A conveyor belt based wheel performance testing apparatus and method

Abstract

The present application relates to the technical field of wheel performance testing, and discloses a wheel performance testing device and method based on a conveying belt, which comprises a frame body, a wheel, a driving assembly, a first conveying belt, a lunar soil transfer box, a bucket elevator and a second conveying belt, the wheel is rotatably arranged on one side of the frame body and is driven to rotate by the driving assembly on the frame body, and the first conveying belt for carrying lunar soil is arranged below the wheel; the lunar soil transfer box is arranged on the same side of the two conveying belts, the bucket elevator in the lunar soil transfer box can deliver lunar soil to the surface of the first conveying belt, and the second conveying belt is arranged below the first conveying belt in a matched mode, can receive the falling lunar soil and return the lunar soil to the lunar soil transfer box, and forms a complete lunar soil circulation testing structure; the structure discards the traditional large annular soil groove, realizes full-automatic circulation of lunar soil and long-time uninterrupted testing through the first conveying belt, the second conveying belt and the bucket elevator, and has small overall volume and small floor area, thereby reducing manufacturing and site construction costs.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wheel performance testing, and particularly relates to a wheel performance testing device and method based on a conveying belt. BACKGROUND

[0002] Wheel performance testing is usually completed by using a ring-shaped soil groove test bench. Relying on the structural characteristics of the ring-shaped soil groove, continuous rotation testing of the wheel can be realized, and the continuity of testing can be effectively improved. In the prior art, an invention patent with the announcement number CN115468782B discloses a wheel ring-shaped soil groove test bench. The device drives the wheel to rotate around the fixed frame by the rotating arm, so that the wheel continuously operates in the ring-shaped soil groove, thereby completing the cycle performance testing of the wheel. However, the traditional ring-shaped soil groove testing device needs to be matched with large supporting components such as a ring-shaped groove body and a rotating support structure. The overall structural layout is complicated, the device is large in size, and there are defects of large occupied area and low space utilization.

[0003] Therefore, the prior art still needs to be improved and developed. SUMMARY

[0004] In view of the shortcomings of the prior art, the purpose of the present application is to provide a wheel performance testing device and method based on a conveying belt, aiming at solving the problem that the existing wheel performance testing is usually performed by using a ring-shaped soil groove, resulting in a large occupied area of the testing device.

[0005] The technical solution adopted by the present application to solve the technical problem is as follows: A wheel performance testing device based on a conveying belt, comprising: a frame body; a wheel rotatably arranged on one side of the frame body; a driving assembly arranged on the frame body; the driving assembly is connected with the wheel to drive the wheel to rotate; a first conveying belt located on the side of the frame body where the wheel is arranged and located at the bottom of the wheel; the surface of the first conveying belt is used to carry lunar soil; a lunar soil transfer box arranged at one end of the first conveying belt and used to store lunar soil; a bucket elevator arranged in the lunar soil transfer box and used to transfer the lunar soil in the lunar soil transfer box to the surface of the first conveying belt; a second conveying belt located on the side of the frame body where the wheel is arranged and located at the bottom of the first conveying belt, used to receive the lunar soil falling from one end of the first conveying belt and to deliver the lunar soil into the lunar soil transfer box.

[0006] Further, the frame body comprises: a lifting support frame; Two cantilever arms, one end of which is slidably mounted on one side of the lifting support frame; The C-arm has two ends rotatably mounted on the two cantilever arms respectively; the C-arm has a rotating hole in the middle, the wheel axle is rotatably mounted in the rotating hole, and the drive assembly is mounted on the C-arm and connected to the wheel axle. A six-dimensional force sensor is installed on one side of the C-arm.

[0007] Furthermore, a rotary motor is provided at the top of the cantilever, and the rotary motor is connected to the C-arm to drive the C-arm to rotate.

[0008] Furthermore, the frame also includes: The tension and compression buffer rod has one end rotatably mounted on the top of the lifting support frame, and the other end rotatably mounted on the cantilever.

[0009] Furthermore, it also includes: The loading frame is mounted on the C-arm; Multiple loading blocks are detachably mounted on the loading frame.

[0010] Furthermore, the loading frame is provided with arc-shaped baffles at both ends, and the two arc-shaped baffles are respectively located on both sides of the wheel.

[0011] Furthermore, the first conveyor belt includes: Fixture; Two rotating rollers are rotatably mounted at both ends of the fixed frame; A conveyor motor is mounted on the fixed frame; the output shaft of the conveyor motor is connected to one of the rotating rollers. A chain conveyor belt is fitted onto the two rotating rollers; A lifting support plate is located on the inner ring of the chain conveyor belt; the lifting support plate corresponds to the wheel.

[0012] Furthermore, a lunar soil feeding hopper is provided at the end of the fixed frame away from the lunar soil transfer box, and the bottom of the lunar soil feeding hopper corresponds to the second conveyor belt.

[0013] Furthermore, the bucket elevator includes: An L-shaped support shell is disposed on the lunar soil transfer box; the inner wall of the L-shaped support shell is provided with an arc-shaped guide groove; Two rotating shafts are rotatably mounted inside the L-shaped support housing; A lifting motor is located on one side of the L-shaped support housing and is connected to one of the rotating shafts; A lifting belt is fitted onto the two rotating shafts. Multiple lifting buckets are spaced apart on the lifting belt; each lifting bucket has an extension rod at both ends, and the extension rod is slidably disposed in the arc-shaped guide groove.

[0014] A test method based on the above-mentioned conveyor belt-based wheel performance testing device includes: The lunar soil to be tested is placed in the lunar soil transfer box for storage; Start the bucket elevator and the first conveyor belt to continuously lift the lunar soil inside the lunar soil transfer box and spread it onto the surface of the first conveyor belt to form a lunar soil test layer that can be rolled by the wheels. The drive assembly is activated to drive the wheels to rotate continuously, so that the wheels continuously crush the lunar soil layer on the first conveyor belt; The second conveyor belt is started, and the lunar soil that falls from the end of the first conveyor belt is reversed and transported back to the lunar soil transfer box. This, together with the bucket elevator, enables continuous circulation of lunar soil supply and completes uninterrupted wheel performance testing.

[0015] Compared with the prior art, the beneficial effects of the present invention are: In this invention, a closed-loop lunar regolith circulation test bench is constructed using a frame, wheels, drive components, a first conveyor belt, a lunar regolith transfer box, a bucket elevator, and a second conveyor belt. The difference in rotational speed between the wheels and the first conveyor belt simulates different wheel slip rates, allowing for the calculation of wheel traction force and traction coefficient, and reproducing the actual driving conditions of the wheels rolling over lunar regolith in a straight line. The bucket elevator spreads lunar regolith upwards, and the second conveyor belt returns the scattered lunar regolith to the lunar regolith transfer box, achieving automatic circulation and supply of lunar regolith without the need for frequent manual replenishment. The equipment is small in size and occupies little space, reducing manufacturing and site construction costs. It enables long-term, uninterrupted simulation testing of lunar wheel traction performance, providing a lightweight and easy-to-implement experimental hardware solution for evaluating the ground performance of lunar wheels. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0017] Figure 2 This is a schematic diagram of the structure of the first and second conveyor belts of the present invention.

[0018] Figure 3 This is a schematic diagram of the lunar soil transfer box and bucket elevator structure of the present invention.

[0019] Figure 4 This is a schematic diagram of the bucket structure of the present invention.

[0020] Figure 5 This is a schematic diagram of the frame structure of the present invention.

[0021] Figure 6 forFigure 5 A magnified structural diagram at point A in the diagram.

[0022] Figure 7 This is a flowchart of the wheel performance testing method based on a conveyor belt according to the present invention.

[0023] The numbers in the diagram represent: 1. Frame; 11. Lifting support frame; 12. Cantilever; 13. C-arm; 14. Six-dimensional force sensor; 15. Rotary motor; 16. Tension / compression buffer rod; 17. Loading frame; 18. Loading block; 19. Arc-shaped baffle; 2. Wheel; 3. Drive assembly; 4. First conveyor belt; 41. Fixed frame; 42. Rotating roller; 43. Conveyor motor; 44. Chain conveyor belt; 45. Lifting support plate; 46. Lunar soil feeding hopper; 5. Lunar soil transfer box; 6. Bucket elevator; 61. L-shaped support shell; 62. Rotating shaft; 63. Lifting motor; 64. Lifting bucket; 65. Lunar soil scraper; 7. Second conveyor belt. Detailed Implementation

[0024] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0025] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0026] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0027] In view of the shortcomings of the prior art, this embodiment provides a wheel performance testing device and method based on a conveyor belt, which can be referred to as follows: As attached Figure 1 Appendix Figure 2 and attached Figure 6 As shown, a conveyor belt-based wheel performance testing device includes a frame 1, a test wheel 2 rotatably mounted on one side of the frame 1, a drive assembly 3 providing rotational power to the wheel 2, a first conveyor belt 4 arranged below the wheel 2 for carrying lunar soil, a lunar soil transfer box 5 for storing lunar soil material, a bucket elevator 6 assembled inside the lunar soil transfer box 5, and a second conveyor belt 7 arranged below the first conveyor belt 4. The drive assembly 3 is connected to the wheel 2 and can drive the wheel 2 to rotate autonomously. The bucket elevator 6 can transport the lunar soil in the lunar soil transfer box 5 upwards and spread it onto the surface of the first conveyor belt 4. Lunar soil falling from the end of the first conveyor belt 4 falls into the second conveyor belt 7 below, and the second conveyor belt 7 transports the lunar soil back to the lunar soil transfer box 5 in the opposite direction, thereby constructing a closed-loop circulation circuit for lunar soil. By controlling the rotational speed of the wheel 2 and the running speed of the first conveyor belt 4 to form a speed difference, different slip ratio working conditions are simulated. In conjunction with the collection of six-dimensional force data, the traction force and traction coefficient of the wheel 2 are calculated to complete the traction performance test of the lunar wheel 2.

[0028] The frame 1 serves as the main supporting skeleton of the entire testing equipment, providing an installation reference for the wheels 2 and drive components 3. The wheels 2 are lunar simulation test objects, capable of rolling and compacting on the lunar soil surface. The drive components 3 provide controllable rotational power to the wheels 2, adjusting their rotational speed. The first conveyor belt 4 serves as the carrier for the simulated lunar soil, bearing the spread lunar soil and constructing the simulated lunar soil working surface compacted by the wheels 2. The lunar soil transfer box 5 serves as a centralized storage bin for the lunar soil material, receiving the lunar soil returned by the second conveyor belt 7 and continuously supplying it to the bucket elevator 6. The bucket elevator 6 enables the lunar soil to be fed from the lunar soil transfer box 5 to the first conveyor belt 4, by adjusting the bucket elevator... The operating speed can be adjusted to adjust the thickness of the lunar soil layer, creating an undulating lunar soil surface; the second conveyor belt 7 receives the lunar soil that falls from the unloading end of the first conveyor belt 4, realizing material return; the slip rate of the wheel 2 is achieved by the speed difference between the wheel 2 and the first conveyor belt 4. For example, if the wheel 2 is set to 10km / h and the conveying speed of the first conveyor belt 4 is 8km / h, the slip rate is 20%. Combined with the force sensor 14 collecting the force in the X direction (the conveying direction of the first conveyor belt 4) to obtain the traction force, the traction coefficient is obtained by dividing the traction force by the vertical load, thereby evaluating the traction performance of the wheel 2. Both the first conveyor belt 4 and the second conveyor belt 7 can be selected as belt conveyors or chain conveyors.

[0029] Specifically, during the device assembly stage, the frame 1 is assembled as a whole, the wheels 2 are rotated and installed on one side of the frame 1, and the drive component 3 is connected to the transmission link; the first conveyor belt 4 and the second conveyor belt 7 are assembled in sequence, the lunar soil transfer box 5 is arranged at the same end of the two conveyor belts, the bucket elevator 6 is installed inside the lunar soil transfer box 5, and the discharge port of the bucket elevator 6 is aligned with the feeding position of the first conveyor belt 4.

[0030] When conducting the traction performance test of wheel 2, simulated lunar soil is pre-filled into the lunar soil transfer box 5; the bucket elevator 6 is started, continuously lifting the lunar soil in the lunar soil transfer box 5 upwards and spreading it on the surface of the first conveyor belt 4 to form a lunar soil test layer of a certain thickness; the drive component 3 drives wheel 2 to rotate at a set speed, and wheel 2 presses and rolls on the lunar soil layer of the first conveyor belt 4; the first conveyor belt 4 runs at a set speed, and the speed difference between the rotation speed of wheel 2 and the conveying speed of the first conveyor belt 4 is formed to simulate different slip ratio conditions; the lunar soil after being rolled by wheel 2 is conveyed to the end of the first conveyor belt 4 and falls freely into the second conveyor belt 7 below. The second conveyor belt 7 rotates in the opposite direction and sends the fallen lunar soil back to the lunar soil transfer box 5 to realize the closed-loop circulation of lunar soil; during the test, six-dimensional force data of wheel 2 is collected, and the traction force and traction coefficient under the corresponding slip ratio conditions are calculated to complete the traction performance test of wheel 2 under multiple slip ratios. The lunar soil is continuously circulated throughout the test process, without the need for frequent manual replenishment.

[0031] Compared with existing technologies, current annular soil trough wheel 2 testing equipment relies on a rotating arm to drive the wheel 2 to rotate within a large annular soil trough. This requires a complete annular trough, a large rotating support, and a large-diameter rotating frame. The overall equipment is bulky, occupies a large area, has low factory space utilization, and incurs high costs for equipment manufacturing and civil engineering foundations. Furthermore, the lunar soil filling and replacement in the annular soil trough equipment is cumbersome. This solution uses a double conveyor belt combined with a bucket elevator 6 to construct a closed-loop lunar soil circulation platform, abandoning the large annular rotating trough structure. It utilizes the speed difference between the wheel 2 and the first conveyor belt 4 to simulate slippage rate and complete the wheel 2 traction performance test.

[0032] Through the above technical solution, this application adopts a conveyor belt-type circulating lunar soil test platform, which forms a closed-loop lunar soil circulation system through a bucket elevator 6, a first conveyor belt 4, a second conveyor belt 7, and a lunar soil transfer box 5. It eliminates the need for large annular soil troughs and rotary support components, resulting in a small overall equipment size and a small footprint, thus reducing equipment manufacturing costs and site construction requirements. By accurately simulating different slip ratios based on the difference between the rotational speed of the wheel 2 and the conveying speed of the first conveyor belt 4, the traction force and traction coefficient of the wheel 2 can be calculated, and the straight-line compaction condition of the wheel 2 can be reproduced. The lunar soil is automatically circulated, recycled, and re-spread, eliminating the need for frequent manual replenishment of lunar soil during the testing process. This enables long-term, uninterrupted continuous testing and is suitable for ground simulation traction performance evaluation tests of the lunar wheel 2.

[0033] In this embodiment, a lunar soil discharge trough is provided on the side of the second conveyor belt 7 away from the lunar soil transfer box 5. After the test is completed, the lunar soil is collected into the lunar soil discharge trough by the bucket elevator 6 in conjunction with the first conveyor belt 4 and the second conveyor belt 7, thus completing the collection of lunar soil.

[0034] In this embodiment, as shown in the appendix Figure 5 and attached Figure 6 As shown, the frame 1 is composed of a lifting support frame 11, two cantilever arms 12, a C-shaped arm 13, and a six-dimensional force sensor 14. The two cantilever arms 12 are slidably mounted on the side of the lifting support frame 11 and can be adjusted in the vertical direction. The two ends of the C-shaped arm 13 are respectively rotatably mounted on the two cantilever arms 12. A rotating hole is opened in the middle of the C-shaped arm 13, and the axle of the wheel 2 is rotatably mounted in the rotating hole. The drive assembly 3 is arranged on the C-shaped arm 13 and connected to the axle of the wheel 2. The six-dimensional force sensor 14 is installed on one side of the C-shaped arm 13 to collect the six-dimensional force signals generated by the wheel 2 during the rolling of lunar soil in real time.

[0035] Among them, the lifting support frame 11 serves as a height adjustment base, which can adjust the overall vertical height of the cantilever 12 and the wheel 2, and change the vertical load applied by the wheel 2 to the lunar regolith. The two cantilever 12 serve as intermediate sliding support components, which can slide vertically on the lifting support frame 11, driving the C-arm 13 and the wheel 2 to rise and fall as a whole. The two ends of the C-arm 13 are rotatably set on the opposite side of the two cantilever 12, which can support the wheel 2 and the drive assembly 3, and at the same time provide a rotation mounting position for the wheel 2's axle. The six-dimensional force sensor 14 can collect X, Y, and Z-axis forces (X-axis is the horizontal forward direction of the first conveyor belt; Y-axis is the width direction of the first conveyor belt, i.e., the axis of the wheel's axle, Y-axis is horizontally perpendicular to X-axis; Z-axis is the vertical direction, perpendicular to the XY horizontal plane) and triaxial torques, to obtain multi-dimensional mechanical data such as the traction force, lateral force, and vertical load of the wheel 2, providing raw data for the performance evaluation of the wheel 2. The C-arm 13 itself can rotate at a certain angle to reproduce the lateral test conditions of the wheel 2.

[0036] Specifically, during the assembly and debugging phase of the device, the two cantilever arms 12 are slidably assembled onto the side of the lifting support frame 11, and the two ends of the C-arm 13 are connected to the two cantilever arms 12 respectively. The wheel 2 axle is inserted into the rotation hole in the middle of the C-arm 13 to achieve rotation assembly. The drive component 3 is fixed on the C-arm 13 to complete the transmission docking with the wheel 2 axle. The six-dimensional force sensor 14 is fixedly installed on the side of the C-arm 13 to complete the signal line wiring.

[0037] Before the test, the lifting support frame 11 is adjusted to drive the cantilever 12, C-arm 13 and wheel 2 to move vertically as a whole, adjusting the vertical load of wheel 2 on the lunar soil layer of the first conveyor belt 4. During the test, the drive component 3 drives wheel 2 to rotate autonomously, and wheel 2 rolls on the lunar soil layer of the first conveyor belt 4. When the lateral deviation test is carried out, C-arm 13 rotates relative to cantilever 12, causing wheel 2 to have a lateral deviation angle. The interaction between wheel 2 and lunar soil generates all the mechanical signals, which are collected in real time by the six-dimensional force sensor 14 on C-arm 13 and transmitted to the host computer for data analysis to obtain parameters such as traction force, lateral deviation force and torque. After the test is completed, the lifting support frame 11 raises cantilever 12 to lift wheel 2 away from the lunar soil surface.

[0038] Compared with existing technologies, conventional conveyor belt-type wheel 2 test benches mostly use a fixed installation structure for the wheels 2, making the height of the wheels 2 non-adjustable and unable to flexibly change the vertical load; the wheel 2 mounting brackets lack a C-shaped rotatable hinge structure, making it impossible to simulate the lateral deviation driving conditions of the wheels 2. This solution uses a lifting support frame 11 in conjunction with a cantilever 12 and a rotatable C-shaped arm 13 structure, equipped with a six-dimensional force sensor 14, taking into account height load adjustment, lateral deviation simulation, and multi-dimensional force signal acquisition.

[0039] Through the above technical solution, this application relies on the lifting support frame 11 and the cantilever 12 to realize the vertical height adjustment of the wheel 2, which can flexibly adjust the vertical load of the wheel 2 on the lunar soil; the two ends of the C-shaped arm 13 are hinged on the cantilever 12, which can realize the adjustment of the side deflection angle of the wheel 2 to meet the requirements of the side deflection test; the six-dimensional force sensor 14 is directly arranged on the C-shaped arm 13 that carries the wheel 2, and directly collects the six-dimensional mechanical information of the interaction between the wheel 2 and the lunar soil. The signal transmission link is short and the test data accuracy is high, which can simultaneously complete the mechanical performance test of the lunar wheel 2 under multiple working conditions such as traction and side deflection.

[0040] In this embodiment, as shown in the appendix Figure 6 As shown, the drive component 3 on the frame 1 is a servo motor. The output shaft of the servo motor is connected to the shaft of the wheel 2 through a coupling, thereby outputting torque to drive the wheel 2 to rotate.

[0041] The servo motor is the power source for the rotation of wheel 2, and can realize closed-loop speed control, making it easy to set different wheel 2 speeds, so as to obtain a variety of slip ratios in combination with the speed of the first conveyor belt 4; the coupling, as an intermediate body for torque transmission, can compensate for a small amount of coaxiality error between the motor output shaft and the wheel 2 shaft, isolate vibration, and prevent the vibration at the motor end from being directly transmitted to the wheel 2 shaft and the six-dimensional force sensor 14, thereby reducing the test noise caused by vibration; the servo motor is fixedly mounted on the C-arm 13, and moves synchronously with the C-arm 13 and wheel 2 to change height and lateral angle.

[0042] In this embodiment, as shown in the appendixFigure 6 As shown, a rotary motor 15 is installed at the top of the cantilever 12. The output end of the rotary motor 15 is connected to the C-arm 13 for driving the C-arm 13 to rotate relative to the cantilever 12, thereby adjusting the lateral deflection angle of the wheel 2, reproducing the lateral deflection driving condition of the wheel 2, and obtaining the traction performance and lateral deflection force data of the wheel 2 under different speeds and slip ratios.

[0043] Among them, the rotary motor 15 is the power actuator for adjusting the lateral angle of the wheel 2. It is preferably a servo rotary motor 15, which can perform closed-loop control on the rotation angle of the C-arm 13 and accurately set the lateral angle of the wheel 2. The rotary motor 15 is fixed at the top of the cantilever 12 and outputs torque to drive the C-arm 13 to rotate around the hinge points at both ends, changing the angle between the forward direction of the wheel 2 and the running direction of the first conveyor belt 4. Under the lateral working condition, the wheel 2 continues to roll and crush the lunar soil layer. The six-dimensional force sensor 14 simultaneously collects the traction force and lateral force, and can carry out combined working condition tests under multiple slip rates and multiple lateral angles.

[0044] Specifically, when a lateral slip test is required, the control system sends an angle adjustment signal, and the rotary motor 15 drives the C-arm 13 to rotate relative to the cantilever 12, adjusting the wheel 2 to the target lateral slip angle and locking it; then the drive assembly 3 is started to drive the wheel 2 to rotate, while the first conveyor belt 4 runs to establish the set slip ratio condition; the wheel 2 rolls over the lunar soil test layer with a lateral slip angle, and the six-dimensional force sensor 14 simultaneously collects mechanical parameters such as traction force, lateral slip force, and torque to complete the performance acquisition under that lateral slip angle; the output angle of the rotary motor 15 can be changed multiple times to obtain the performance data of the wheel 2 under different lateral slip angles.

[0045] Compared with existing technologies, the current conveyor belt-type wheel 2 test stand requires manual loosening of fasteners and manual manipulation of the wheel 2 bracket, followed by re-tightening. This results in low angle adjustment efficiency, poor angle accuracy, and an inability to dynamically change the angle during testing. Furthermore, it does not allow for convenient switching between multiple side-deviation angles under the same slip rate conditions, making combined testing operations cumbersome. This solution uses a rotary motor 15 to drive the C-arm 13 to rotate, achieving precise electric adjustment of the wheel 2 side-deviation angle.

[0046] Through the above technical solution, this application uses the rotary motor 15 at the top of the cantilever 12 to drive the C-arm 13 to rotate, thereby realizing the electric closed-loop adjustment of the wheel 2's side slip angle. The angle control accuracy is high and the working condition switching is convenient. It can simulate various side slip driving conditions and can complete the synchronous test of the wheel 2's traction performance and side slip force under different speeds and different slip rates, enriching the test bench's testing capabilities and meeting the simulation test requirements of various driving conditions of the lunar wheel 2, including straight-line and side slip.

[0047] In this embodiment, as shown in the appendix Figure 6As shown, a wheel performance testing device based on a conveyor belt also includes a tension-compression buffer rod 16, one end of which is rotatably hinged to the top of the lifting support frame 11, and the other end is rotatably hinged to the cantilever 12.

[0048] Among them, the tension-compression buffer rod 16 is a bidirectional buffer limiting component. Using existing technology, the tension-compression buffer rod 16 can be equipped with a spring damping structure, a pneumatic structure, or a hydraulic structure. Both ends of the tension-compression buffer rod 16 are hinged, which does not restrict the vertical sliding degree of freedom of the cantilever 12. When the wheel 2 rolls over the lunar soil layer and is subjected to impact load, the reaction force of the lunar soil is transmitted to the cantilever 12. The tension-compression buffer rod 16 can absorb the impact and vibration energy, play a damping buffering role, and at the same time play a pulling force on the cantilever 12 to prevent the wheel 2 from being under excessive pressure and damaging the first conveyor belt 4.

[0049] Specifically, during the test operation, the lifting support frame 11 adjusts the height of the cantilever 12, and the wheel 2 is pressed onto the lunar soil layer to carry out the compaction test. When the wheel 2 rolls over the undulating lunar soil surface, the lunar soil will generate random impacts and vibrations on the wheel 2. The impact load is transmitted to the cantilever 12 through the C-shaped arm 13. The tension and compression buffer rod 16 bears the impact load transmitted from the cantilever 12 and absorbs the vibration impact energy by its own damping and spring structure, suppressing the irregular jumping of the cantilever 12. At the same time, the maximum extension and retraction stroke of the tension and compression buffer rod 16 limits the range of motion of the cantilever 12 to prevent the cantilever 12 from overtraveling. When the lifting support frame 11 lifts the wheel 2 away from the lunar soil layer, the tension and compression buffer rod 16 follows the cantilever 12 to change position synchronously without interfering with the equipment reset action.

[0050] Compared to existing technologies, without a buffer and limiting structure, when the wheel 2 rolls over the undulating lunar surface, the impact vibration is directly transmitted to the lifting support frame and the six-dimensional force sensor 14, resulting in a large amount of impact noise in the test signal. Simultaneously, when the wheel 2 experiences a large upward impact, the cantilever 12, without travel constraint, will bounce significantly, drastically altering the contact state between the wheel 2 and the lunar surface, causing unstable test conditions and even damaging the sensor. This solution adds a tension-compression buffer rod 16 hinged at both ends, providing both impact absorption and travel limiting for the cantilever 12.

[0051] Through the above technical solution, the tension and compression buffer rod 16 of this application is hinged at both ends, which will not interfere with the vertical height adjustment of the cantilever 12. It can absorb the impact and vibration brought by the wheel 2 rolling over the undulating lunar soil, suppress the bouncing of the cantilever 12, stabilize the contact state between the wheel 2 and the lunar soil, reduce the impact interference on the six-dimensional force sensor 14, improve the test signal quality, and limit the movement stroke of the cantilever 12 to protect the sensor and mechanism and improve the stability of the bench test conditions.

[0052] In this embodiment, as shown in the appendix Figure 5As shown, a loading frame 17 is also provided on the C-shaped arm 13. Multiple loading blocks 18 can be detachably mounted on the loading frame 17. The vertical load applied to the lunar soil by the wheel 2 can be changed by increasing or decreasing the number of loading blocks 18.

[0053] Among them, the loading frame 17 is the mounting base for the loading block 18, which is fixed on the C-arm 13 and moves synchronously with the C-arm 13 and the wheel 2; the loading block 18 is a standardized counterweight block, which adopts a detachable assembly form and can be quickly added or removed; by changing the total mass of the loading block 18, the vertical load of the wheel 2 acting on the lunar regolith layer is directly changed, thereby simulating different equivalent wheel load conditions.

[0054] Specifically, during the assembly and debugging phase, the loading frame 17 is firmly fixed to the C-arm 13. Before conducting different load tests, according to the target vertical load, a corresponding number of loading blocks 18 are selected and the loading blocks 18 are assembled and fixed on the loading frame 17 in sequence. During the test operation, the gravity of the loading blocks 18 is transmitted to the wheel 2 through the loading frame 17 and the C-arm 13, and is converted into the vertical pressure of the wheel 2 on the lunar regolith. After completing a set of load tests, the equipment is stopped, and the loading blocks 18 can be directly disassembled or added to switch to the next set of vertical load conditions to continue to carry out the performance test of the wheel 2 under multiple load gradients.

[0055] Through the above technical solution, this application uses a loading frame 17 on the C-arm 13 to assemble a detachable loading block 18, and applies vertical load directly by relying on the counterweight gravity. The load value is intuitive and controllable. The vertical load of the test can be quickly switched by adding or removing the loading block 18, which is convenient for completing the performance comparison test of the lunar wheel 2 with multiple load gradients. The bench test debugging efficiency is high.

[0056] In this embodiment, as shown in the appendix Figure 5 As shown, the loading frame 17 has arc-shaped baffles 19 at both ends, and the two arc-shaped baffles 19 are arranged on both sides of the wheel 2 along the conveying direction of the first conveyor belt 4.

[0057] The inner curved profile of the arc-shaped baffle 19 matches the outer edge profile of the wheel 2, and a safety gap is reserved between the arc-shaped baffle 19 and the wheel rim of the wheel 2 to prevent scraping interference with the normal rotation of the wheel 2. The arc-shaped baffle 19 can intercept and block lunar soil particles splashed out when the wheel 2 crushes the lunar soil, suppressing the outward scattering of lunar soil dust, and at the same time preventing a large amount of lunar soil particles from splashing onto the precision electrical and sensing components such as the drive component 3, rotary motor 15, and six-dimensional force sensor 14 mounted on the C-arm, reducing component wear, jamming, and sensor signal drift caused by dust accumulation.

[0058] Specifically, when the test bench is conducting testing, the splashing particles generated by the wheels 2 rolling over and disturbing the lunar soil are intercepted by the arc-shaped baffle 19, which greatly reduces the probability of dust flying towards various precision components and reduces dust accumulation.

[0059] Through the above technical solution, the arc-shaped baffles 19 set at both ends of the loading frame 17 of this application can intercept the splashed lunar soil particles generated by the wheel 2, reduce the pollution and wear of dust on precision components such as the drive component 3, rotary motor 15, and six-dimensional force sensor 14, reduce the probability of component failure, extend the service life of sensors and electrical components, reduce the frequency of equipment maintenance, and ensure that the multi-load simulation test of the lunar wheel 2 can operate stably for a long time.

[0060] In this embodiment, as shown in the appendix Figure 2 As shown, the first conveyor belt 4 consists of a fixed frame 41, two rotating rollers 42, a conveyor motor 43, a chain conveyor belt 44, and a lifting support plate 45. The two rotating rollers 42 are rotatably mounted on both ends of the fixed frame 41, and the conveyor motor 43 is fixed on the fixed frame 41. The output shaft of the conveyor motor 43 is connected to one of the rotating rollers 42 in a transmission. The chain conveyor belt 44 is looped around the two rotating rollers 42. The lifting support plate 45 is arranged on the inner ring of the chain conveyor belt 44, and its position corresponds to that of the upper wheel 2. A lunar soil feeding hopper 46 is set at the end of the fixed frame 41 away from the lunar soil transfer box 5, and the bottom of the lunar soil feeding hopper 46 is aligned with the second conveyor belt 7. The height of the lifting support plate 45 is adjustable to change the local support stiffness of the chain plate, thereby simulating the lunar soil surface working conditions under different load stiffness conditions.

[0061] The fixed frame 41 serves as the support frame for the first conveyor belt 4; the rotating roller 42 supports and drives the chain conveyor belt 44 (one end of the rotating roller 42 can be equipped with a gear, which cooperates with the chain of the chain conveyor belt 44 to achieve drive); the conveyor motor 43 provides power to the chain conveyor belt 44 and can adjust the chain speed in a closed loop to generate different slip ratios in coordination with the speed of the wheel 2; the chain conveyor belt 44 serves as the direct carrier of lunar soil; the lifting support plate 45 is located in the inner ring of the chain plate at the rolling position of the wheel 2. Changing the lifting height of the support plate can change the support state below the chain plate: when the support plate rises, the chain plate is rigidly lifted, simulating lunar soil under rigid support; when the support plate falls, the chain plate loses rigid support at that position, simulating lunar soil under soft support; the lunar soil feeding hopper 46 serves as an emergency replenishment interface. When the total amount of lunar soil in the system is insufficient, lunar soil can be replenished to the second conveyor belt 7 through the lunar soil feeding hopper 46. As an alternative, the chain conveyor belt 44 can be replaced with a thickened rubber belt, and the lifting support plate 45 can be driven by an electric screw, cylinder or hydraulic rod.

[0062] Specifically, during the assembly stage, rotating rollers 42 are installed at both ends of the fixed frame 41, and the chain conveyor belt 44 is fitted onto the rotating rollers 42. The conveyor motor 43 drives the rotating rollers 42. The lifting support plate 45 is arranged in the position of the inner ring of the chain conveyor belt 44 and directly below the wheel 2. The lunar soil feeding hopper 46 is installed at the far end of the fixed frame 41, and the outlet of the lunar soil feeding hopper 46 is aligned with the second conveyor belt 7 below.

[0063] Before the test, the height of the lifting support plate 45 is adjusted according to the test requirements. The lifting support plate 45 rises and presses against the chain conveyor belt 44 to simulate lunar soil under rigid support. The lifting support plate 45 falls, and the chain conveyor belt 44 is suspended in this area to simulate lunar soil under soft support. The bucket elevator 6 spreads lunar soil on the surface of the chain conveyor belt 44 to form a lunar soil layer. The conveyor motor 43 drives the chain conveyor belt 44 to run at a set speed, and the wheels 2 carry out a rolling test on the lunar soil layer of the chain. When the total amount of simulated lunar soil material is insufficient, lunar soil can be supplemented to the second conveyor belt 7 through the lunar soil feeding hopper 46, and the material flows back to the lunar soil transfer box 5.

[0064] Compared to existing technologies, traditional conveyor belt lunar soil testing platforms have fixed and non-adjustable support structures beneath the conveyor belt, limiting them to simulating lunar soil conditions with a single hardness and making it difficult to easily switch between lunar soil strata with different load-bearing stiffnesses. This solution, however, features a liftable support plate on the first conveyor belt 4, which, in conjunction with the remote lunar soil feeding hopper 46, allows for adjustable lunar soil strata stiffness and convenient emergency replenishment.

[0065] Through the above technical solution, the inner ring of the first conveyor belt 4 of this application is equipped with a lifting support plate 45. By lifting and lowering, the support state of the chain plate is changed, which can conveniently simulate the working conditions of lunar soil surface under different load stiffness conditions and expand the test bench to simulate the working conditions of the strata. The far-end lunar soil feeding hopper 46 can realize the emergency replenishment of lunar soil in the system without disassembling the lunar soil transfer box 5, and the replenishment operation is simple. The conveyor motor 43 controls the speed of the chain plate, effectively improving the simulation accuracy of slip ratio and enhancing the test bench's multi-working-condition simulation capability.

[0066] In this embodiment, the lifting support plate 45 can be realized by an electric lifting rod in conjunction with a flat plate. The electric lifting rod is set in two rows, located on both sides of the fixed frame 41, and the flat plate is located on top of the electric lifting rod.

[0067] To avoid interference with the protective plates on both sides of the chain conveyor belt 44, the surface of the flat plate can be provided with protrusions. The protrusions are located within the vertical projection of the chain conveyor belt 44. The electric lifting rod drives the protrusions to rise, which also avoids interference with the protective plates on both sides of the chain conveyor belt 44.

[0068] In this embodiment, as shown in the appendix Figure 3 and attached Figure 4As shown, the bucket elevator 6 includes an L-shaped support shell 61, two rotating shafts 62, a lifting motor 63, a lifting belt, and multiple lifting buckets 64. The L-shaped support shell 61 is installed on the lunar soil transfer box 5. The inner wall of the L-shaped support shell 61 is machined with an arc-shaped guide groove, which is a closed-loop arc, and its arc direction is consistent with the arrangement of the multiple lifting buckets 64. The two rotating shafts 62 are rotatably arranged inside the L-shaped support shell 61. The lifting motor 63 is mounted on the outside of the L-shaped support shell 61 and is connected to one of the rotating shafts 62 for transmission. The lifting belt is closed-loop sleeved on the two rotating shafts 62. The multiple lifting buckets 64 are fixed at intervals on the lifting belt. The lifting buckets 64 have extension rods at both ends, and the extension rods are slidably embedded in the arc-shaped guide groove. One side of the L-shaped support shell 61 is perpendicular to the conveying direction of the first conveyor belt 4, and the other side is parallel to the conveying direction. The parallel section of the L-shaped support shell 61 is located above the first conveyor belt 4 and is used to dump lunar soil.

[0069] The L-shaped support shell 61 serves as the overall mounting base for the bucket elevator 6; the arc-shaped guide groove constrains the extension rods at both ends of the lifting bucket 64, limiting the movement trajectory of the lifting bucket 64, ensuring that the lifting bucket 64 scoops up lunar soil at the bottom and unloads the material when it reaches the top position, while avoiding interference with the first conveyor belt 4; the lifting motor 63 drives the rotating shaft 62 to rotate cyclically with the lifting belt; the lifting bucket 64 is used to scoop up simulated lunar soil from the lunar soil transfer box 5, and after moving to the top, it tilts to spread the lunar soil onto the surface of the first conveyor belt 4; by adjusting the frequency and speed of the lifting motor 63, the amount of material fed per unit time can be changed to obtain a thick or thin lunar soil layer, simulating an undulating lunar soil surface.

[0070] Specifically, during the assembly stage, the L-shaped support shell 61 is fixed on the lunar soil transfer box 5. Two rotating shafts 62 are installed inside the L-shaped support shell 61, and the lifting motor 63 is connected to one of the rotating shafts 62. The lifting belt is sleeved on the two rotating shafts 62, and multiple lifting buckets 64 are installed on the belt at intervals. The extension rods at both ends of the lifting buckets 64 are slid into the arc-shaped guide groove of the shell.

[0071] During the test operation, the lifting motor 63 drives the rotating shaft 62 to drive the lifting belt in a cyclical motion; the lifting bucket 64, located at the lower position, enters the lunar soil transfer box 5 to scoop up lunar soil; the lifting bucket 64 rises along the L-shaped support shell 61 following the belt, and the extension rod slides along the arc-shaped guide groove. The arc-shaped guide groove constrains the posture of the lifting bucket 64 to avoid interference with the first conveyor belt 4; when the lifting bucket 64 moves to the top position of the parallel section of the L-shaped support shell 61, under the constraint of the arc-shaped guide groove, the bucket opening faces downward, and the lunar soil is poured down onto the surface of the first conveyor belt 4; by changing the speed of the lifting motor 63, the amount of lunar soil scooped up and poured down per unit time changes, realizing the simulation of thin lunar soil layer, thick lunar soil layer, and undulating lunar soil surface; the lunar soil that falls during the test flows back to the lunar soil transfer box 5, and the bucket elevator 6 continuously circulates and feeds the material.

[0072] Through the above technical solution, the bucket elevator 6 of this application relies on the arc-shaped guide groove to constrain the extension rod of the bucket 64, control the movement posture of the bucket 64, reduce material spillage during the lifting process, and reduce lunar soil material loss; adjusting the speed of the lifting motor 63 can change the feeding amount, realize the simulation of thin and thick lunar soil layers and undulating lunar soil surface. The whole mechanism is installed inside the lunar soil transfer box 5, with a compact structure, realizes continuous cyclic feeding of lunar soil, and ensures long-term uninterrupted wheel 2 testing on the test bench.

[0073] In this embodiment, as shown in the appendix Figure 2 As shown, a lunar soil scraper 65 is fixedly mounted on one end of the L-shaped support shell 61 near the first conveyor belt 4. The lunar soil scraper 65 is arranged directly opposite the conveying surface of the first conveyor belt 4, and the bottom end of the lunar soil scraper 65 maintains a parallel gap with the surface of the first conveyor belt 4. During the process of the bucket elevator 6 discharging and spreading lunar soil onto the surface of the first conveyor belt 4, the accumulated and raised irregular lunar soil continuously passes the position of the lunar soil scraper 65 as the first conveyor belt 4 moves. Through the limiting and leveling action of the lunar soil scraper 65, the scattered and unevenly accumulated surface lunar soil can be leveled and sorted in real time, removing local raised soil bodies and filling local depression areas, so that the thickness of the lunar soil spread on the first conveyor belt 4 is uniform and the surface is flat. This ensures the consistency of the test conditions for each ground compaction test of the wheel 2 and greatly improves the repeatability of the performance test data of the wheel 2.

[0074] Furthermore, the lunar soil scraper 65 adopts a liftable structure design. This liftable lunar soil scraper 65 allows for flexible adjustment of the vertical distance between its bottom end and the surface of the first conveyor belt 4, thereby controlling the thickness of the lunar soil spread on the first conveyor belt 4, according to actual test conditions. For different wheel 2 settlement tests and different soil layer thickness test groups, the lifting mechanism can match the corresponding lunar soil paving parameters, adapting to the performance testing needs of multiple working conditions and parameters. Simultaneously, the lifting structure can raise the scraper during equipment start-up, shutdown, maintenance, and cleaning, as well as maintenance of the first conveyor belt 4, eliminating contact interference between the scraper and the first conveyor belt 4 and the lunar soil. This effectively avoids equipment wear, material jamming, and soil blockage problems, improving the stability of the device's operation and its test adaptability.

[0075] Specifically, an electric telescopic rod is provided on one side of the L-shaped support housing 61. The electric telescopic rod is installed on the side wall of the L-shaped support housing 61, and the lunar soil scraper 65 is installed at the telescopic end of the electric telescopic rod. The distance between the lunar soil scraper 65 and the surface of the first conveyor belt 4 is adjusted by extending or shortening the electric telescopic rod.

[0076] As attached Figure 7 As shown, this application also provides a test method for a wheel performance testing device based on a conveyor belt, the test method comprising the following steps: Step S100: Place the lunar soil to be tested into the lunar soil transfer box for storage; Step S200: Start the bucket elevator and the first conveyor belt to continuously lift the lunar soil inside the lunar soil transfer box and spread it on the surface of the first conveyor belt to form a lunar soil test layer that can be rolled by the wheels. Step S300: Start the drive assembly to drive the wheel to rotate continuously, so that the wheel continuously crushes the lunar soil layer on the first conveyor belt; Step S400: Start the second conveyor belt and reverse the flow of lunar soil that has fallen from the end of the first conveyor belt back into the lunar soil transfer box. This, in conjunction with the bucket elevator, enables continuous circulation of lunar soil supply and completes uninterrupted wheel performance testing.

[0077] Specifically, when conducting performance simulation tests on wheel 2, the simulated lunar soil to be tested is first stored inside the lunar soil transfer box 5; the bucket elevator 6 and the first conveyor belt 4 are started, the bucket elevator 6 scoops lunar soil from the transfer box, lifts it upwards and spreads it onto the surface of the first conveyor belt 4, and, combined with the lunar soil scraper 65, forms a lunar soil test layer of uniform thickness; according to the test requirements, the lifting support plate 45, the number of loading blocks 18, and the lateral deflection angle of the rotary motor 15 are pre-adjusted, and the stratum stiffness, vertical load, and lateral deflection conditions are set; the drive assembly 3 is started to drive wheel 2 to rotate continuously, and wheel 2 presses on the lunar soil layer for continuous compaction; at the same time, the second... Lunar soil that falls off the end of the first conveyor belt 4 after being disturbed by the wheel 2 falls into the second conveyor belt 7. The second conveyor belt 7 transports the lunar soil in the opposite direction, sending it back to the lunar soil transfer box 5, thus realizing a closed-loop circulation supply of lunar soil. By changing the rotation speed of the wheel 2 and the running speed of the first conveyor belt 4, different speed differences are constructed to simulate different slip rates. The six-dimensional force sensor 14 collects the six-dimensional mechanical data of the wheel 2 in real time and calculates performance indicators such as traction force, traction coefficient, and lateral force. Multiple sets of working condition parameters can be continuously set to carry out multi-condition comparative tests. The entire process automatically circulates the lunar soil without frequent shutdowns for replenishment, completing uninterrupted performance testing of the wheel 2.

[0078] Compared with existing technologies, traditional annular soil trough testing methods rely on large annular troughs, resulting in long equipment start-up and preparation cycles and large site requirements; the process of filling and replacing lunar soil is complex; the orbital wheel motion differs from actual straight-line conditions, making it inconvenient to flexibly adjust multiple variables such as slip ratio, ground stiffness, lateral deviation, and vertical load; and multi-condition comparative testing is cumbersome. This testing method utilizes a conveyor belt-type closed-loop lunar soil circulation platform, simulating straight-line conditions, with convenient and adjustable multiple parameters, enabling uninterrupted continuous testing.

[0079] Through the above technical solution, the test method of this application uses two conveyor belts to realize the closed-loop circulation of lunar soil, eliminating the need for a large annular soil trough and shortening the test preparation cycle; it can conveniently change the slip ratio, vertical load, lateral angle, and lunar soil stiffness to carry out performance simulation of lunar wheel 2 under multiple working conditions; the automatic recovery and circulation of lunar soil enables long-term uninterrupted continuous testing, collecting traction force, traction coefficient, and lateral force, providing a standardized test procedure for the ground simulation performance evaluation of lunar wheel 2.

[0080] Those skilled in the art, upon considering the specification and practicing the technical solutions disclosed in this application, will readily conceive of other embodiments of the invention. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and embodiments are to be considered exemplary only; the true scope and spirit of the invention are indicated by the claims.

Claims

1. A wheel performance testing device based on a conveyor belt, characterized in that, include: Frame; The wheels are rotatably mounted on one side of the frame. The drive assembly is mounted on the frame. The drive assembly is connected to the wheel to drive the wheel to rotate; The first conveyor belt is located on the side of the frame where the wheels are set, and at the bottom of the wheels; The surface of the first conveyor belt is used to carry lunar soil; A lunar soil transfer box is located at one end of the first conveyor belt and is used to store lunar soil. A bucket elevator is installed inside the lunar soil transfer box to transfer the lunar soil inside the lunar soil transfer box to the surface of the first conveyor belt; The second conveyor belt is located on the side of the frame where the wheels are set and at the bottom of the first conveyor belt. It is used to receive the lunar soil that falls from one end of the first conveyor belt and transport the lunar soil into the lunar soil transfer box.

2. The wheel performance testing device based on a conveyor belt according to claim 1, characterized in that, The frame includes: Lifting support frame; Two cantilever arms, one end of which is slidably mounted on one side of the lifting support frame; The C-arm has two ends rotatably mounted on the two cantilever arms respectively; the C-arm has a rotating hole in the middle, the wheel axle is rotatably mounted in the rotating hole, and the drive assembly is mounted on the C-arm and connected to the wheel axle. A six-dimensional force sensor is installed on one side of the C-arm.

3. The wheel performance testing device based on a conveyor belt according to claim 2, characterized in that, A rotary motor is installed at the top of the cantilever, and the rotary motor is connected to the C-arm to drive the C-arm to rotate.

4. The wheel performance testing device based on a conveyor belt according to claim 2, characterized in that, The frame also includes: The tension and compression buffer rod has one end rotatably mounted on the top of the lifting support frame, and the other end rotatably mounted on the cantilever.

5. The wheel performance testing device based on a conveyor belt according to claim 2, characterized in that, It also includes: The loading frame is mounted on the C-arm; Multiple loading blocks are detachably mounted on the loading frame.

6. The wheel performance testing device based on a conveyor belt according to claim 5, characterized in that, The loading frame is provided with arc-shaped baffles at both ends, and the two arc-shaped baffles are respectively located on both sides of the wheel.

7. The wheel performance testing device based on a conveyor belt according to claim 2, characterized in that, The first conveyor belt includes: Fixture; Two rotating rollers are rotatably mounted at both ends of the fixed frame; A conveyor motor is mounted on the fixed frame; the output shaft of the conveyor motor is connected to one of the rotating rollers. A chain conveyor belt is fitted onto the two rotating rollers; A lifting support plate is located on the inner ring of the chain conveyor belt; the lifting support plate corresponds to the wheel.

8. The wheel performance testing device based on a conveyor belt according to claim 7, characterized in that, A lunar soil feeding hopper is provided at the end of the fixed frame away from the lunar soil transfer box, and the bottom of the lunar soil feeding hopper corresponds to the second conveyor belt.

9. The wheel performance testing device based on a conveyor belt according to claim 1, characterized in that, The bucket elevator includes: An L-shaped support shell is disposed on the lunar soil transfer box; the inner wall of the L-shaped support shell is provided with an arc-shaped guide groove; Two rotating shafts are rotatably mounted inside the L-shaped support housing; A lifting motor is located on one side of the L-shaped support housing and is connected to one of the rotating shafts; A lifting belt is fitted onto the two rotating shafts. Multiple lifting buckets are spaced apart on the lifting belt; each lifting bucket has an extension rod at both ends, and the extension rod is slidably disposed in the arc-shaped guide groove.

10. A test method based on the conveyor belt-based wheel performance testing device according to any one of claims 1-9, characterized in that, include: The lunar soil to be tested is placed in the lunar soil transfer box for storage; Start the bucket elevator and the first conveyor belt to continuously lift the lunar soil inside the lunar soil transfer box and spread it onto the surface of the first conveyor belt to form a lunar soil test layer that can be rolled by the wheels. The drive assembly is activated to drive the wheels to rotate continuously, so that the wheels continuously crush the lunar soil layer on the first conveyor belt; The second conveyor belt is started, and the lunar soil that falls from the end of the first conveyor belt is reversed and transported back to the lunar soil transfer box. This, together with the bucket elevator, enables continuous circulation of lunar soil supply and completes uninterrupted wheel performance testing.

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