plurality of heat dissipation holes 1.12 are opened on the side of the matrix, and a plurality of silica gel plugs 11 are used for plugging, and the plugging positions are sealed.

[0054] The clamping plates 1.2 are located between the measured steel crawler plate 1.3 and the metal matrix 1.1, and the material is selected as nylon. Its main function is to prevent the metal matrix 1.1 and the measured steel crawler plate 1.3 from colliding and causing wear, thereby damaging the internal module. At the same time, nylon is an insulating material, and electromagnetic waves can propagate outward through the nylon plate. One end of the clamping plate 1.2 close to the measured steel crawler plate 1.3 is provided with a clamping plate through-hole 1.21 for the cable connecting the strain bridge circuit and the stress acquisition and transmission module 4 to pass through. An annular groove 1.22 is machined on the outer periphery of the clamping plate through-hole 1.21, and a sealing ring 12 is arranged in the annular groove 1.22 to realize the waterproof and dustproof protection of the cable.

[0055] The measured track link 2 is fixed at one end of the measured steel crawler plate 1.3 away from the clamping plate 1.2. The measured steel crawler plate 1.3 has a cable channel, and the strain bridge pasted at the measured track link 2 of the measured steel crawler plate 1.3 is sealed and protected by a paste coating.

[0056] As Figure 2 shown, a 3D model is established using Solidworks; as Figure 5 、 Figure 6 shown, the measured combined crawler plate 1 in the 3D model is imported into the HFSS simulation software. In the HFSS simulation software, the transmitting antenna 7 and the receiving antenna 8 are used to simulate the stress acquisition and transmission module 4 and the host computer 5 respectively, and the air box 9 is used to simulate the actual signal transmission space to establish a wireless transmission simulation model. Among them, the transmitting antenna 7 is placed in the accommodation groove on the metal matrix 1.1 for accommodating the stress acquisition and transmission module 4, and the receiving antenna 8 and the measured combined crawler plate 1 are both placed in the air box 9. When the received power of the receiving antenna 8 is greater than the receiving sensitivity, it means that the host computer 5 can receive wireless data normally. By simulating the above situation, the wireless signal transmission of the stress acquisition and transmission module 4 in the combined crawler plate 1 is simulated, so as to ensure that when the crawler structure is driving normally, the host computer 5 can accurately receive the cyclic dynamic stress data of the crawler driving. Change the opening size of the electromagnetic wave transmission hole slot 1.11 in the metal matrix 1.1 in the wireless transmission simulation model, compare the wireless transmission simulation situation, find the optimal structure of the metal matrix 1.1 in the wireless transmission simulation model, and optimize the metal matrix 1.1 structure of the measured combined crawler plate 1 in the entity and 3D model according to this structure.

[0057] The simulation results before and after the optimization of the metal matrix are as Figure 7 shown, Figure 7 The abscissa of [] is the distance d (m) between the receiving antenna 8 and the measured combined crawler plate in the simulation, and the ordinate is the received power P r (dbm). According to the electromagnetic wave transmission theory, when the received power of the receiving antenna 8 is greater than the receiving sensitivity, it means that the host computer 5 can receive wireless data normally. From Figure 7It can be known from the simulation results that the electromagnetic wave transmission ability of the metal matrix 1.1 after structural optimization is significantly improved compared with that before structural optimization.

[0058] Import the improved three-dimensional model in S2 into the dynamics simulation software Recurdyn to establish the constraints and contacts of each component, and establish the dynamics model of the crawler running structure; import the measured combined crawler plate 1 and the measured track link 2 in the dynamics model of the crawler running structure into Ansys software, and use the APDL module in Ansys software to mesh the measured combined crawler plate 1 and the measured track link 2, and then import the meshed measured combined crawler plate 1 and the measured track link 2 into Recurdyn to replace the rigid measured combined crawler plate 1 and the measured track link 2 in the original model, thus completing the flexible step.

[0059] In S8, the calculation formula of the dynamic load F of the crawler running structure is: F = EAε; where: E is the elastic modulus of the measured track link, A is the cross-sectional area, and ε is the measured strain value. During actual measurement, a method combining simulation and actual is adopted. Compare the stress data measured actually with the stress data obtained in the simulation software Recurdyn. By modifying the simulation model, make the stress data measured actually and the stress data obtained in the simulation software Recurdyn within the same order of magnitude. Here, the same order of magnitude can be understood as: the difference between the two is less than the set threshold (or the ratio is less than the set threshold), and then substitute it into the formula to calculate the dynamic load data, and continuously optimize and correct it, so as to obtain a most realistic and reliable simulation model; the correction parameters include the stiffness coefficient and damping coefficient of the Bushing force connecting between the crawler plates in the rigid-flexible coupling dynamics simulation model of the crawler running structure, the friction coefficients between the crawler plates and the ground and each crawler wheel, etc. Specifically, first set the stiffness coefficient and damping coefficient of the Bushing force according to the empirical constant, and then compare the stress data measured actually with the simulation stress data. If it is not appropriate, modify the parameters until a most realistic and reliable simulation model is obtained; finally, compare the simulation stress obtained by using this simulation model with the stress data measured actually as Figure 8 shown, Figure 8 The abscissa of is the running time t (s) of the crawler running structure, and the ordinate is the stress value (MPa). The change trends of the simulation and the measured stress are similar, and the stress data are basically within the same order of magnitude, indicating that the simulation model finally obtained by using this method has a high credibility.

[0060] As mentioned above, only the specific preferred embodiments of the present invention are described, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claimed rights.

Claims

1. A dynamic load estimation method for measuring and transmitting cyclic dynamic stress of a crawler running structure, characterized in that Including the following steps: S1: Conduct 1:1 three-dimensional modeling of the crawler running structure. Import the measured combined crawler plate (1) in the three-dimensional model into the HFSS simulation software. In the HFSS simulation software, use the transmitting antenna (7) and the receiving antenna (8) to simulate the stress acquisition and transmission module (4) and the host computer (5) respectively, and use the air box (9) to simulate the actual signal transmission space to establish a wireless transmission simulation model; S2: Conduct HFSS simulation to simulate the wireless signal transmission situation of the stress acquisition and transmission module (4) in the measured combined crawler plate (1). According to the simulation situation, improve the structure of the metal matrix (1.1) of the measured combined crawler plate (1) in the entity and the three-dimensional model; S3: Import the improved three-dimensional model in S2 into the dynamics simulation software recurdyn to establish the constraints and contacts of each component and establish a crawler running structure dynamics model; S4: Conduct flexible treatment on the measured combined crawler plate (1) and the measured track link (2) connected thereto in the crawler running structure dynamics model to establish a rigid-flexible coupling dynamics simulation model of the crawler running structure; S5: Conduct recurdyn simulation to obtain the area with the largest stress change when the measured track link (2) connected to the measured combined crawler plate (1) moves around the crawler loop; S6: Locate the area with the largest stress change on the entity measured track link (2) and paste a strain gauge (3) in this area; S7: Connect the strain gauge (3) to the stress acquisition and transmission module (4) inside the entity measured combined crawler plate (1) to realize real-time measurement of actual strain data. The acquisition and transmission module (4) wirelessly transmits the acquired data to the host computer (5); S8: Compare the actually measured stress data with the stress data obtained in the simulation software recurdyn, calculate the corresponding dynamic load data, and correct the simulation model through multiple experiments and simulations to ensure a high degree of coincidence and consistency between the simulation and the measured dynamic load data.

2. The dynamic load estimation method for cyclic dynamic stress measurement and transmission of the crawler running structure according to claim 1, characterized in that: In S2, change the slot size of the electromagnetic wave transmission hole slot (1.11) in the metal matrix (1.1) of the wireless transmission simulation model, compare the wireless transmission simulation situation, enable the electromagnetic wave signal to be transmitted outward maximally, find the optimal structure of the metal matrix (1.1) in the wireless transmission simulation model, and perform the same optimization on the structure of the metal matrix (1.1) of the measured combined crawler plate (1) in the entity and the three-dimensional model.

3. The dynamic load estimation method for cyclic dynamic stress measurement and transmission of the crawler travel structure according to claim 1, characterized in that: In S4, import the measured combined crawler plate (1) and the measured track link (2) in the crawler running structure dynamics model in S3 into the Ansys software, perform mesh division on the measured combined crawler plate (1) and the measured track link (2) through the APDL module in the Ansys software, and import the meshed measured combined crawler plate (1) and the measured track link (2) into recurdyn to replace the rigid measured combined crawler plate (1) and the measured track link (2) in the original model to complete the flexible treatment step.

4. The dynamic load estimation method for cyclic dynamic stress measurement and transmission of the crawler running structure according to claim 1, characterized in that: In S8, by modifying the simulation model, the stress data measured in reality and the stress data obtained from the simulation software Recurdyn are within the same order of magnitude, and the corresponding dynamic load data are calculated. Through continuous optimization and modification, a most realistic and reliable simulation model is finally obtained.

5. The dynamic load estimation method for cyclic dynamic stress measurement and transmission of the crawler running structure according to claim 4, characterized in that: In S8, the modification parameters include the stiffness coefficient and damping coefficient of the Bushing force connecting the track shoes in the rigid-flexible coupling dynamics simulation model of the track driving structure, and the friction coefficients between the track shoes and the ground and each track wheel.

6. The dynamic load estimation method for cyclic dynamic stress measurement and transmission of the crawler running structure according to claim 1, characterized in that: In S8, the calculation formula for the dynamic load F of the track driving structure is: F = EAε Where: E is the elastic modulus of the measured track link, A is the cross-sectional area, and ε is the measured strain value.

7. The dynamic load estimation method for cyclic dynamic stress measurement and transmission of the crawler travel structure according to claim 1, characterized in that: In S1, in the wireless transmission simulation model, the transmitting antenna (7) is placed in the accommodation groove on the metal matrix (1.1) for accommodating the stress acquisition and transmission module (4), and the receiving antenna (8) and the measured combined track shoe (1) are both placed in the air box (9).

8. The dynamic load estimation method for cyclic dynamic stress measurement and transmission of a crawler running structure according to any one of claims 1 to 7, characterized in that: At least one measured combined track shoe (1) is installed on the track loop of the physical track driving structure, and the measured combined track shoes (1) on the two track loops are symmetric with respect to the track driving structure; The physical measured combined track shoe (1) includes a metal matrix (1.1), a splint (1.2), and a measured steel track shoe (1.3) that are sequentially bonded and connected from the outside to the inside. Among them, a stress acquisition and transmission module (4) and a power supply module (10) are built in one end of the metal matrix (1.1) close to the splint (1.2). Electromagnetic wave transmission holes (1.11) are opened on both sides of the metal matrix (1.1) corresponding to the position of the stress acquisition and transmission module (4), and the electromagnetic wave transmission holes (1.11) are sealed by an insulating polyurethane side plate (6); a splint through hole (1.21) for allowing the cable connecting the strain gauge (3) and the stress acquisition and transmission module (4) to pass through is opened at one end of the splint (1.2) close to the steel track shoe (1.3). The measured track link (2) is fixed at one end of the measured steel track shoe (1.3) away from the splint (1.2), and a cable channel is provided on the measured steel track shoe (1.3).

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