Laboratory test system and test method for thin and soft substrate crawler chassis

Abstract

The invention provides a thin and soft substrate crawler chassis laboratory test system and method, and the system comprises a crawler test device, a transparent test groove, a four-axis mobile measurement platform, a traction force measurement device and a visual motion capture system, and the visual motion capture system is located above the four-axis mobile measurement platform and the traction force measurement device. The four-axis mobile measurement platform moves on the transparent test tank, the traction force measurement device is arranged on one side of the transparent test tank, the simulation substrate is arranged in the transparent test tank, and the crawler belt test device is arranged on the simulation substrate in the transparent test tank. Simulation of various types of soft grounds can be achieved, meanwhile, the advanced measurement sensor and the visual motion capture system are arranged, and the driving performance of the vehicle in the complex environment can be comprehensively evaluated. Design and optimization of engineering vehicles can be effectively guided, and valuable experimental data support can be provided for the fields of engineering construction, agricultural production and the like.

Description

Technical Field

[0001] The invention relates to the technical field of laboratory testing devices for soft-bottom crawlers, and in particular to a laboratory testing system and a testing method for soft-bottom crawler chassis. Background Art

[0002] With the development of underwater and marine equipment, tracked vehicles have the advantages of simple operation, strong operation ability, and strong carrying capacity, and are widely used in submarine cable laying, submarine mineral resource development, and underwater sludge cleaning. As a key device for walking, underwater tracks need to accurately understand the underwater driving performance of the vehicle to prevent the equipment from sinking, slipping, etc.

[0003] The soft bottom track test device is a test platform for studying the driving performance of engineering vehicles in complex environments such as soft ground or swamps. At present, there are some key technical problems in this field, such as how to accurately simulate complex bottom environments, how to measure the traction performance and handling stability of vehicles, etc. The test system of the present invention can simulate various types of soft ground by laying different bottoms. At the same time, it is equipped with advanced measurement sensors and visual motion capture systems to comprehensively evaluate the driving performance of vehicles in complex environments. This technology can not only effectively guide the design and optimization of engineering vehicles, but also provide valuable experimental data support for engineering construction, agricultural production and other fields. Summary of the invention

[0004] According to the technical problems raised above, a laboratory test system and method for track chassis on soft soil is provided. The present invention mainly ensures the similarity of test soil properties by laying simulated soil and measuring the soil mechanics parameters of the simulated soil using a four-axis system; the walking speed, acceleration, motion trajectory, etc. of the track can be monitored and recorded by using the arranged motion vision capture system; the walking performance of the track device under different loads can be obtained by loading weights of different weights on the traction force measurement device; the track test device adopts an adjustable multi-parameter structural design, and the key influencing factors of the track device are tested by replacing the track, grouser, load and track cover.

[0005] The technical means adopted by the present invention are as follows:

[0006] A laboratory test system for a crawler chassis on a rare and soft bottom comprises: a crawler test device, a transparent test tank, and a four-axis mobile measuring platform, a traction measuring device and a visual motion capture system installed on the transparent test tank, wherein the visual motion capture system is located above the four-axis mobile measuring platform and the traction measuring device, the four-axis mobile measuring platform moves on the transparent test tank, the traction measuring device is arranged on one side of the transparent test tank, a simulated bottom is placed inside the transparent test tank, and the crawler test device is placed on the simulated bottom inside the transparent test tank.

[0007] Furthermore, the transparent test tank includes a steel structure frame, tempered glass and a bottom plate, the steel structure frame is installed on the bottom plate, the steel structure frame and the bottom plate constitute a test tank frame, the tempered glass is arranged around the test tank frame, and the simulated bottom material is placed inside the test tank frame.

[0008] Furthermore, there is overlying water above the simulated substrate.

[0009] Further, the four-axis mobile measurement platform includes two groups of X-axis mobile mechanisms, a Y-axis mobile mechanism and a Z-axis mobile mechanism, the two groups of X-axis mobile mechanisms are installed on both sides of the top of the steel structure frame of the transparent test tank, the Y-axis mobile mechanism is connected to the two groups of X-axis mobile mechanisms, the Z-axis mobile mechanism is connected to the Y-axis mobile mechanism, and a bottom measurement device for simulating bottom test is installed at the connection between the lower end of the Z-axis mobile mechanism and the S-axis mechanism, and the bottom measurement device is a penetration resistance measurement device or a shear strength measurement device;

[0010] The X-axis moving mechanism enables the Y-axis moving mechanism to move the Z-axis moving mechanism and the bottom quality measuring device in the X direction, the Y-axis moving mechanism enables the Z-axis moving mechanism to move the bottom quality measuring device in the Y direction, and the Z-axis moving mechanism enables the bottom quality measuring device to move up and down in the Z direction.

[0011] Further, the X-axis moving mechanism includes a servo motor, a bracket, a driving gear, a guide rail and a rack, the bracket is installed on the top of the steel structure frame, the guide rail and the rack are installed on the bracket, the servo motor is installed on the slider, the slider is slidably connected to the guide rail, the output end of the servo motor is connected to the driving gear, and the driving gear is meshed with the rack;

[0012] The Y-axis moving mechanism has the same structure as the X-axis moving mechanism, and the bracket of the Y-axis moving mechanism is installed on the sliders of the two sets of X-axis moving mechanisms;

[0013] The Z-axis moving mechanism comprises a Z-axis motor, a coupling, a Z-axis guide rail, a Z-axis slider, a screw rod, a screw rod nut and a mounting bracket, wherein the Z-axis motor is mounted above the mounting bracket, the output end of the Z-axis motor is connected to one end of the screw rod through the coupling Z axis, the other end of the screw rod is rotatably connected to the bottom of the mounting bracket, the screw rod nut is slidably connected to the screw rod, the Z-axis guide rail is mounted on the mounting bracket and slidably connected to the Z-axis slider, the screw rod nut and the Z-axis slider are both mounted on the slider of the Y-axis moving mechanism, and the Z-axis moving mechanism can move up and down along the Z-axis guide rail through the rotation of the screw rod;

[0014] The S-axis mechanism includes an S-axis motor, a motor mounting plate and a 6-component force sensor I. The motor mounting plate is installed below the mounting bracket, the S-axis motor is installed on the motor mounting plate, and the 6-component force sensor I is connected to the output end of the S-axis motor.

[0015] Furthermore, the traction force measuring device includes a support frame, a pulley block, a steel wire rope, a weight loading device and a 6-component force sensor II. The support frame is installed on the top of one side of the steel structure frame of the transparent test trough. The pulley block is provided with at least two groups, which are installed on the support frame at intervals. The steel wire rope is wound around the two groups of pulley blocks. The two sides of the steel wire rope are respectively located outside and inside the steel structure frame. The lower end of the steel wire rope located outside is connected to the weight loading device, and the end of the steel wire rope located inside is used to be connected to the crawler test device, and the 6-component force sensor II is connected to the steel wire rope located inside.

[0016] Furthermore, the visual motion capture system includes multiple cameras, a camera bracket, and motion capture marking points. The camera bracket is installed on the top of the steel structure frame of the transparent test tank, the multiple cameras are arranged around the camera bracket, and the motion capture marking points are installed on the track test device.

[0017] Furthermore, the crawler test device includes a crawler frame and two sets of driving devices and a load frame installed on the crawler frame, the load frame is located above the driving device, and the two sets of driving devices are distributed on both sides;

[0018] The driving device includes a power unit, a track cover, a driven wheel, a supporting wheel, a supporting wheel, a chain plate, a chain and a driving wheel. The power unit, the driven wheel, the supporting wheel, the supporting wheel and the driving wheel are all installed on the track frame. The output end of the power unit is connected to the driving wheel, and the two sides of the chain are connected to the driven wheel and the driving wheel. The supporting wheel and the supporting wheel are in contact with the inner side of the chain. A plurality of chain plates are provided, which are circumferentially distributed on the outer wall of the chain; the track cover is installed on the outside of the chain plate.

[0019] Furthermore, a plurality of turbidity sensors are installed around the steel structure frame.

[0020] The present invention also provides a testing method for a laboratory testing system of a crawler chassis on a soft bottom, comprising the following steps:

[0021] Step 1: Place simulated bottom in a transparent test tank, place the crawler test device in the test tank after debugging, and calibrate all sensors;

[0022] Step 2: Leveling and measuring the bottom before the test:

[0023] Before the test, a leveling plate was installed at the lower end of the S-axis mechanism of the four-axis mobile measuring platform through a connecting rod, and the surface of the simulated bottom was leveled by controlling the movement of the four-axis mobile measuring platform; after the leveling was completed, the penetration resistance measuring device and the shear strength measuring device were replaced in turn, and different coordinate points were set respectively to measure the mechanical properties of the bottom;

[0024] Step 3: Track model traction test:

[0025] After the substrate is laid, the traction test of the track model is carried out. The simulated substrate of the test environment is an environment with overlying water. The water environment adds additional water resistance to the movement of the model, which is closer to the underwater movement scene of the equipment. The variables that can be tested include the different load sizes and distributions of the track test device under different substrate conditions, the effects of grouser spacing, grouser shape, grouser material and grouser height on traction. Different weights are added to the traction measurement device to measure the driving speed, slip rate and turning characteristics under different loads. By adding the maximum weight, the maximum traction of the track model under the test condition is obtained.

[0026] Step 4: Track model motion performance:

[0027] The visual motion capture system is used to monitor and record the slip rate, turning radius and depression depth of the track model. The real-time position, speed and acceleration information of the motion capture markers during the track model test are used to obtain the posture, depression depth and driving speed of the track test device. The turning radius at different speeds is obtained by setting the speed difference of the tracks on both sides. The slip rate is the ratio of the difference between the theoretical walking speed of the track and the measured walking speed to the theoretical walking speed of the track.

[0028] Step 5: Environmental disturbance test:

[0029] The track test device moves in a water environment, and the interaction between the grouser and the simulated bottom causes bottom disturbance. By arranging multiple turbidity sensors around the test tank, the disturbance caused by the track under different working conditions is monitored by the changes in turbidity values.

[0030] Compared with the prior art, the present invention has the following advantages:

[0031] 1. The present invention ensures the similarity of test soil properties by laying simulated bottom soil and using a four-axis system to measure the soil mechanics parameters of the simulated bottom soil; the arranged motion visual capture system can monitor and record the walking speed, acceleration, motion trajectory, etc. of the crawler; by loading weights of different weights on the traction force measurement device, the walking performance of the crawler device under different loads can be obtained; the crawler test device adopts an adjustable multi-parameter structure design, and the key influencing factors of the crawler device are tested by replacing the crawler, grouser, load and track cover.

[0032] 2. The test system of the present invention can simulate various types of soft ground by laying different substrates. It is equipped with advanced measurement sensors and visual motion capture systems to comprehensively evaluate the driving performance of vehicles in complex environments. This technology can not only effectively guide the design and optimization of engineering vehicles, but also provide valuable experimental data support for engineering construction, agricultural production and other fields.

[0033] Based on the above reasons, the present invention can be widely promoted in the fields of submarine cable laying, submarine mineral resource development and underwater sludge cleaning. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0035] Figure 1 It is a stereoscopic diagram of the laboratory test system for the crawler chassis on soft substrate of the present invention.

[0036] Figure 2 It is a front view of the laboratory test system of the crawler chassis on soft bottom of the present invention.

[0037] Figure 3 It is a side view of the laboratory test system of the crawler chassis on soft bottom of the present invention.

[0038] Figure 4 It is a top view of the laboratory test system of the crawler chassis on soft bottom of the present invention.

[0039] Figure 5 for Figure 3 Sectional view of AA.

[0040] Figure 6 Schematic diagram of the structure of a transparent test tank according to an embodiment of the present invention.

[0041] Figure 7It is a schematic structural diagram of a four-axis mobile measurement platform according to an embodiment of the present invention.

[0042] Figure 8 It is a front view of the four-axis mobile measurement platform according to an embodiment of the present invention.

[0043] Fig. 9 It is a top view of the four-axis mobile measurement platform according to an embodiment of the present invention.

[0044] Fig.10 Schematic diagram of the Z-axis moving mechanism and the S-axis mechanism according to an embodiment of the present invention.

[0045] Fig.11 It is a schematic structural diagram of a flat plate according to an embodiment of the present invention.

[0046] Fig.12 Schematic diagram of the structure of the traction force measuring device according to an embodiment of the present invention.

[0047] Fig.13 Schematic diagram of the structure of the visual motion capture system according to an embodiment of the present invention.

[0048] Fig.14 Schematic diagram of the arrangement of the turbidity sensor of the present invention.

[0049] Fig.15 It is a structural schematic diagram of a crawler test device according to an embodiment of the present invention.

[0050] Fig.16 for Fig.15 Top view of the .

[0051] Fig.17 for Fig.16 Cross-sectional view of BB.

[0052] Fig.18 Schematic diagrams of crawler test models with different tooth pitches and different grouser heights of the present invention, wherein (a) is a small pitch crawler model, (b) is a medium pitch crawler model, (c) is a large pitch crawler model, (d) is a front view of (a), (e) is a front view of (b), and (f) is a front view of (c).

[0053] In the figure: 1. Four-axis mobile measurement platform; 2. Traction force measurement device; 3. Visual motion capture system; 4. Track test device; 5. Transparent test tank; 6. Penetration resistance measurement device; 7. Shear strength measurement device; 8. Turbidity sensor;

[0054] 11. Servo motor; 12. Bracket; 13. Driving gear; 14. Guide rail; 15. Rack;

[0055] 101, Z-axis motor; 102, coupling; 103, lead screw; 104, lead screw nut; 105, Z-axis guide rail; 106, Z-axis slider;

[0056] 1-1, S-axis motor; 1-2, motor mounting plate; 1-3, 6-component force sensor I; 1-4, connecting rod; 1-5, flat plate;

[0057] 21. Pulley block; 22. Steel wire rope; 23. Weight loading device; 24. 6-component force sensor II;

[0058] 31. Camera; 32. Camera stand; 33. Motion capture markers;

[0059] 41. Power unit; 42. Track cover; 43. Driven wheel; 44. Support wheel; 45. Support wheel; 46. Chain plate; 47. Chain; 48. Drive wheel; 49. Load frame;

[0060] 51. Steel structure frame; 52. Simulated bottom soil; 53. Tempered glass; 54. Bottom plate; 55. Overlying water; 56. Test tank frame. DETAILED DESCRIPTION

[0061] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0062] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present invention and its application or use. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0063] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0064] Unless otherwise specifically stated, the relative arrangement, numerical expressions and numerical values ​​of the parts and steps set forth in these embodiments do not limit the scope of the present invention. Meanwhile, it should be clear that, for ease of description, the sizes of the various parts shown in the accompanying drawings are not drawn according to the actual proportional relationship. The technology, method and equipment known to those of ordinary skill in the relevant art may not be discussed in detail, but in appropriate cases, the technology, method and equipment should be considered as a part of the specification. In all examples shown and discussed here, any specific value should be interpreted as being merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters represent similar items in the following drawings, and therefore, once a certain item is defined in an accompanying drawing, it does not need to be further discussed in subsequent drawings.

[0065] In the description of the present invention, it is necessary to understand that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise specified, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present invention: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0066] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0067] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0068] Example 1

[0069] The invention provides a laboratory test system for a crawler chassis on a soft bottom, belongs to the technical field of laboratory test devices for crawler chassis on a soft bottom, relates to a laboratory test system for a crawler chassis, and particularly relates to performance testing of crawler chassis parameters under different influencing factors.

[0070] Figure 1-5 It is a structural schematic diagram of the laboratory test system of the crawler chassis on the soft bottom of the present invention. The system mainly includes a transparent test tank 5, a four-axis mobile measurement platform 1, a traction measurement device 2, a visual motion capture system 3 and a crawler test device 4. The four-axis mobile measurement platform 1, the traction measurement device 2 and the visual motion capture system 3 are all installed on the transparent test tank 5, the crawler test device 4 is placed inside the transparent test tank 5, the visual motion capture system 3 is located above the four-axis mobile measurement platform 1 and the traction measurement device 2, the four-axis mobile measurement platform 1 moves on the transparent test tank 5, and the traction measurement device 2 is arranged on one side of the transparent test tank 5.

[0071] Figure 6 Schematic diagram of the transparent test tank of the present invention, transparent test tank 5 is the installation base of the test system, including steel structure frame 51, simulated bottom 52, tempered glass 53 and bottom plate 54. Steel structure frame 51 and bottom plate 54 constitute test tank frame 56. Simulated bottom 52 is placed inside test tank frame 56, and crawler test device 4 is placed on simulated bottom 52 inside test tank frame 56. There is overlying water 55 above simulated bottom 52.

[0072] Figure 7-11 The schematic diagram of the four-axis mobile measuring platform of the present invention is shown in FIG. The four-axis mobile measuring platform 1 includes two groups of X-axis moving mechanisms, a Y-axis moving mechanism and a Z-axis moving mechanism. The two groups of X-axis moving mechanisms are installed on both sides of the top of the steel structure frame 51. The Y-axis moving mechanism is connected to the two groups of X-axis moving mechanisms. The Z-axis moving mechanism is connected to the Y-axis moving mechanism. A bottom measurement device for simulating bottom test is installed at the connection between the lower end of the Z-axis moving mechanism and the S-axis mechanism. The bottom measurement device is a penetration resistance measurement device 6 or a shear strength measurement device 7. The Y-axis moving mechanism is used to realize the movement of the Z-axis moving mechanism and the bottom measurement device in the X direction, the Y-axis moving mechanism is used to realize the movement of the Z-axis moving mechanism and the bottom measurement device in the Y direction, and the Z-axis moving mechanism is used to realize the lifting movement of the bottom measurement device in the Z direction.

[0073] The X-axis moving mechanism is composed of a servo motor 11, a bracket 12, a driving gear 13, a guide rail 14 and a rack 15, etc. The bracket 12 is installed on the top of the steel structure frame 51, the guide rail 14 and the rack 15 are both installed on the bracket 12, the servo motor 11 is installed on the slider, the slider is slidably connected to the guide rail 14, the output end of the servo motor 11 is connected to the driving gear 13, and the driving gear 13 is meshed and connected with the rack 15. The Y-axis moving mechanism has the same structure as the X-axis moving mechanism, and the bracket of the Y-axis moving mechanism is installed on the sliders of the two sets of X-axis moving mechanisms. The Z-axis moving mechanism includes a Z-axis motor 101, a coupling 102, a Z-axis guide rail 105, a Z-axis slider 106, a screw 103, a screw nut 104 and a mounting bracket. The Z-axis motor 101 is installed above the mounting bracket, and the output end of the Z-axis motor 101 is connected to one end of the screw 103 through the coupling Z-axis 102, and the other end of the screw 103 is rotatably connected to the bottom of the mounting bracket. The screw nut 104 is slidably connected to the screw 103, and the Z-axis guide rail 105 is installed on the mounting bracket and is slidably connected to the Z-axis slider 106. The screw nut 104 and the Z-axis slider 106 are both installed on the slider of the Y-axis moving mechanism, and the Z-axis moving mechanism can move up and down along the Z-axis guide rail 105 through the rotation of the screw 103. The S-axis mechanism includes an S-axis motor 1-1, a motor mounting plate 1-2 and a 6-component force sensor Ⅰ1-3. The motor mounting plate 1-2 is installed below the mounting bracket, the S-axis motor 1-1 is installed on the motor mounting plate 1-2, and the 6-component force sensor Ⅰ1-3 is connected to the output end of the S-axis motor 1-1.

[0074] Fig.12 The figure is a schematic diagram of the traction force measuring device of the present invention. The traction force measuring device 2 mainly includes a support frame, a pulley block 21, a wire rope 22, a weight loading device 23, a 6-component force sensor II 24, etc. The support frame is installed on the top of one side of the steel structure frame 51. There are two sets of pulley blocks 21, which are installed at intervals at both ends of the support frame; the wire rope 22 is wound around the two sets of pulley blocks 21, and the two sides of the wire rope 22 are respectively located outside and inside the steel structure frame 51. The lower end of the wire rope 22 located outside is connected to the weight loading device 23, and the end of the wire rope 22 located inside is used to connect to the crawler test device 4, and the 6-component force sensor II 24 is connected to the wire rope 22 located inside.

[0075] Fig.13This is a schematic diagram of the visual motion capture system of the present invention. The visual motion capture system 3 includes multiple cameras 31, a camera bracket 32, and a motion capture marking point 33. The camera bracket 32 ​​is installed on the top of the steel structure frame 51, and multiple cameras 31 are arranged around the camera bracket 32. The motion capture marking point 33 is installed on the track test device 4. The motion capture marking point 33 is a motion capture marking point of the camera 31, that is, a visual monitoring point, which is a component for motion monitoring.

[0076] Fig.14 Schematic diagram of the arrangement of the turbidity sensor of the present invention. A plurality of turbidity sensors 8 are arranged around the test tank.

[0077] Figure 15-17 The schematic diagram of the crawler test device of the present invention is shown in FIG. The crawler test device 4 includes a crawler frame and two sets of drive devices and a load frame 49 installed on the crawler frame. The load frame 49 is located above the drive device, and the two sets of drive devices are distributed on both sides. The drive device includes a power device 41, a crawler cover 42, a driven wheel 43, a support wheel 44 (roller), a supporting wheel 45, a chain plate 46 (track plate), a chain 47, a drive wheel 48 and a load frame 49. The power device 41, the driven wheel 43, the support wheel 44, the supporting wheel 45 and the drive wheel 48 are all installed on the crawler frame. The output end of the power device 41 is connected to the drive wheel 48, and the two sides of the chain 47 are connected to the driven wheel 43 and the drive wheel 48. The support wheel 44 and the supporting wheel 45 are in contact and sliding connection with the inner side of the chain 47. A plurality of chain plates 46 are provided, which are circumferentially distributed on the outer wall of the chain 47. The power device 41 is generally a servo motor or a hydraulic motor, and the real-time output torque, speed, etc. of the power device 41 can be recorded. The track cover 42 is installed on the outside of the chain plate 46. The track cover 42 is used as a variable control component for environmental disturbance. The track running test can be carried out with and without the track cover 42 installed, and the disturbance of the two working conditions can be monitored by the turbidity sensor 8.

[0078] Fig.18 It is a test model of crawler tracks with different tooth pitches and different grouser heights.

[0079] Example 2

[0080] Based on the above test system, the present invention also provides a test method for a laboratory test system for a soft bottom crawler chassis. Before the test, the flatness of the bottom and the penetration strength and shear strength of the simulated bottom are measured by a four-axis mobile measurement platform 1; traction tests, slip tests, turning radius tests and disturbance tests (under a water environment on the bottom) are carried out for different bottoms and different crawler structure parameters (grouser structure, grouser height, grouser spacing, grouser material, etc.). Specifically, the following steps are included:

[0081] (1) Bottom leveling and measurement before the test

[0082] A simulated bottom 52 is placed inside the transparent test tank 5, and the crawler test device 4 is placed in the test tank after debugging, and each sensor completes the calibration work. Before the test, since it is necessary to ensure the similarity of the relevant mechanical parameters of the simulated bottom 52 with the original bottom, the leveling plate 1-5 is installed through the rotating shaft end (the lower end of the S-axis mechanism) of the four-axis mobile measurement platform 1 through the connecting rod 1-4 (the upper end of the connecting rod 1-4 is connected to the 6-component force sensor), and the surface of the simulated bottom 52 of the test platform is leveled by controlling the movement of the four-axis mobile measurement platform 1 (where the leveling plate 1-5 is installed below the S-axis mechanism, the leveling direction is adjusted by the rotation of the S-axis mechanism motor, the leveling depth is controlled by the Z-axis moving mechanism, and the leveling of the sediment in the test tank is completed by the movement of the XY-axis moving mechanism); after the leveling is completed, the penetration resistance measuring device 6 and the shear strength measuring device 7 are replaced in turn, and different coordinate points are set respectively to measure the mechanical properties of the bottom. The penetration resistance measuring device 6 is a tapered round rod with a diameter of 36.5 mm, which is inserted into the sediment through Z-axis movement, and the force measured by the 6-component force sensor is the penetration resistance. The shear strength measuring device 7 is a cross shear plate, including a cross plate and a rod head. After being inserted into the sediment to a certain depth through the Z-axis, it is rotated by the S-axis, and the 6-component force sensor measures the torque to obtain the shear strength.

[0083] (2) Track model (track test device 4) traction test

[0084] After the substrate is laid, the traction test of the track model can be carried out, in which the test environment simulates the substrate 52 as an environment with overlying water 55. The water environment additionally increases the influence of water resistance on the movement of the model, which is closer to the movement scene of the equipment underwater. The variables that can be tested include the different load sizes and distributions of the track test device 4 under different substrate conditions, the influence of grouser spacing, grouser shape, grouser material and grouser height on traction. Through the traction measurement device 2, different weights are added to measure the driving speed, slip rate and turning characteristics under different loads; by adding the maximum weight, the maximum traction of the track model under the test condition is obtained.

[0085] (3) Track model motion performance

[0086] The motion performance of the track model mainly includes parameters such as slip rate, turning radius and depression depth. The slip rate, turning radius and depression depth are mainly monitored and recorded by the visual motion capture system 3. The real-time position, speed and acceleration information of the motion capture mark point 33 during the track model test are used to obtain the posture, depression depth and driving speed of the track test device 4; by setting the speed difference between the tracks on both sides, the turning radius size at different speeds is obtained. The slip rate is the ratio of the difference between the theoretical walking speed of the track and the measured walking speed to the theoretical walking speed of the track. Video and images are collected by the camera 31, and the changes in the speed, acceleration and depression depth of the mark point are obtained by computer calculation based on the motion comparison analysis of the video and image.

[0087] (4) Environmental disturbance test

[0088] The crawler test device 4 moves in a water environment, and the interaction between the grouser and the simulated bottom 52 causes bottom disturbance. By arranging multiple turbidity sensors 8 around the test tank (in this embodiment, 8 turbidity sensors 8 are provided, which are installed above the simulated sediment and below the water surface), the disturbance caused by the crawler under different working conditions can be monitored through the changes in turbidity values.

[0089] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A laboratory test system for crawler chassis on soft soil, characterized in that: include: A crawler test device (4), a transparent test tank (5), a four-axis mobile measurement platform (1), a traction measurement device (2) and a visual motion capture system (3) installed on the transparent test tank (5), wherein the visual motion capture system (3) is located above the four-axis mobile measurement platform (1) and the traction measurement device (2), the four-axis mobile measurement platform (1) moves on the transparent test tank (5), the traction measurement device (2) is arranged on one side of the transparent test tank (5), a simulated bottom material (52) is placed inside the transparent test tank (5), and the crawler test device (4) is placed on the simulated bottom material (52) inside the transparent test tank (5).

2. The laboratory test system for crawler chassis in soft soil according to claim 1, characterized in that: The transparent test tank (5) comprises a steel structure frame (51), tempered glass (53) and a bottom plate (54); the steel structure frame (51) is mounted on the bottom plate (54); the steel structure frame (51) and the bottom plate (54) form a test tank frame (56); the tempered glass (53) is arranged around the test tank frame (56); and the simulated bottom substance (52) is placed inside the test tank frame (56).

3. The laboratory test system for crawler chassis in soft soil according to claim 1, characterized in that: There is overlying water (55) above the simulated substrate (52).

4. The laboratory test system for crawler chassis in soft soil according to claim 1, characterized in that: The four-axis mobile measurement platform (1) comprises two groups of X-axis mobile mechanisms, a Y-axis mobile mechanism and a Z-axis mobile mechanism, wherein the two groups of X-axis mobile mechanisms are installed on both sides of the top of a steel structure frame (51) of a transparent test tank (5), the Y-axis mobile mechanism is connected to the two groups of X-axis mobile mechanisms, the Z-axis mobile mechanism is connected to the Y-axis mobile mechanism, and a bottom measurement device for simulating bottom test is installed at the connection between the lower end of the Z-axis mobile mechanism and the S-axis mechanism, wherein the bottom measurement device is a penetration resistance measurement device (6) or a shear strength measurement device (7); The X-axis moving mechanism enables the Y-axis moving mechanism to move the Z-axis moving mechanism and the bottom quality measuring device in the X direction, the Y-axis moving mechanism enables the Z-axis moving mechanism to move the bottom quality measuring device in the Y direction, and the Z-axis moving mechanism enables the bottom quality measuring device to move up and down in the Z direction.

5. The laboratory test system for crawler chassis in soft soil according to claim 4, characterized in that: The X-axis moving mechanism comprises a servo motor (11), a bracket (12), a driving gear (13), a guide rail (14) and a rack (15), wherein the bracket (12) is mounted on the top of the steel structure frame (51), the guide rail (14) and the rack (15) are both mounted on the bracket (12), the servo motor (11) is mounted on a slider, the slider is slidably connected to the guide rail (14), the output end of the servo motor (11) is connected to the driving gear (13), and the driving gear (13) is meshedly connected to the rack (15); The Y-axis moving mechanism has the same structure as the X-axis moving mechanism, and the bracket of the Y-axis moving mechanism is installed on the sliders of the two sets of X-axis moving mechanisms; The Z-axis moving mechanism comprises a Z-axis motor (101), a coupling (102), a Z-axis guide rail (105), a Z-axis slider (106), a screw rod (103), a screw rod nut (104) and a mounting bracket. The Z-axis motor (101) is mounted above the mounting bracket. The output end of the Z-axis motor (101) is connected to one end of the screw rod (103) through the coupling Z-axis (102). The other end of the screw rod (103) is rotatably connected to the bottom of the mounting bracket. The screw rod nut (104) is slidably connected to the screw rod (103). The Z-axis guide rail (105) is mounted on the mounting bracket and slidably connected to the Z-axis slider (106). The screw rod nut (104) and the Z-axis slider (106) are both mounted on a slider of the Y-axis moving mechanism. The Z-axis moving mechanism can move up and down along the Z-axis guide rail (105) through the rotation of the screw rod (103). The S-axis mechanism comprises an S-axis motor (1-1), a motor mounting plate (1-2) and a six-component force sensor I (1-3); the motor mounting plate (1-2) is mounted below a mounting bracket, the S-axis motor (1-1) is mounted on the motor mounting plate (1-2), and the six-component force sensor I (1-3) is connected to the output end of the S-axis motor (1-1).

6. The laboratory test system for crawler chassis in soft soil according to claim 1, characterized in that: The traction force measuring device (2) comprises a support frame, a pulley block (21), a steel wire rope (22), a weight loading device (23) and a six-component force sensor II (24). The support frame is installed on the top of one side of a steel structure frame (51) of a transparent test tank (5). The pulley block (21) is provided with at least two groups and is installed on the support frame at intervals. The steel wire rope (22) is wound around the two groups of pulley blocks (21). The two sides of the steel wire rope (22) are respectively located outside and inside the steel structure frame (51). The lower end of the steel wire rope (22) located outside is connected to the weight loading device (23), and the end of the steel wire rope (22) located inside is used to be connected to the crawler test device (4), and the six-component force sensor II (24) is connected to the steel wire rope (22) located inside.

7. The laboratory test system for crawler chassis in soft soil according to claim 1, characterized in that: The visual motion capture system (3) comprises a plurality of cameras (31), a camera bracket (32), and a motion capture marker (33); the camera bracket (32) is mounted on the top of a steel structure frame (51) of a transparent test tank (5); the plurality of cameras (31) are arranged around the camera bracket (32); and the motion capture marker (33) is mounted on a track test device (4).

8. The laboratory test system for crawler chassis in soft soil according to claim 1, characterized in that: The crawler test device (4) comprises a crawler frame, two sets of driving devices and a load frame (49) mounted on the crawler frame, wherein the load frame (49) is located above the driving device, and the two sets of driving devices are distributed on both sides; The driving device comprises a power device (41), a track cover (42), a driven wheel (43), a supporting wheel (44), a supporting wheel (45), a chain plate (46), a chain (47) and a driving wheel (48); the power device (41), the driven wheel (43), the supporting wheel (44), the supporting wheel (45) and the driving wheel (48) are all installed on a track frame; the output end of the power device (41) is connected to the driving wheel (48); the two sides of the chain (47) are connected to the driven wheel (43) and the driving wheel (48); the supporting wheel (44) and the supporting wheel (45) are in contact with the inner side of the chain (47); a plurality of chain plates (46) are provided, which are circumferentially distributed on the outer wall of the chain (47); and the track cover (42) is installed on the outside of the chain plate (46).

9. The laboratory test system for crawler chassis in soft soil according to claim 2, characterized in that: A plurality of turbidity sensors (8) are installed around the steel structure frame (51).

10. A test method for a laboratory test system for a crawler chassis on a soft bottom according to any one of claims 1 to 9, characterized in that: The steps include: Step 1, placing a simulated bottom material (52) in a transparent test tank (5), placing the crawler test device (4) in the test tank after debugging, and completing calibration of each sensor; Step 2: Leveling and measuring the bottom before the test: Before the test, a leveling plate (1-5) is installed at the lower end of the S-axis mechanism of the four-axis mobile measuring platform (1) through a connecting rod (1-4), and the surface of the simulated bottom (52) is leveled by controlling the movement of the four-axis mobile measuring platform (1); after the leveling is completed, the penetration resistance measuring device (6) and the shear strength measuring device (7) are replaced in sequence, and different coordinate points are set respectively to measure the mechanical properties of the bottom; Step 3: Track model traction test: After the substrate is laid, a traction test of the track model is carried out, wherein the simulated substrate (52) of the test environment is an environment with overlying water. The water environment has an additional effect on the movement of the model due to water resistance, which is closer to the underwater movement scene of the equipment. The variables that can be tested include the effects of different load sizes and distributions of the track test device (4) under different substrate conditions, the spacing between grouser teeth, the shape of grouser teeth, the material of grouser teeth and the height of grouser teeth on the traction. Different weights are added to the traction measurement device (2) to measure the driving speed, slip rate and turning characteristics under different loads. By adding the maximum weight, the maximum traction of the track model under the test condition is obtained. Step 4: Track model motion performance: The slip rate, turning radius and depression depth of the crawler model are monitored and recorded by a visual motion capture system (3); the posture, depression depth and driving speed of the crawler test device (4) are obtained by capturing the real-time position, speed and acceleration information of the motion capture mark point (33) during the crawler model test; the turning radius size at different speeds is obtained by setting the speed difference of the crawlers on both sides; wherein the slip rate is the ratio of the difference between the theoretical walking speed of the crawler and the measured walking speed to the theoretical walking speed of the crawler; Step 5: Environmental disturbance test: The crawler test device (4) moves in a water environment, and the grouser interacts with the simulated bottom (52) to cause bottom disturbance. By arranging a plurality of turbidity sensors (8) around the test tank, the disturbance caused by the crawler under different working conditions is monitored through the change of turbidity values.

Images