KR-20260067660-A - Caterpillar traction force property test device using rubber track specimen

KR20260067660AKR 20260067660 AKR20260067660 AKR 20260067660AKR-20260067660-A

Abstract

An endless track traction characteristic testing device using a rubber track specimen is disclosed, which can test the traction characteristics of a rubber track on various types of ground under various speed conditions. The endless track traction characteristic testing device using the rubber track specimen comprises a frame, a horizontal guide member arranged left and right on the frame, a lifting guide member arranged up and down on the frame, a tray installed to move along the horizontal guide member and for mounting and fixing a simulated terrain, a load cell for measuring a horizontal load applied to the tray, a horizontal drive member connected to the tray via the load cell and for moving the tray along the horizontal guide member, a lifting member installed to move up and down on the lifting guide member by having a specimen mounting part for mounting a rubber track specimen and a weight mounting part for mounting a weight, a plurality of weights mounted on the weight mounting part to apply a load to the rubber track specimen, and a weight lifter for lifting at least some of the plurality of weights to adjust the weight of the weights mounted on the weight mounting part.

Inventors

한종부
여태경
최종수
이영준
김성순

Assignees

한국해양과학기술원

Dates

Publication Date: 20260513
Application Date: 20241106

Claims (10)

Frame; Horizontal guides arranged left and right on the above frame; Lifting guides arranged vertically on the above frame; A tray installed to move along the above-mentioned horizontal guide and for mounting and fixing a simulated terrain; A load cell for measuring the horizontal load applied to the above tray; A horizontal driving unit connected to the tray via the load cell and configured to move the tray along the horizontal guide; A lifting unit installed to be able to move up and down on the lifting guide, equipped with a specimen mounting section for mounting a rubber track specimen and a weight mounting section for mounting a weight; A plurality of weights mounted on the weight mounting portion to apply a load to the rubber track specimen; and A test apparatus for crawler track traction characteristics using a rubber track specimen, characterized by including a weight lifter for lifting at least some of the plurality of weights to adjust the weight of the weights mounted on the weight mounting portion.
Frame; Horizontal guides arranged left and right on the above frame; Lifting guides arranged vertically on the above frame; A tray installed to move along the above-mentioned horizontal guide and for mounting and fixing a simulated terrain; A horizontal drive unit connected to the above tray and for moving the tray along the horizontal guide; A torque sensor installed in the above horizontal drive unit to measure the horizontal load applied to the tray; A lifting unit installed to be able to move up and down on the lifting guide, equipped with a specimen mounting section for mounting a rubber track specimen and a weight mounting section for mounting a weight; A plurality of weights mounted on the weight mounting portion to apply a load to the rubber track specimen; and A test apparatus for crawler track traction characteristics using a rubber track specimen, characterized by including a weight lifter for lifting at least some of the plurality of weights to adjust the weight of the weights mounted on the weight mounting portion.
An endless track traction force characteristic test device using a rubber track specimen, characterized in that, in claim 1 or 2, the weight lifter is configured to selectively raise and lower the lifting part together with the weight.
An endless track traction characteristic testing device using a rubber track specimen, characterized in that, in claim 1 or 2, the specimen mounting member is configured to include a specimen fixing part capable of fixing by adjusting the rotation angle, thereby enabling the measurement of the longitudinal and transverse friction characteristics of the specimen.
An endless track traction force characteristic test device using a rubber track specimen, characterized in that, in claim 1 or 2, the frame or the lifting guide part is provided with a water supply part to allow the simulated terrain mounted on the tray to be filled with water when necessary so that the simulated terrain can be tested in a wet state.
An endless track traction force characteristic test device using a rubber track specimen, characterized in that, in claim 1 or 2, the frame includes a distance sensor installed to measure the movement speed of the tray.
An endless track traction force characteristic test device using a rubber track specimen, characterized in that, in claim 1 or 2, the frame includes a proximity sensor installed therein to detect when the tray reaches a predetermined position and apply it to the horizontal drive unit, thereby enabling the operation of the horizontal drive unit to be stopped.
An endless track traction force characteristic test device using a rubber track specimen, characterized in that, in claim 1 or 2, the driving motor constituting the horizontal drive unit includes an encoder installed to measure the rotational speed of the motor.
In paragraph 1 or 2, the horizontal driving unit is, A chain connected to the front end of the above tray; A wire connected to the other end of the chain and the rear end of the tray; A drive sprocket engaged with the above chain; A guide roller that guides the change of direction of the above wire; and It is configured to include a driving motor for rotating the above-mentioned drive sprocket, An endless track traction force characteristic test device using a rubber track specimen, characterized by advancing the tray when the driving motor is driven in the forward direction and returning the tray when the driving motor is driven in the reverse direction.
In paragraph 1 or 2, the horizontal driving unit is, A chain connected at one end to the front end of the tray and at the other end to the rear end of the tray; A drive sprocket engaged with the chain at the front end of the tray; A driven sprocket engaged with the chain at the rear end of the tray; and It is configured to include a driving motor for rotating the above-mentioned drive sprocket, An endless track traction force characteristic test device using a rubber track specimen, characterized by advancing the tray when the driving motor is driven in the forward direction and returning the tray when the driving motor is driven in the reverse direction.

Description

Caterpillar traction force property test device using rubber track specimen The present invention relates to a traction force characteristic testing device, and in particular, to a crawler track traction force characteristic testing device using a rubber track specimen to determine the traction force characteristic of a rubber track with respect to the ground. Generally, crawler-type tracks are used rather than wheel-type tracks to ensure driving traction for robots or vehicles traveling on rough terrain. In particular, in areas with poor road conditions such as soft, wet, or sandy terrain, rubber tracks are utilized for reasons such as stable driving, securing high traction, and minimizing road surface damage. These rubber tracks are composite structures similar to automobile rubber tires, making it difficult to determine their friction characteristics. While various testing equipment has been developed to analyze the friction characteristics of automotive tires, there is no development of testing equipment for rubber tracks because they are used only in special-purpose vehicles. Furthermore, in the case of rubber tracks, the size of the contact area between the track and the ground varies depending on the structure of the crawler track, so they must be developed differently from the design methods of existing tire testing devices. Tracked vehicles are advantageous for maintaining the propulsion of underwater robots in underwater environments with irregular surface characteristics. To improve the accuracy of propulsion and rotation control of underwater robots, it is necessary to understand the friction characteristics between the tracks and the ground, that is, the traction characteristics. An experimental apparatus is required to determine the traction characteristics of rubber tracks (the ratio of propulsion force to vertical load). There are previously known rubber friction testers disclosed in the published patent publication No. 10-2000-0075336 (Title of invention: Rubber friction tester, Inventor: Wan-doo Kim) and the registered patent publication No. 10-0719912 (Title of invention: Rubber friction tester, Inventor: Wan-su Kim), but these are not suitable for testing the traction characteristics of rubber tracks for crawler tracks to determine the traction characteristics between the crawler track and the ground during driving, because the specimen operating device is of the turntable type or the counter surface to which the specimen contacts is of the rotating plate type. FIG. 1 is a photograph showing an example of a track-type underwater robot for driving on rough terrain having rubber tracks. FIG. 2 is a diagram showing an example of a screen of a virtual physical operation system for a track-type underwater robot for driving on rough terrain to which test results obtained by an endless track traction force characteristic test device using a rubber track specimen according to the present invention can be applied. FIG. 3 is a front view showing an example of a crawler track traction force characteristic test device using a rubber track specimen according to the present invention. Figure 4 is a photograph showing the state in which a specimen is mounted in the specimen mounting hole. FIG. 5 is a side view showing a state in which a plurality of weights are mounted on the weight mounting portion of the lifting unit, Figure 6 is a photograph showing the connection status of the wire connected to the rear end of the tray, Fig. 7 is an enlarged side view of a weight lifter, Fig. 8 is an enlarged strabismic photograph of a weight lifter viewed from the front. FIG. 9 is a photograph showing the state in which the elevator section is guided by the elevator guide section. FIG. 10 is a photograph showing the installation state of the first proximity sensor, FIG. 11 is a photograph showing the installation state of the second proximity sensor and the connection state of the wire connected to the rear end of the tray. FIG. 12 is a photograph showing the installation position of the distance sensor and the support state of the wire connected to the rear end of the tray. FIG. 13 is a front view of an endless track traction force characteristic test device using a rubber track specimen according to the present invention showing an example of deformation of the horizontal drive unit, FIG. 14 is a drawing showing an example of the installation of a water supply unit. FIG. 15 is an example graph showing experimental results in an endless track traction force characteristic test device using a rubber track specimen according to the present invention. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings. As shown in FIG. 1, a track-type robot (10) for driving in rough terrain, such as a track-type underwater robot, is equipped with a rubber track (12) of the crawler type instead of the circular wheels of a general vehicle to maintain propulsi