Experimental Platform for the Coupling Physical Characteristics of Planetary Rover Wheels and Soil

Abstract

This invention relates to the field of planetary exploration equipment testing technology, and particularly to an experimental platform for the physical characteristics of the coupling between a planetary rover's wheels and soil. It includes a test frame, a data acquisition and analysis module, an environment and operating condition simulation unit, a wheel drive unit, and a moving unit. The test frame is used to load simulated planetary soil or ground soil; the wheel drive unit is used to drive the test wheels to rotate and collect the mechanical parameters of the interaction between the test wheels and the soil; the moving unit is connected to the wheel drive unit and is used to realize the horizontal and passive vertical movement of the wheel drive unit; the environment and operating condition simulation unit is connected to the wheel drive unit or the moving unit and is used to simulate different planetary gravity environments or operating condition resistances; the data acquisition and analysis module is used to collect and analyze multi-dimensional physical parameters during the wheel-soil coupling process. This invention has a flexible and safe structure, can simulate multiple force environments and multiple operating conditions, and can achieve simultaneous testing and acquisition of multiple parameters.

Description

Technical Field

[0001] This invention relates to the field of planetary exploration equipment testing technology, and in particular to an experimental platform for the physical characteristics of the coupling between the wheels of a planetary rover and the soil. Background Technology

[0002] The driving performance of planetary rovers (such as lunar rovers and Mars rovers) directly determines the success or failure of exploration missions, and the coupling physical characteristics of the wheels with the planetary surface soil (such as wheel sinkage, driving torque, and slip ratio) are core indicators for evaluating driving performance. Currently, existing wheel-soil coupling experimental platforms have the following technical shortcomings:

[0003] Limitations of gravity environment simulation: It cannot flexibly adjust the counterweight to adapt to the gravitational acceleration of different planets (such as the Moon's gravity being about 1 / 6 of Earth's and Mars' gravity being about 1 / 3 of Earth's), and the experimental scenarios are limited.

[0004] Poor adaptability to working conditions: Most platforms only support flat ground testing, making it difficult to simulate complex driving conditions such as slopes (uphill and downhill), resulting in a large deviation from the actual working environment of the patrol vehicle.

[0005] Incomplete test parameters: The sensor configuration is simple and can only measure a few physical quantities (such as pressure and torque). It cannot simultaneously acquire key parameters such as speed, sinking amount, and multi-dimensional force / torque, resulting in insufficient experimental data completeness.

[0006] Low structural flexibility: The frame shape is fixed, and it is impossible to adjust the height of the soil box and the position of the wheels according to the size of the experimental site or the needs of the test task. In addition, the moving mechanism lacks anti-collision protection, resulting in poor equipment safety.

[0007] Therefore, there is an urgent need to develop a wheel-soil coupling experimental platform that can simulate multiple force environments and working conditions and achieve simultaneous testing of multiple parameters, in order to fill the gap in existing technology. Summary of the Invention

[0008] To address the aforementioned problems, the present invention aims to provide an experimental platform for the physical characteristics of planetary rover wheel-soil coupling, thereby solving the problems of existing wheel-soil coupling experimental platforms, such as limitations in gravity environment simulation, poor adaptability to working conditions, incomplete test parameters, and low structural flexibility.

[0009] To achieve the above objectives, the present invention adopts the following technical solution:

[0010] This invention provides an experimental platform for the physical characteristics of planetary rover wheels coupled with soil, comprising:

[0011] The test frame serves as the main support for the experimental platform and is used to load simulated planetary soil or ground soil.

[0012] The wheel drive unit is set on the test frame and in contact with the simulated planet soil or ground soil. The wheel drive unit is used to drive the test wheel to rotate and collect the mechanical parameters of the interaction between the test wheel and the soil.

[0013] The moving unit is mounted on the test frame and connected to the wheel drive unit. The moving unit is used to realize the horizontal movement and passive vertical movement of the wheel drive unit.

[0014] An environment and operating condition simulation unit is set on a test frame and connected to a wheel drive unit or a moving unit. When the environment and operating condition simulation unit is connected to the wheel drive unit, the gravity environment of different planets is simulated by adding or removing weight to the wheel drive unit. When the environment and operating condition simulation unit is connected to the moving unit, the operating condition resistance is simulated by adjusting the resistance of the environment and operating condition simulation unit.

[0015] The data acquisition and analysis module, located on the test rack, is used to collect and analyze multi-dimensional physical parameters during the wheel-soil coupling process.

[0016] The wheel drive unit includes an integrated base and a wheel drive motor, a reducer I, a dynamic torque sensor, a drive shaft, a test wheel, and a six-dimensional force sensor installed on the integrated base and connected in sequence. The power of the wheel drive motor is transmitted to the test wheel for rotation through the reducer I, the dynamic torque sensor, and the drive shaft. The dynamic torque sensor is used to detect the torque output by the wheel drive motor in real time, and the six-dimensional force sensor is used to measure the multi-dimensional force and torque of the test wheel interacting with the soil.

[0017] The top of the integrated base is equipped with a pressure sensor and a counterweight mounting base set on the pressure sensor. The counterweight mounting base is used as a counterweight carrier, and the pressure sensor is used to measure the contact pressure of the test wheel on the soil.

[0018] One side of the six-dimensional force sensor is fixed to the drive shaft, and the other side is fixed to the test wheel. The power line and signal line of the six-dimensional force sensor are both connected to the outside through a slip ring. The slip ring and the six-dimensional force sensor are connected and fixed through a slip ring mounting base.

[0019] The moving unit includes a horizontal moving mechanism and a vertical moving mechanism. The horizontal moving mechanism is located at the top of the test frame and is used to output power in the horizontal direction. The vertical moving mechanism is located at the moving end of the horizontal moving mechanism, and the lower end of the vertical moving mechanism is connected to the wheel drive unit. The vertical moving mechanism enables the test wheel to move freely vertically with the slope of the soil surface.

[0020] The horizontal movement mechanism includes a lead screw nut, a movable integrated seat, a guide rail slider assembly, a ball screw, a reducer II, and a translation drive motor. The guide rail slider assembly and the ball screw are arranged parallel to each other on the test frame, and the ball screw is rotatable. The reducer II is mounted on the test frame, with its input end connected to the translation drive motor and its output end connected to the ball screw. The lead screw nut and the ball screw are threaded together to form a threaded pair. The movable integrated seat is fixedly connected to the lead screw nut and is also connected to the guide rail slider assembly. The translation drive motor drives the ball screw to rotate through the reducer II, thereby causing the movable integrated seat to translate. The guide rail slider assembly serves as a guide.

[0021] The vertical moving mechanism includes a vertical baffle and two guide shafts, wherein the two guide shafts are slidably connected to the moving integrated seat in the vertical direction, the upper ends of the two guide shafts are connected through the vertical baffle, and the lower ends of the two guide shafts are connected to the wheel drive unit.

[0022] The environment and working condition simulation unit includes a counterweight pulley system, a traction rope, and a counterweight. The counterweight pulley system is set on the test frame. One end of the traction rope is connected to the wheel drive unit or the moving unit, and the other end is connected to the counterweight through the counterweight pulley system.

[0023] The counterweight pulley assembly includes pulley bracket I, pulley I, pulley bracket II, pulley II, pulley mounting base I, pulley III, pulley mounting base II, and pulley IV. Pulley bracket I and pulley bracket II are sequentially and spaced apart on the top of the test frame along the horizontal movement direction of the moving unit. Pulley I and pulley II are respectively mounted on pulley bracket I and pulley bracket II. When the traction rope is connected to the wheel drive unit, it passes through pulley I and pulley II.

[0024] Pulley mounting base I and pulley mounting base II are disposed at one end of the top of the test frame. Pulleys III and IV are respectively disposed on pulley mounting base I and pulley mounting base II. Pulleys III and IV are respectively used to support the two traction ropes connected to the moving unit.

[0025] The data acquisition and analysis module includes a grating ruler and a tensile sensor mounted on the test frame. The grating ruler is positioned between the wheel drive unit and the moving unit and is used to measure the actual vertical position and sag of the test wheel.

[0026] A tensile sensor is installed at one end of the test frame, and the moving end of the tensile sensor is connected to the moving unit. The tensile sensor is used to measure the actual horizontal movement speed and movement distance of the test wheel.

[0027] The test frame includes casters, an aluminum alloy frame, and a soil box. The soil box is located on the upper part of the aluminum alloy frame and is used to load simulated planet soil or ground soil. The casters are located at the bottom of the aluminum alloy frame.

[0028] The advantages and positive effects of this invention are as follows:

[0029] Multiple forces and working conditions adaptable: This invention can simulate different gravity environments such as Earth, Moon, and Mars, as well as working conditions such as flat ground, uphill, and downhill, by adding or removing weights or adjusting the direction of the counterweight pulley system, covering the actual operating scenarios of the rover.

[0030] Multiple test items covered: The two servo motors for wheel drive and translation drive of this invention can be controlled individually or in concert, supporting multiple tests such as wheel static pressure test, wheel-soil interaction test, slip ratio test, and passability torque test.

[0031] Multi-parameter synchronous acquisition: This invention integrates multiple types of sensors such as six-dimensional force, dynamic torque, tension rope, and grating ruler to synchronously acquire parameters such as speed, torque, pressure, and sinkage, resulting in complete experimental data.

[0032] Flexible and safe structure: The aluminum alloy frame of this invention is reconfigurable and can be fitted with casters for easy site switching; the moving unit is equipped with anti-collision rubber and photoelectric limit switches, and the vertical moving mechanism counteracts the overturning moment, resulting in high equipment safety and stability. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the experimental platform for simulating different planetary gravity environments, which is used to demonstrate the physical characteristics of the coupling between the planetary rover's wheels and the soil in this invention.

[0034] Figure 2 This is a schematic diagram of the simulated working condition resistance state of the experimental platform for the physical characteristics of the coupling between the planetary rover wheel and the soil.

[0035] Figure 3 This is a schematic diagram of the test fixture in this invention;

[0036] Figure 4 This is a schematic diagram of the wheel drive unit in this invention;

[0037] Figure 5 This is an axonometric view of the wheel drive unit in this invention;

[0038] Figure 6 This is a schematic diagram of the horizontal moving mechanism in this invention;

[0039] Figure 7 This is a schematic diagram of the vertical movement mechanism in this invention;

[0040] Figure 8This is a schematic diagram of the counterweight pulley system in this invention;

[0041] Figure 9 This is one of the force principle diagrams of the experimental platform for the physical characteristics of the coupling between the planetary rover wheel and the soil in this invention;

[0042] Figure 10 This is the second force principle diagram of the experimental platform for the coupling physical characteristics of the planetary rover's wheels and soil in this invention.

[0043] In the diagram: 1. Wheel drive unit; 101. Six-dimensional force sensor; 102. Test wheel; 103. Bearing I; 104. Drive shaft; 105. Bearing II; 106. Coupling I; 107. Coupling II; 108. Reducer I; 109. Wheel drive motor; 110. Pressure sensor; 111. Dynamic torque sensor; 112. Slip ring; 113. Slip ring mounting base; 114. Adapter flange; 115. Bearing housing I; 116. Counterweight mounting base; 117. Bearing housing II; 118. Integrated base; 119. Drive mounting base I; 2. Grating ruler; 3. Tensile sensor; 4. Test frame; 401. Caster; 402. Aluminum alloy profile frame; 403. Soil box; 5. Moving unit; 501. Bearing module I; 502. Anti-collision rubber I; 503. Nut mounting base; 504. Lead screw nut; 505. Movable integrated base; 506. Guide rail I; 507. Ball screw; 508. Anti-collision rubber II; 509. Bearing module II; 510. Coupling III; 511. Photoelectric limit switch I; 512. Guide rail II; 513. Slider I; 514. Switch contact; 515. Slider II; 516. Photoelectric limit switch II; 517. Drive mounting base II; 518. 519. Reducer II; 520. Translation drive motor; 521. Guide shaft; 522. Linear bearing; 523. Vertical baffle; 6. Counterweight pulley block; 601. Pulley bracket I; 602. Pulley I; 603. Pulley bracket II; 604. Pulley II; 605. Pulley mounting seat I; 606. Pulley III; 607. Pulley mounting seat II; 608. Pulley IV; 7. Traction rope; 8. Counterweight. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0045] See Figure 1 and Figure 2As shown, the present invention provides an experimental platform for the physical characteristics of planetary rover wheel-soil coupling, comprising a test frame 4 and an environment and working condition simulation unit, a data acquisition and analysis module, a wheel drive unit 1, and a moving unit 5 mounted on the test frame 4. The test frame 4 serves as the main support of the experimental platform and loads simulated planetary soil or ground soil. The wheel drive unit 1 contacts the simulated planetary soil or ground soil and drives the test wheel 102 to rotate, collecting mechanical parameters of the interaction between the test wheel 102 and the soil. The moving unit 5 is connected to the wheel drive unit 1 and is used to realize the horizontal and passive vertical movement of the wheel drive unit 1. The environment and working condition simulation unit is connected to either the wheel drive unit 1 or the moving unit 5. When the environment and working condition simulation unit is connected to the wheel drive unit 1, different planetary gravity environments are simulated by increasing or decreasing the weight of the wheel drive unit 1. When the environment and working condition simulation unit is connected to the moving unit 5, the working condition resistance is simulated by adjusting the resistance of the environment and working condition simulation unit. The data acquisition and analysis module is used to collect and analyze multi-dimensional physical parameters during the wheel-soil coupling process.

[0046] See Figure 1 and Figure 2 As shown in the embodiment of the present invention, the data acquisition and analysis module includes a grating ruler 2 and a tensile sensor 3 disposed on the test frame 4. The grating ruler 2 is disposed between the wheel drive unit 1 and the moving unit 5, and is used to measure the actual vertical position and sinking amount of the test wheel 102. The tensile sensor 3 is disposed at one end of the test frame 4, and the moving end of the tensile sensor 3 is connected to the moving unit 5. The tensile sensor 3 is used to measure the actual horizontal movement speed and movement distance of the test wheel 102.

[0047] See Figure 3 As shown in the embodiment of the present invention, the test frame 4 includes casters 401, an aluminum alloy profile frame 402 and a soil box 403, wherein the soil box 403 is disposed on the upper part of the aluminum alloy profile frame 402 and is used to load simulated planet soil or ground soil; the casters 401 are disposed on the bottom of the aluminum alloy profile frame 402.

[0048] Preferably, the soil box 403 has a certain width and depth to eliminate the boundary effect when the casters 401 are coupled with the soil. The frame, assembled from aluminum alloy profiles, can be reconfigured and its height adjusted according to the experimental site and task mode. The casters 401 are stationary casters, which can be fixed or changed according to actual experimental needs.

[0049] See Figure 4 and Figure 5As shown, in an embodiment of the present invention, the wheel drive unit 1 includes an integrated base 118 and a wheel drive motor 109, a reducer I 108, a dynamic torque sensor 111, a drive shaft 104, a test wheel 102, and a six-dimensional force sensor 101, which are mounted on the integrated base 118 and connected in sequence. One end of the dynamic torque sensor 111 is connected to the drive shaft 104 via a coupling I 106, and the other end of the dynamic torque sensor 111 is connected to the output end of the reducer I 108 via a coupling II 107. The reducer I 108 is connected to the integrated base 118 via a drive mounting base I 119. The bottom of the integrated base 118 is provided with a bearing housing I 115 and a bearing housing II 117. One end of the drive shaft 104 is connected to the bearing housing I 115 via a bearing I 103, and the other end is connected to the bearing housing II 117 via a bearing II 105. The power from the wheel drive motor 109 is transmitted to the test wheel 102 for rotation via the reducer I 108, dynamic torque sensor 111, and drive shaft 104. The dynamic torque sensor 111 is used to detect the torque output by the wheel drive motor 109 in real time, and the six-dimensional force sensor 101 is used to measure the multi-dimensional forces and torques between the test wheel 102 and the soil. The motor output torque detected by the dynamic torque sensor 111 is compared with the torque parameters of the six-dimensional force sensor 101 to better evaluate the mechanical properties of the test wheel 102 and the soil. The top of the integrated base 118 is equipped with a pressure sensor 110 and a counterweight mounting base 116 set on the pressure sensor 110. The counterweight mounting base 116 serves as a counterweight carrier, and the pressure sensor 110 is used to measure the contact pressure of the test wheel 102 on the soil. A certain weight of counterweight can be installed on the counterweight mounting base 116 to simulate the weight of a real patrol vehicle; or the counterweight can be gradually increased in the wheel static pressure test to detect the effect of different weights on the wheel-soil interaction.

[0050] Specifically, one side of the six-dimensional force sensor 101 is fixed to the drive shaft 104, and the other side is fixed to the test wheel 102 via an adapter flange 114, thereby measuring the multi-dimensional actual torque and force of the test wheel 102 interacting with the soil. The power and signal lines of the six-dimensional force sensor 101 are connected to the outside world via a slip ring 112. The slip ring 112 and the six-dimensional force sensor 101 are connected and fixed via a slip ring mounting base 113. The slip ring 112 prevents the wiring from tangling when the test wheel 102 rotates continuously, ensuring stable operation during long-term testing.

[0051] In an embodiment of the present invention, the moving unit 5 includes a horizontal moving mechanism and a vertical moving mechanism. The horizontal moving mechanism is disposed on the top of the test frame 4 and is used to output power in the horizontal direction. The vertical moving mechanism is disposed at the moving end of the horizontal moving mechanism and the lower end of the vertical moving mechanism is connected to the wheel drive unit 1. The vertical moving mechanism enables the test wheel 102 to move freely vertically with the slope of the soil surface.

[0052] See Figure 6 As shown, in an embodiment of the present invention, the horizontal moving mechanism includes a lead screw nut 504, a moving integrated seat 505, a guide rail slider assembly, a ball screw 507, a reducer II 518, and a translation drive motor 519. The guide rail slider assembly and the ball screw 507 are arranged parallel to each other on the test frame 4, and both ends of the ball screw 507 are supported by bearing module I 501 and bearing module II 509 respectively, allowing the ball screw 507 to rotate. The reducer II 518 is mounted on the top of the test frame 4 via a drive mounting seat II 517, and the reducer II 518... The input end is connected to the translation drive motor 519, and the output end of the reducer II 518 is connected to the ball screw 507 through the coupling III 510; the screw nut 504 is threadedly connected to the ball screw 507 to form a threaded pair; the movable integrated seat 505 is fixedly connected to the screw nut 504 through the nut mounting seat 503, and the movable integrated seat 505 is connected to the guide rail slider assembly. The translation drive motor 519 drives the ball screw 507 to rotate through the reducer II 518, thereby driving the movable integrated seat 505 to translate, and the guide rail slider assembly plays a guiding role.

[0053] See Figure 6 and Figure 7 As shown, in an embodiment of the present invention, the vertical moving mechanism includes a vertical baffle 522 and two guide shafts 520, wherein the two guide shafts 520 are slidably connected to two linear bearings 521 provided on the movable integrated seat 505 in the vertical direction, the upper ends of the two guide shafts 520 are connected through the vertical baffle 522, and the lower ends of the two guide shafts 520 are connected to the wheel drive unit 1.

[0054] The vertical movement mechanism transmits the driving force for horizontal movement to the wheel drive unit 1. This mechanism employs a long linear bearing 521, which helps to counteract the overturning moment during the horizontal movement of the wheel drive unit 1. The combination of the linear bearing 521 and the guide shaft 520 allows the wheel drive unit 1 to move freely in the vertical direction, providing a more realistic reflection of the motion state of the test wheel 102.

[0055] Furthermore, the guide rail slider assembly includes parallel guide rail I 506 and guide rail II 512, which are respectively arranged on both sides of the ball screw 507. Both ends of the movable integrated base 505 are provided with sliders I 513 and II 515 that slide in cooperation with the corresponding guide rails. Photoelectric limit switches I 511 and II 516 are respectively provided at both ends of guide rail II 512; anti-collision rubbers I 502 and II 508 are respectively provided at both ends of the ball screw 507; and a switch contact 514 is provided on the movable integrated base 505. The switch contact 514 cooperates with photoelectric limit switch I 511 or photoelectric limit switch II 516 to achieve automatic stroke control, thereby protecting the moving mechanism and preventing impact on the bearing module.

[0056] The moving unit 5 enables the horizontal movement of the moving integrated base 505 and the vertical moving mechanism, thereby driving the wheel drive unit 1 to move horizontally. Simultaneously with the horizontal movement of the wheel drive unit 1, the presence of the vertical moving mechanism allows for the passive vertical movement of the test wheel 102 based on the actual soil conditions. The tension sensor 3 is connected to the moving integrated base 505 of the moving unit via a pull rope, and measures the actual horizontal speed and distance traveled by the wheel drive unit 1 through rope traction.

[0057] See Figure 1 and Figure 2 As shown, in an embodiment of the present invention, the environment and working condition simulation unit includes a counterweight pulley group 6, a traction rope 7, and a counterweight weight 8. The counterweight pulley group 6 is set on the test frame 4. One end of the traction rope 7 is connected to the movable integrated seat 505 of the wheel drive unit 1 or the vertical baffle 522 of the movable unit 5, and the other end is connected to the counterweight weight 8 through the counterweight pulley group 6.

[0058] See Figure 1 and Figure 8 As shown in the embodiment of the present invention, the counterweight pulley block 6 includes pulley bracket I 601, pulley I 602, pulley bracket II 603, pulley II 604, pulley mounting base I 605, pulley III 606, pulley mounting base II 607, and pulley IV 608. Pulley bracket I 601 and pulley bracket II 603 are sequentially and spaced apart on the top of the test frame 4 along the horizontal movement direction of the moving unit 5. Pulley I 602 and pulley II 604 are respectively mounted on the pulley bracket II 608. On bracket I 601 and pulley bracket II 603, the traction rope 7 passes through pulleys I 602 and II 604 when connecting to the wheel drive unit 1. Pulley mounting seats I 605 and II 607 ​​are located at one end of the top of the test frame 4. Pulleys III 606 and IV 608 are respectively mounted on pulley mounting seats I 605 and II 607, and are used to support the two traction ropes 7 connected to the moving unit 5. Each pulley provides fixation and reversing for the counterweight 8 and the traction rope, which is made of steel wire rope. By adding or removing the counterweight 8 or adjusting the suspension direction, different gravitational accelerations (such as those on the moon and Mars) and resistances (adding weight, removing weight, adding or removing resistance) are simulated to adapt to multiple working conditions.

[0059] This invention provides an experimental platform for the physical characteristics of planetary rover wheels coupled with soil, the working mode of which is as follows:

[0060] See Figure 9 and Figure 10As shown, this platform is based on the force analysis of wheel travel. The core forces include gravity mg, the components mgsinθ and mgcosθ corresponding to the slope angle θ, the travel resistance f (f=μmgcosθ, where μ is the friction coefficient of the ground), the traction force F, and the ground support force F. N Through the synergy of "counterweight adjustment + motor control + sensor acquisition", multi-scenario and multi-project testing can be achieved. Specifically, different planetary flat or sloping working conditions can be simulated through the following three different combinations.

[0061] Weight-increasing mode: A certain weight of counterweight is installed on the counterweight mounting seat 116 of the wheel drive unit 1 to simulate the weight of a real rover. This increases the simulated gravity mg, making it suitable for high-gravity planetary environments or heavy-load conditions (such as static pressure experiments on flat ground).

[0062] Weight Reduction Mode: Reduce the weights or use a pulley system to reverse the suspension, reducing the simulated gravity mg, adapting to low-gravity planetary environments (such as the Moon and Mars). See [link / reference]. Figure 1 As shown.

[0063] Resistance condition simulation: Adjust the gravitational component mgsinθ by adding or removing 8 counterweights, see [link / reference]. Figure 2 As shown: When the direction of motion of test wheel 102 is the same as the direction of the gravitational component mgsinθ, this component can offset part of the resistance f. Combined with the weight increase / decrease mode, it balances the gravitational component mgcosθ, simulating downhill conditions. When the direction of motion of test wheel 102 is opposite to the direction of the gravitational component mgsinθ, this component "increases resistance." Combined with the weight increase / decrease mode, it balances the gravitational component mgcosθ, simulating uphill conditions. Combined with flat ground conditions, this achieves full coverage of "flat ground + uphill + downhill" conditions.

[0064] The platform achieves various types of wheel-soil coupling tests through individual or coordinated control of the wheel drive motor 109 and translation drive motor 519, combined with multi-sensor data acquisition. The principle of a typical project is as follows:

[0065] Wheel static pressure test: The test wheel 102 is fixed and does not rotate. The counterweight 8 is gradually increased through the counterweight pulley group 6 (simulating the weight change of the patrol vehicle). The amount of sinking of the test wheel 102 is recorded by the grating ruler 2 and the wheel-soil contact pressure is recorded by the pressure sensor to obtain the relationship between "weight-sinking amount-contact pressure".

[0066] Wheel-soil interaction experiment: The wheel drive motor 109 (driving the wheel to rotate) and the translation drive motor 519 (driving the wheel to move horizontally) are controlled in a coordinated manner. The horizontal traction force and vertical pressure on the wheel are collected by the six-dimensional force sensor 101, and the output torque of the motor is collected by the dynamic torque sensor 111. The interaction force and torque transmission law between the wheel and the soil are analyzed.

[0067] Wheel slip ratio experiment: The wheel drive motor 109 is set to a fixed speed (to calculate the theoretical rolling speed of the wheel), the translation drive motor 519 drives the test wheel 102 to move horizontally, the rope sensor 3 records the actual horizontal speed of the test wheel 102, and the slip ratio is calculated according to the formula "slip ratio = (1 - actual speed / theoretical speed) × 100%". At the same time, the relationship between slip ratio and driving torque is analyzed by combining the data of dynamic torque sensor 111.

[0068] Wheel passability torque test: Simulating complex soil (such as loose and raised soil), the test wheel 102 is driven by the wheel drive motor 109, and the dynamic torque sensor 111 detects the maximum torque output by the motor in real time (i.e. the maximum ability of the wheel to overcome soil resistance) to evaluate the passability of the test wheel 102.

[0069] Based on the principle of force analysis during wheel movement, it can be seen that by adjusting the weight of the counterweight pulley system, the gravitational acceleration of different celestial bodies such as Earth, the Moon, and Mars can be flexibly simulated. This overcomes the limitation of existing platforms that "can only simulate Earth's gravity," providing a realistic gravity environment for testing the wheels of extraterrestrial rovers. It supports full-condition testing on flat ground, uphill, and downhill slopes. By adjusting the resistance through resistance adjustment modes, it simulates the rover's movement on different slopes on planetary surfaces. The experimental data is more practically valuable, avoiding the bias of existing platforms that "can only test on flat ground."

[0070] This invention provides an experimental platform for the coupling physical characteristics of planetary rover wheels and soil. By flexibly adding or removing counterweights to simulate the gravitational acceleration of different planets and flat / sloping conditions, it achieves coordinated control of wheel drive and translational drive, covering multiple test items such as static pressure, wheel-soil interaction, and slip ratio. Through multi-sensor integration, it synchronously collects multiple physical parameters such as speed, torque, pressure, and subsidence. The platform structure is optimized to achieve frame reconstruction, flexible site switching, and improved safety of the mobile mechanism. This invention is used to obtain the coupling relationship between planetary rover wheels and the soil on the surface of a planet, or the physical characteristics of the wheels and soil. It can be divided into flat ground working mode and slope working mode according to the working conditions. Depending on actual needs, it can test the coupling physical characteristics of ground vehicle wheels, extraterrestrial rover wheels, etc., with corresponding soil.

[0071] The above description is merely an embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, extensions, etc., made within the spirit and principles of the present invention are included within the scope of protection of the present invention.

Claims

1. A planetary rover wheel-soil coupling physical property experiment platform, characterized in that, The utility model relates to a wheel-soil coupling test system, which comprises: a test frame (4) serving as a main support of an experimental platform and loading simulated planet soil or ground soil; a wheel driving unit (1) arranged on the test frame (4) and in contact with the simulated planet soil or ground soil, the wheel driving unit (1) being used to drive a test wheel (102) to rotate and collect mechanical parameters of the test wheel (102) acting on the soil; a moving unit (5) arranged on the test frame (4) and connected with the wheel driving unit (1), the moving unit (5) being used to realize horizontal movement and passive vertical movement of the wheel driving unit (1); an environment and working condition simulation unit arranged on the test frame (4) and connected with the wheel driving unit (1) or the moving unit (5); when the environment and working condition simulation unit is connected with the wheel driving unit (1), different planet gravity environments are simulated by adding or reducing the weight of the wheel driving unit (1); when the environment and working condition simulation unit is connected with the moving unit (5), working condition resistance is simulated by adjusting the resistance of the environment and working condition simulation unit; a data collection and analysis module arranged on the test frame (4), the data collection and analysis module being used to collect and analyze multi-dimensional physical parameters in the wheel-soil coupling process; the wheel driving unit (1) comprises an integrated seat (118), a wheel driving motor (109), a reducer I (108), a dynamic torque sensor (111), a driving shaft (104), the test wheel (102) and a six-dimensional force sensor (101) which are sequentially connected on the integrated seat (118), the power of the wheel driving motor (109) is transmitted to the test wheel (102) for rotation through the reducer I (108), the dynamic torque sensor (111) and the driving shaft (104), the dynamic torque sensor (111) is used to detect the torque output by the wheel driving motor (109) in real time, and the six-dimensional force sensor (101) is used to measure multi-dimensional force and torque acting on the test wheel (102) and the soil; a pressure sensor (110) and a counterweight mounting seat (116) arranged on the pressure sensor (110) are arranged on the top of the integrated seat (118), the counterweight mounting seat (116) is used for a counterweight carrier, and the pressure sensor (110) is used to measure the contact pressure of the test wheel (102) on the soil; the moving unit (5) comprises a horizontal moving mechanism and a vertical moving mechanism, the horizontal moving mechanism is arranged on the top of the test frame (4) and is used to output power in the horizontal direction, the vertical moving mechanism is arranged on the moving end of the horizontal moving mechanism, the lower end of the vertical moving mechanism is connected with the wheel driving unit (1), and the vertical moving mechanism enables the test wheel (102) to freely move vertically along the slope of the soil surface; the environment and working condition simulation unit comprises a counterweight pulley block (6), a traction rope (7) and a counterweight weight (8), the counterweight pulley block (6) is arranged on the test frame (4), one end of the traction rope (7) is connected with the wheel driving unit (1) or the moving unit (5), and the other end of the traction rope (7) passes through the counterweight pulley block (6) and is connected with the counterweight weight (8). The data acquisition and analysis module comprises a grating ruler (2) and a stretching sensor (3) arranged on the test frame (4), wherein the grating ruler (2) is arranged between the wheel driving unit (1) and the moving unit (5), and the grating ruler (2) is used for measuring the actual vertical position and the sag of the test wheel (102); The stretching sensor (3) is arranged at one end of the test frame (4), and the moving end of the stretching sensor (3) is connected with the moving unit (5), and the stretching sensor (3) is used for measuring the actual horizontal movement speed and the moving distance of the test wheel (102).

2. The planetary rover wheel-soil coupling physics experiment platform of claim 1, wherein, One side of the six-dimensional force sensor (101) is fixed with the driving shaft (104), and the other side is fixed with the test wheel (102), the power line and the signal line of the six-dimensional force sensor (101) are connected with the outside through the slip ring (112), and the slip ring (112) is connected and fixed with the six-dimensional force sensor (101) through the slip ring mounting seat (113).

3. The planetary rover wheel-soil coupling physics experiment platform of claim 1, wherein, The horizontal moving mechanism comprises a screw nut (504), a moving integrated seat (505), a guide rail sliding block assembly, a ball screw (507), a speed reducer II (518) and a translation driving motor (519), wherein the guide rail sliding block assembly and the ball screw (507) are arranged in parallel on the test frame (4), the ball screw (507) can rotate, the speed reducer II (518) is arranged on the test frame (4), the input end is connected with the translation driving motor (519), the output end of the speed reducer II (518) is connected with the ball screw (507); the screw nut (504) is threadedly connected with the ball screw (507) to form a threaded pair; the moving integrated seat (505) is fixedly connected with the screw nut (504), and the moving integrated seat (505) is connected with the guide rail sliding block assembly; the translation driving motor (519) drives the ball screw (507) to rotate through the speed reducer II (518), so as to drive the moving integrated seat (505) to translate, and the guide rail sliding block assembly plays a guiding role.

4. The planetary rover wheel-soil coupling physics experiment platform of claim 3, wherein, The vertical moving mechanism comprises a vertical baffle (522) and two guide shafts (520), wherein the two guide shafts (520) are slidably connected with the moving integrated seat (505) in the vertical direction, the upper ends of the two guide shafts (520) are connected through the vertical baffle (522), and the lower ends of the two guide shafts (520) are connected with the wheel driving unit (1).

5. The planetary rover wheel-soil coupling physics experiment platform of claim 1, wherein, The counterweight pulley block (6) comprises a pulley support I (601), a pulley I (602), a pulley support II (603), a pulley II (604), a pulley mounting seat I (605), a pulley III (606), a pulley mounting seat II (607) and a pulley IV (608), wherein the pulley support I (601) and the pulley support II (603) are sequentially and spaced apart on the top of the test stand (4) along the horizontal moving direction of the moving unit (5), the pulley I (602) and the pulley II (604) are arranged on the pulley support I (601) and the pulley support II (603) respectively, and the traction rope (7) passes through the pulley I (602) and the pulley II (604) when connected with the wheel driving unit (1); The pulley mounting seat I (605) and the pulley mounting seat II (607) are arranged at one end of the top of the test stand (4), the pulley III (606) and the pulley IV (608) are arranged on the pulley mounting seat I (605) and the pulley mounting seat II (607) respectively, and the pulley III (606) and the pulley IV (608) are respectively used for supporting two traction ropes (7) connected with the moving unit (5).

6. The planetary rover wheel-soil coupling physics experiment platform of claim 1, wherein, The test stand (4) comprises a castor (401), an aluminum alloy profile frame (402) and a soil box (403), wherein the soil box (403) is arranged on the upper part of the aluminum alloy profile frame (402), and the soil box (403) is used for loading simulated planet soil or ground soil; the castor (401) is arranged on the bottom of the aluminum alloy profile frame (402).

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