Chassis bearing system verification mechanism and method

Abstract

The application discloses a chassis bearing system verification mechanism and verification method, which comprises a bearing system displacement mechanism, a three-way loading mechanism and a fixed foundation; the bearing system displacement mechanism and the three-way loading mechanism are respectively fixed on the fixed foundation; a sinking groove is arranged in the middle of the fixed foundation, and the three-way loading mechanism is symmetrically fixed on the end faces of the fixed foundation in front of and behind the sinking groove in two groups; the lower end of a Z-direction loading actuator on the free end of each set of three-way loading mechanism can be slidably connected with the bottom of the sinking groove in the Y direction; the X-direction loading actuator of each set of three-way loading mechanism is fixedly connected with the upper end face of the fixed foundation on the left side or the right side of the sinking groove away from the sinking groove; the chassis system is subjected to longitudinal, transverse, vertical, braking, turning and side inclination loads through 24 linear devices, and the performance and reliability verification of the suspension system can be completed on the test bench.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile manufacturing, and in particular to a chassis bearing system verification mechanism and a verification method. Background Art

[0002] Chinese Authorization Publication No. CN210269198U discloses a multi-channel bench test apparatus for a suspension system, belonging to the technical field of automotive suspension performance testing. The apparatus comprises a load-bearing mechanism on which the suspension system is suspended; a testing mechanism comprising a vertically arranged loading plate and a testing assembly, wherein the loading plate is connected to the wheel hub bearing of the suspension system and abuts against the brake disc; and a testing assembly comprising: a Z-direction force-applying structure for applying a vertical Z-direction force to the loading plate; two Y-direction force-applying structures for providing a torque at the lower end of the loading plate to rotate the loading plate in the XY directions; and two X-direction force-applying structures, one located on either side of the loading plate in the X direction, wherein one X-direction force-applying structure applies a first X-direction force to the loading plate through the center point of the connection between the loading plate and the wheel hub bearing, and the other X-direction force applies a second X-direction force to the loading plate through the points where the two Y-direction force-applying structures apply forces to the loading plate. However, this patent is intended for testing passenger vehicle suspension systems and is not suitable for testing commercial vehicle suspension systems.

[0003] China Authorization Announcement No. CN111707482A discloses an eight-channel multifunctional road simulation test bench, which is assembled from a suspension fixing system and a servo hydraulic actuator fixing system, realizing unilateral four-degree-of-freedom loading of the suspension system; the suspension fixing system includes a suspension fixing base, a crossbeam, a shock absorber fixing bracket base, a shock absorber fixing bracket, a spring fixing push rod, a front body replacement plate, a suspension fixing bracket, a rear body replacement plate and a four-degree-of-freedom loading arm; the crossbeam is fixed on the suspension fixing base, the shock absorber fixing bracket base is fixed to the bottom of the crossbeam, and the shock absorber fixing bracket and the spring fixing push rod are respectively installed below the shock absorber fixing bracket base; the front body replacement plate is installed on the suspension fixing base. Under the fixed base of the frame, the vertical plate of the front body replacement plate is connected to the suspension fixed base, and the bottom plate of the front body replacement plate is fixed to the control arm of the suspension system; the rear body replacement plate is installed under the suspension fixed base, and the vertical plate of the rear body replacement plate is connected to the suspension fixed base; the vertical plates of the front body replacement plate and the rear body replacement plate are fixed with suspension fixing brackets, and the suspension system to be tested is fixed by the suspension fixing brackets; the four-degree-of-freedom loading arm is connected to the wheel hub of the suspension system, and the four-degree-of-freedom loading arm is also connected to the servo hydraulic actuator fixing system; this invention patent is used to verify the eight channels of the suspension system, and the actual vehicle of the chassis bearing system is subjected to force in 24 directions, so this mechanism cannot reflect the real reliability of the actual vehicle. Summary of the Invention

[0004] To solve the above problems, the present invention provides a chassis load-bearing system verification mechanism, which applies longitudinal, lateral, vertical, braking, cornering and roll loads to the dual-rear-axle chassis system of a commercial vehicle through four groups of loading mechanisms and a total of 24 linear devices. The stress conditions of the chassis system on the actual vehicle can be completely reproduced on the test bench, thereby completing the performance and reliability verification of the suspension system. In view of the problem that the commercial vehicle test bench lacks a six-component force meter for the actual vehicle, a decoupling matrix control method is established, which can achieve a control effect targeting the six-component force meter signal by arranging the most basic sensors.

[0005] The present invention proposes a chassis bearing system verification mechanism, comprising a bearing system Y-direction and Z-direction displacement mechanism, four sets of three-direction loading mechanisms and a fixed foundation;

[0006] The Y- and Z-direction displacement mechanisms of the load-bearing system and four sets of three-dimensional loading mechanisms are respectively fixed on a fixed foundation. The four sets of three-dimensional loading mechanisms have a total of 24 linear loading devices, which can apply longitudinal, transverse, vertical, braking, cornering, and roll loads to the commercial vehicle double rear axle chassis system fixedly suspended on the front and rear two Y-direction sliding longitudinal beams of the load-bearing system's Y- and Z-direction displacement mechanisms. The stress conditions of the chassis system on the actual vehicle can be fully reproduced on the test bench to complete the performance and reliability verification of the suspension system; the Y- and Z-direction displacement mechanisms of the load-bearing system can quickly move the commercial vehicle double rear axle chassis system fixed on the front and rear two Y-direction sliding longitudinal beams in the Y-direction (fore-and-aft direction) and the Z-direction (upper and lower vertical direction) so that the four axle heads of the commercial vehicle double rear axle chassis system can be accurately connected to the four sets of three-dimensional loading mechanisms to complete subsequent loading verification;

[0007] A sunken groove is provided in the middle of the fixed foundation. Four sets of three-dimensional loading mechanisms are arranged in groups of two, and are fixed to the upper end surfaces of the fixed foundation on the front and rear sides of the sunken groove in two groups, symmetrically in the Y direction. The two sets of three-dimensional loading mechanisms in the same group are arranged symmetrically in the left and right directions. The lower end of the Z-direction loading actuator on the free end of each set of three-dimensional loading mechanisms can slide with the bottom of the sunken groove in the Y direction to apply vertical, turning, and rolling loads to the dual-rear-axle chassis system of the commercial vehicle. The X-direction loading actuator of each set of three-dimensional loading mechanisms is fixedly connected to the upper end surface of the fixed foundation on the left or right side of the sunken groove at the end away from the sunken groove.

[0008] The free ends of the four sets of three-way loading mechanisms are all located between the sunken grooves of the fixed foundation and the upper end surfaces of the Y-direction and Z-direction displacement mechanisms of the bearing system at corresponding positions.

[0009] The Y-direction and Z-direction displacement mechanisms of the load-bearing system include four mechanism vertical beams, two left and right Z-direction sliding crossbeams, two front and rear Y-direction sliding longitudinal beams, four Z-direction adjustment motors and four Y-direction adjustment motors; the four mechanism vertical beams are respectively fixed to the upper end surface of the fixed foundation outside the four corners of the sunken groove; the left and right Z-direction sliding crossbeams are respectively arranged vertically between the two mechanism vertical beams on the same side, and the left and right Z-direction sliding crossbeams can respectively rise or fall vertically along the two mechanism vertical beams on the same side to realize rapid lifting and lowering adjustment of the commercial vehicle double rear axle chassis system; the front and rear Y-direction sliding longitudinal beams are respectively arranged horizontally forward and backward and are arranged between the left and right Z-direction sliding crossbeams, and the front and rear Y-direction sliding longitudinal beams can respectively slide forward and backward along the left and right Z-direction sliding crossbeams to quickly adjust the position of the front and rear Y-direction sliding longitudinal beams and the fixed furniture on the commercial vehicle double rear axle chassis system, so that the commercial vehicle double rear axle chassis system can be quickly aligned and fixed. On the front and rear Y-direction sliding longitudinal beams; the four Z-direction adjustment motors are respectively arranged on the upper end surfaces of the four mechanism vertical beams, and the two Z-direction adjustment motors on the same side are respectively threadedly connected to the front and rear ends of a Z-direction sliding beam on the same side through screws, and the forward and reverse rotation of the Z-direction adjustment motor can quickly drive the lifting and lowering Z-direction sliding beams; the four Y-direction adjustment motors are respectively fixed to the front and rear ends of the inner walls of the left and right Z-direction sliding beams, and the two Y-direction adjustment motors on the same side are respectively threadedly connected to the same side end of an adjacent Y-direction sliding longitudinal beam through screws, and the forward and reverse rotation of the Y-direction adjustment motor can quickly drive the two Y-direction sliding longitudinal beams to move horizontally outward in different directions or horizontally inward in opposite directions, so as to achieve rapid fixation with the double rear axle chassis system of the commercial vehicle; the forward and reverse rotation of the Y-direction adjustment motor can also realize synchronous driving of the two Y-direction sliding longitudinal beams to move forward or backward, so that the two Y-direction sliding longitudinal beams drive the double rear axle chassis system of the commercial vehicle to dock with the four sets of three-way loading mechanisms.

[0010] The lower end of each mechanism beam is fixedly connected with a horizontal connecting surface, and a reinforcing support plate is arranged between the outer side wall of the mechanism beam and the upper end surface of the corresponding horizontal connecting surface to enhance the anti-bending support strength of the mechanism beam. The reinforcing support plate is provided with weight-reducing holes, and the lower end surface of the horizontal connecting surface is fixed to the upper end surface of the fixed foundation to increase the contact area between each mechanism beam and the fixed foundation, so as to ensure the overall support stability of the Y-direction and Z-direction displacement mechanism of the bearing system; the contact surface between each mechanism beam and the corresponding sliding Z-direction sliding beam and the contact surface between each Z-direction sliding beam and the corresponding sliding Y-direction sliding longitudinal beam are respectively provided with matching sliding guide grooves and sliders.

[0011] Each set of three-way loading mechanism includes a wheel side six-component force decoupling device, an X-direction loading long rod, three Y-direction loading long rods, an X-direction loading actuator, three Y-direction loading actuators, two Z-direction actuators, two Z-direction displacement sensors and two Z-direction force sensors; one end of the X-direction loading long rod and one end of the three Y-direction loading long rods are universally connected to the side end wall and the rear end face of the wheel side six-component force decoupling device, the X-direction loading actuator and the three Y-direction loading actuators are universally connected to the other end of the X-direction loading long rod and the other end of the three Y-direction loading long rods, and the X-direction loading actuator and the three Y-direction loading actuators are fixed to the upper end face of the fixed foundation; the fixed foundation includes a platform foundation, a platform foundation groove, a platform construction platform, four Slide rails and 8 Z-axis actuator synchronous adjustment motors; the stage foundation groove is arranged in the middle of the upper end surface of the stage foundation, and four slide rails are arranged in the middle of the bottom of the stage foundation groove parallel to the Y direction. The stage construction platform spans the four slide rails in the X direction, and every two Z-axis actuator synchronous adjustment motors are slidably connected to one slide rail respectively, and each Z-axis actuator synchronous adjustment motor slides in the Y direction on the slide rail exposed outside the stage construction platform; the upper end of each Z-axis actuator is connected in sequence with a Z-axis displacement sensor and a Z-axis force sensor, and the upper end of the Z-axis force sensor and the lower end of the Z-axis actuator are respectively universally connected to the lower end surface of the side wall of the wheel-side six-component force decoupling device and the upper end of the Z-axis actuator synchronous adjustment motor.

[0012] The wheel-side six-component force decoupling device includes a wheel-side connection device, a wheel-side six-component force decoupling device connection plate, a bridge housing connection plate, three Y-direction force sensors and an X-direction force sensor; the wheel-side connection device as a whole is a block with a Y-shaped structure, and a circular through-hole is provided in the middle of the plane of the Y-shaped block. The bridge housing connection plate and the wheel-side six-component force decoupling device connection plate are respectively coaxially sleeved and fixed on the front and rear end faces of the wheel-side connection device where the circular through-hole is located. The three Y-direction force sensors are respectively and evenly fixed on the circumference of the rear end face of the outer edge of the circular through-hole of the wheel-side connection device, and an X-direction force sensor is fixed to the middle of the left side wall or the right side wall of the wheel-side connection device.

[0013] The X-axis loading actuator includes an X-axis actuator fixing bracket, which is fixed to the upper end surface of the fixed foundation through the X-axis actuator fixing bracket, and the two ends of the X-axis loading long rod are respectively connected to the X-axis force sensor and the front end ball head of the X-axis loading actuator; three Y-axis loading actuators are fixed to the upper end surface of the fixed foundation through a Y-axis actuator fixing bracket, and the three Y-axis loading actuators are fixed on a Y-axis actuator fixing bracket in alignment with the three Y-axis force sensors, and the two ends of each Y-axis loading long rod are respectively connected to the aligned Y-axis force sensor and the front end ball head of the Y-axis loading actuator; the lower end ball heads of the two Z-axis actuators are connected to a Z-axis actuator adjustment base plate, and the Z-axis actuator adjustment base plate is fixed to the upper end of the synchronous adjustment motor of the two aligned Z-axis actuators.

[0014] The X-direction loading rod includes two X-direction ball head seats and an X-direction long rod with ball heads at both ends. The two X-direction ball head seats are respectively fixedly connected to the X-direction force sensor and the front end of the X-direction loading actuator. The ends of the X-direction long rod with ball heads are respectively connected to the ball heads of the two X-direction ball head seats. The structure of each Y-direction loading rod is exactly the same as that of the X-direction loading rod. Each Y-direction loading rod includes a Y-direction ball head seat and a Y-direction long rod with ball heads at both ends. The two Y-direction ball head seats are respectively fixedly connected to the aligned Y-direction force sensor and the front end of the Y-direction loading actuator. The ends of the Y-direction long rod with ball heads at both ends are respectively connected to the ball heads of the two Y-direction ball head seats. Each Z-direction actuator includes two Z-direction ball head seats and a Z-direction actuator body with ball heads at both ends. The two Z-direction ball head seats are respectively fixedly connected to the lower end surface of one side wall of the aligned wheel side connection device and the Z-direction actuator adjustment base plate. The Z-direction actuator body with ball heads at both ends is respectively connected to the ball heads of the two Z-direction ball head seats.

[0015] It also includes a commercial vehicle double rear axle chassis bearing system, which includes a chassis bearing system and a fixing fixture; the fixing fixture is arranged above the chassis bearing system, and each axle head of the chassis bearing system is connected and fixed to the wheel side six-component force decoupling device through the wheel side six-component force decoupling device connection plate and the bridge housing connection plate, and the fixing fixture is screwed to the lower end surface of the front and rear two Y-direction sliding longitudinal beams through bolts; the four sets of three-direction loading mechanisms have a total of 24 linear loading devices, which can be used to fix the front and rear two Y-direction sliding longitudinal beams suspended in the Y-direction and Z-direction displacement mechanisms of the bearing system. The commercial vehicle double rear axle chassis system on the sliding longitudinal beam is subjected to longitudinal (X-direction), lateral (Y-direction), vertical (Z-direction), braking, cornering, and roll loads, which can completely reproduce the stress conditions of the chassis system on the actual vehicle on the test bench, completing the performance and reliability verification of the suspension system; the Y-direction and Z-direction displacement mechanisms of the load-bearing system can quickly move the commercial vehicle double rear axle chassis system fixed on the front and rear two Y-direction sliding longitudinal beams in the Y-direction (forward and backward directions) and the Z-direction (upper and lower vertical directions), thereby improving the installation and disassembly efficiency of the load-bearing system.

[0016] A chassis load-bearing system verification method, applied to the chassis load-bearing system verification mechanism, comprises the following steps:

[0017] Each wheel-side six-component force decoupling device includes an X-force sensor, three Y-force sensors, two Z-force sensors, and two Z-displacement sensors. The load of the X-force sensor is recorded as Fx, the loads of the three Y-force sensors are recorded as Fy1, Fy2, and Fy3, the loads of the two Z-force sensors are recorded as Fz1 and Fz2, and the displacements of the two Z-displacement sensors are recorded as Dz1 and Dz2. The positional relationship of the eight sensors on the wheel-side six-component force decoupling device is used to obtain the displacement and load of several key points on the wheel. This information is fed back into the decoupling matrix, which can be used to calculate the actual six-component force status of the wheel at that time.

[0018] The decoupling matrix is ​​calculated as follows: When the wheel is not rotating, the displacements D1 (1 for the left side) and Dr (r for the right side) of the two Z-actuators are equal; then the wheel longitudinal force is Fx, the wheel lateral force is Fy1+Fy2+Fy3, the wheel vertical displacement is (D1+Dr) / 2, the vertical force is Fz1+Fz2, the wheel braking force is (Fz1-Fz2)*L3, the wheel steering torque is (Fy1-Fy2)*L1, and the wheel contact point torque is (Fy1+Fy2)*L4-Fy3*L5;

[0019] When the wheel rotates, assuming the rotation angle is a, the wheel vertical force remains unchanged, the wheel longitudinal force is Fx*cos(a), the wheel lateral force is Fy1+Fy2+Fy3, the wheel vertical displacement is (D1+Dr) / 2, and the wheel braking force is

[0020] (Fz1-Fz2)*L3+Fx*sin(a)*L2*cos(a), the wheel steering torque is

[0021] The wheel contact point torque is

[0022] Where a=(D1-Dr) / 2 / 2 / π / L3*360;

[0023] It should be noted that the above matrix calculation formula is for the six-component wheel force under static conditions. Regardless of whether it is a six-component force meter sold domestically or abroad or a conventional method of directly controlling the actuator, the inertial force caused by the fixture mass (the fixture mass between the sensor and the axle) and the change in unsprung mass (excluding non-load-bearing brakes, brake drums, etc.) under dynamic conditions is unavoidable, resulting in a difference between the load measured by the sensor and the actual force of the load-bearing system. Therefore, the present invention corrects the decoupling matrix, that is, the vertical displacement of the wheel (D1+Dr) / 2 is quadratically differentiated to obtain the vertical acceleration A, which is then multiplied by the corrected mass M (fixture mass, unsprung mass change) to obtain the actual vertical load Fz1+Fz2-MA. When the system is undergoing static testing or not in motion, MA is 0.

[0024] The decoupling matrix compares the loads in six directions with the target six-component force and outputs electrical signals to the actuator. The actuator drives the wheel again and monitors the values ​​of the eight sensors on the wheel. Closed-loop control is repeated in this way, ultimately achieving a control effect targeting the six-component force on the wheel.

[0025] The wheel-side six-component force decoupling device can convert the control target of the verification mechanism from the signal of the loading actuator into the real wheel six-component force signal, ensuring that the control target of the loading mechanism is no longer affected by wheel bouncing or braking. The control accuracy of the entire system is higher, the loading error is smaller, and the influence of inertia force is eliminated.

[0026] Beneficial effects

[0027] The present invention applies longitudinal, lateral, vertical, braking, cornering and roll loads to the dual-rear-axle chassis system of a commercial vehicle through four groups of loading mechanisms and a total of 24 linear devices. The stress conditions of the chassis system on the actual vehicle can be fully reproduced on the test bench, completing the performance and reliability verification of the suspension system. In view of the problem that the commercial vehicle test bench lacks a real vehicle six-component force meter, a decoupling matrix control method is established, which can achieve a control effect targeting the six-component force meter signal by arranging the most basic sensors. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0029] Figure 2 It is an enlarged structural diagram of the Y-direction and Z-direction displacement mechanisms of the bearing system of the present invention.

[0030] Figure 3 It is an enlarged structural schematic diagram of the three-way loading mechanism of the present invention.

[0031] Figure 4 It is an enlarged structural schematic diagram of the wheel side six-component force decoupling device of the present invention.

[0032] Figure 5 It is an enlarged structural schematic diagram of the X-direction loading long rod or the Y-direction loading long rod of the present invention.

[0033] Figure 6 It is an enlarged structural diagram of the Z-direction actuator of the present invention.

[0034] Figure 7 It is an enlarged structural schematic diagram of the fixed foundation of the present invention.

[0035] Figure 8 It is an enlarged structural schematic diagram of the dual rear axle chassis bearing system of a commercial vehicle according to the present invention.

[0036] Figure 9 It is an enlarged structural dimension diagram of the wheel side six-component force decoupling device of the present invention.

[0037] Figure 10 It is a schematic diagram of the wheel side six-component force decoupling device of the present invention.

[0038] In the picture:

[0039] 1. Y-direction and Z-direction displacement mechanism of the bearing system (1); 11. Mechanism vertical beam (11); 12. Z-direction sliding beam (12); 13. Y-direction sliding longitudinal beam (13); 14. Z-direction adjustment motor (14); 15. Y-direction adjustment motor (15); 16. Horizontal connecting surface (16); 17. Strengthening support plate (17);

[0040] 2. Three-way loading mechanism (2); 21. Wheel side six-component force decoupling device (21); 211. Wheel side connecting device (211); 212. Wheel side six-component force decoupling device connecting plate (212); 213. Bridge housing connecting plate (213); 214. Y-direction force sensor (214); 215. X-direction force sensor (215); 22. X-direction loading rod (22); 221. X-direction ball head seat (221); 222. X-direction long rod with ball heads at both ends (222); 23. Y-direction loading Long rod (23); 231, Y-direction ball head seat (231); 232, Y-direction long rod with ball heads at both ends (232); 24, X-direction loading actuator (24); 241, X-direction actuator fixing bracket (241); 25, Y-direction loading actuator (25); 26, Z-direction actuator (26); 261, Z-direction ball head seat (261); 262, Z-direction actuator body (262) with ball heads at both ends; 27, Z-direction displacement sensor (27); 28, Z-direction force sensor (28);

[0041] 3. Fixed foundation (3); 31. Platform foundation (31); 32. Platform foundation groove (32); 33. Platform building platform (33); 34. Slide rail (34); 35. Z-axis actuator synchronous adjustment motor (35);

[0042] 4. Commercial vehicle double rear axle chassis bearing system (4); 41. Chassis bearing system (41); 411. Axle head (411); 42. Fixing fixture (42). DETAILED DESCRIPTION

[0043] To make the technical problems solved by the present invention, the technical solutions adopted, and the technical effects achieved more clearly, the technical solutions of the present invention are further described below with reference to the accompanying drawings and through specific embodiments. It should be understood that the specific embodiments described herein are merely for the purpose of explaining the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the drawings only show portions relevant to the present invention, not all of them.

[0044] In the description of the present invention, it should be noted that the terms "center," "up," "down," "left," "right," "vertical," "horizontal," "inside," and "outside" and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended only to facilitate the description of the present invention and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. The terms "first position" and "second position" refer to two different positions.

[0045] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed or detachable connections; mechanical or electrical connections; direct or indirect connections through an intermediary; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention.

[0046] Example 1

[0047] See also Figures 1-8 As shown, a chassis bearing system verification mechanism includes a bearing system Y-direction and Z-direction displacement mechanism 1, four sets of three-direction loading mechanisms 2 and a fixed foundation 3;

[0048] The Y-axis and Z-axis displacement mechanisms 1 and four sets of three-axis loading mechanisms 2 of the bearing system are fixed on the fixed foundation 3 respectively;

[0049] A sunken groove is provided in the middle of the fixed foundation 3. Four sets of three-directional loading mechanisms 2 are arranged in groups of two, and are fixed to the upper end surfaces of the fixed foundation 3 on the front and rear sides of the sunken groove in two groups, symmetrically in the Y direction. The two sets of three-directional loading mechanisms 2 in the same group are arranged symmetrically in the left and right directions. The lower end of the Z-direction loading actuator on the free end of each set of three-directional loading mechanisms 2 can slide with the bottom of the sunken groove in the Y direction. The X-direction loading actuator of each set of three-directional loading mechanisms 2 is fixedly connected to the upper end surface of the fixed foundation 3 on the left or right side of the sunken groove at one end away from the sunken groove.

[0050] The free ends of the four sets of three-way loading mechanisms 2 are all located between the sunken grooves of the fixed foundation 3 and the upper end surfaces of the Y-direction and Z-direction displacement mechanisms 1 of the bearing system at corresponding positions.

[0051] The Y-direction and Z-direction displacement mechanism 1 of the bearing system includes four mechanism vertical beams 11, two left and right Z-direction sliding beams 12, two front and rear Y-direction sliding longitudinal beams 13, four Z-direction adjustment motors 14 and four Y-direction adjustment motors 15; the four mechanism vertical beams 11 are respectively fixed to the upper end surface of the fixed foundation 3 outside the four corners of the sunken groove; the left and right Z-direction sliding beams 12 are respectively corresponding to the vertical sliding arrangement between the two mechanism vertical beams 11 on the same side; the front and rear Y-direction sliding longitudinal beams 13 slide horizontally forward and backward respectively. It is arranged between the left and right Z-direction sliding beams 12; the four Z-direction adjustment motors 14 are respectively arranged on the upper end surfaces of the four mechanism vertical beams 11, and the two Z-direction adjustment motors 14 on the same side are respectively threadedly connected to the front and rear ends of a Z-direction sliding beam 12 on the same side through screws; the four Y-direction adjustment motors 15 are respectively fixed to the front and rear ends of the inner walls of the left and right Z-direction sliding beams 12, and the two Y-direction adjustment motors 15 on the same side are respectively threadedly connected to the same side end of an adjacent Y-direction sliding longitudinal beam 13 through screws.

[0052] The lower end of each mechanism vertical beam 11 is fixedly connected to a horizontal connecting surface 16, and a reinforcing support plate 17 is arranged between the outer side wall of the mechanism vertical beam 11 and the corresponding upper end surface of the horizontal connecting surface 16. The reinforcing support plate 17 is provided with weight-reducing holes, and the lower end surface of the horizontal connecting surface 16 is fixed to the upper end surface of the fixed foundation 3; the contact surface between each mechanism vertical beam 11 and the corresponding sliding Z-direction sliding beam 12 and the contact surface between each Z-direction sliding beam 12 and the corresponding sliding Y-direction sliding longitudinal beam 13 are respectively provided with matching sliding guide grooves and sliders.

[0053] Each set of three-way loading mechanism 2 includes a wheel side six-component force decoupling device 21, an X-direction loading long rod 22, three Y-direction loading long rods 23, an X-direction loading actuator 24, three Y-direction loading actuators 25, two Z-direction actuators 26, two Z-direction displacement sensors 27 and two Z-direction force sensors 28; one end of the X-direction loading long rod 22 and one end of the three Y-direction loading long rods 23 are respectively universally connected to the side end wall and rear end face of the wheel side six-component force decoupling device 21, the X-direction loading actuator 24 and the three Y-direction loading actuators 25 are universally connected to the other end of the X-direction loading long rod 22 and the other end of the three Y-direction loading long rods 23, and the X-direction loading actuator 24 and the three Y-direction loading actuators 25 are fixed to the upper end face of the fixed foundation 3; the fixed foundation 3 includes a platform foundation 31, a platform foundation groove 32, and a platform building platform 33. , four slide rails 34 and 8 Z-direction actuator synchronous adjustment motors 35; the stage foundation groove 32 is arranged in the middle of the upper end surface of the stage foundation 31, and the four slide rails 34 are arranged parallel to the Y direction in the middle of the bottom of the stage foundation groove 32, and the stage building platform 33 spans the four slide rails 34 in the X direction, and every two Z-direction actuator synchronous adjustment motors 35 are respectively slidably connected to a slide rail 34, and each Z-direction actuator synchronous adjustment motor 35 slides in the Y direction on the slide rail 34 exposed outside the stage building platform 33; the upper end of each Z-direction actuator 26 is connected in sequence to a Z-direction displacement sensor 27 and a Z-direction force sensor 28, and the upper end of the Z-direction force sensor 28 and the lower end of the Z-direction actuator 26 are respectively universally connected to the lower end surface of the side wall of the wheel-side six-component force decoupling device 21 and the upper end of the Z-direction actuator synchronous adjustment motor 35.

[0054] The wheel-side six-component force decoupling device 21 includes a wheel-side connecting device 211, a wheel-side six-component force decoupling device connecting plate 212, a bridge housing connecting plate 213, three Y-direction force sensors 214 and an X-direction force sensor 215; the wheel-side connecting device 211 is a block with a Y-shaped structure as a whole, and a circular through-hole is provided in the middle of the plane of the block with the Y-shaped structure. The bridge housing connecting plate 213 and the wheel-side six-component force decoupling device connecting plate 212 are respectively coaxially sleeved and fixed on the front and rear end faces of the wheel-side connecting device 211 where the circular through-hole is located. The three Y-direction force sensors 214 are respectively and evenly fixed on the circumference of the rear end face of the outer edge of the circular through-hole of the wheel-side connecting device 211, and an X-direction force sensor 215 is fixed to the middle of the left side wall or the right side wall of the wheel-side connecting device 211.

[0055] The X-direction loading actuator 24 includes an X-direction actuator fixing bracket 241, which is fixed to the upper end surface of the fixed foundation 3 through the X-direction actuator fixing bracket 241. The two ends of the X-direction loading long rod 22 are respectively connected to the X-direction force sensor 215 and the front end ball head of the X-direction loading actuator 24; three Y-direction loading actuators 25 are fixed to the upper end surface of the fixed foundation 3 through a Y-direction actuator fixing bracket, and the three Y-direction loading actuators 25 are fixed on a Y-direction actuator fixing bracket in alignment with the three Y-direction force sensors 214. The two ends of each Y-direction loading long rod 23 are respectively connected to the aligned Y-direction force sensor 214 and the front end ball head of the Y-direction loading actuator 25; the lower end ball heads of the two Z-direction actuators 26 are connected to a Z-direction actuator adjustment base plate, which is fixed to the upper end of the aligned two Z-direction actuator synchronous adjustment motors 35.

[0056] The X-direction loading rod 22 includes two X-direction ball head seats 221 and an X-direction long rod 222 with ball heads at both ends. The two X-direction ball head seats 221 are fixedly connected to the front end of the X-direction force sensor 215 and the X-direction loading actuator 24 respectively. The two ends of the X-direction long rod 222 with ball heads at both ends are respectively connected to the ball heads of the two X-direction ball head seats 221; the structure of each Y-direction loading rod 23 is exactly the same as that of the X-direction loading rod 22. Each Y-direction loading rod 23 includes a Y-direction ball head seat 231 and a Y-direction long rod 232 with ball heads at both ends. The two Y-direction ball head seats 231 are respectively connected to the front end of the X-direction force sensor 215 and the X-direction loading actuator 24. The aligned Y-direction force sensor 214 and the front end of the Y-direction loading actuator 25 are fixedly connected, and the two ends of the Y-direction long rod 232 with ball heads at both ends are respectively connected to the ball heads of the two Y-direction ball head seats 231; each Z-direction actuator 26 includes two Z-direction ball head seats 261 and a Z-direction actuator body 262 with ball heads at both ends, and the two Z-direction ball head seats 261 are respectively fixedly connected to the lower end surface of one side wall of the aligned wheel side connection device 211 and the Z-direction actuator adjustment base plate, and the Z-direction actuator body 262 with ball heads at both ends are respectively connected to the ball heads of the two Z-direction ball head seats 261.

[0057] It also includes a commercial vehicle double rear axle chassis bearing system 4, which includes a chassis bearing system 41 and a fixing fixture 42; the fixing fixture 42 is arranged above the chassis bearing system 41, and each shaft head 411 of the chassis bearing system 41 is connected and fixed to the corresponding wheel side six-component force decoupling device 21 through the wheel side six-component force decoupling device connecting plate 212 and the bridge housing connecting plate 213, and the fixing fixture 42 is screwed to the lower end faces of the front and rear two Y-direction sliding longitudinal beams 13 by bolts.

[0058] Example 2

[0059] See also Figures 1-10 As shown, a chassis load-bearing system verification method is applied to the chassis load-bearing system verification mechanism, and the verification method is as follows:

[0060] Each wheel-side six-component force decoupling device includes an X-direction force sensor 215, three Y-direction force sensors 214, two Z-direction force sensors 28, and two Z-direction displacement sensors 27. The load of the X-direction force sensor 215 is recorded as Fx, the loads of the three Y-direction force sensors 214 are recorded as Fy1, Fy2, and Fy3, the loads of the two Z-direction force sensors 28 are recorded as Fz1 and Fz2, and the displacements of the two Z-direction displacement sensors 27 are recorded as Dz1 and Dz2. The positional relationship of the eight sensors on the wheel-side six-component force decoupling device is used to obtain the displacement and load of several key points of the wheel, and this information is fed back to the decoupling matrix. The decoupling matrix can then be used to calculate the actual six-component force status of the wheel at that time.

[0061] The decoupling matrix compares the loads in six directions with the target six-component force and outputs electrical signals to the actuator. The actuator drives the wheel again and monitors the values ​​of the eight sensors on the wheel. Closed-loop control is repeated in this way, ultimately achieving a control effect targeting the six-component force on the wheel.

[0062] The above decoupling matrix is ​​calculated as follows: When the wheel is not rotating, the displacements D1 (1 for the left side) and Dr (r for the right side) of the two Z-actuators 26 are equal; then the wheel longitudinal force is Fx, the wheel lateral force is Fy1+Fy2+Fy3, the wheel vertical displacement is (D1+Dr) / 2, the vertical force is Fz1+Fz2, the wheel braking force is (Fz1-Fz2)*L3, the wheel steering torque is (Fy1-Fy2)*L1, and the wheel ground contact torque is (Fy1+Fy2)*L4-Fy3*L5;

[0063] When the wheel rotates, assuming the rotation angle is a, the wheel vertical force remains unchanged, the wheel longitudinal force is Fx*cos(a), the wheel lateral force is Fy1+Fy2+Fy3, the wheel vertical displacement is (D1+Dr) / 2, and the wheel braking force is

[0064] (Fz1-Fz2)*L3+Fx*sin(a)*L2*cos(a), the wheel steering torque is The wheel contact point torque is

[0065] Where a=(D1-Dr) / 2 / 2 / π / L3*360;

[0066] It should be noted that the above matrix calculation formula is the six-component force of the wheel under static conditions. Regardless of the six-component force meter sold at home and abroad or the conventional direct control actuator method, it is inevitable that the inertial force caused by the fixture mass (the fixture mass between the sensor and the axle) and the change in unsprung mass (excluding non-load-bearing brakes, brake drums, etc.) under dynamic conditions will be affected, resulting in a difference between the load measured by the sensor and the actual force of the load-bearing system; therefore, the present invention corrects the decoupling matrix, that is, the vertical displacement of the wheel (D1+Dr) / 2 is quadratically differentiated to obtain the vertical acceleration A, which is then multiplied by the corrected mass M (fixture mass, unsprung mass change) to obtain the actual vertical load Fz1+Fz2-MA; when the system is undergoing static testing or not moving, MA is 0.

[0067] Although the present invention has been particularly shown and described in conjunction with preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made to the present invention without departing from the spirit and scope of the invention as defined in the appended claims, and all such changes are within the scope of protection of the present invention.

Claims

1. A chassis load-bearing system verification method, characterized in that: The verification method is as follows: Each wheel side six-component force decoupling device includes an X-direction force sensor (215), three Y-direction force sensors (214), two Z-direction force sensors (28), and two Z-direction displacement sensors (27); the load of the X-direction force sensor (215) is recorded as Fx, the loads of the three Y-direction force sensors (214) are recorded as Fy1, Fy2, and Fy3, the loads of the two Z-direction force sensors (28) are recorded as Fz1 and Fz2, and the displacements of the two Z-direction displacement sensors (27) are recorded as Dz1 and Dz2; the displacements and loads of several key points of the wheel are obtained through the positional relationship of the eight sensors on the wheel side six-component force decoupling device; This information is fed back to the decoupling matrix, which can be used to calculate the actual six-component force status of the wheel at this time. The decoupling matrix compares the loads in the six directions with the target six-component force respectively. The decoupling matrix outputs electrical signals to the actuator; The wheels are driven again by the actuator; Monitor the values ​​of 8 sensors on the wheels; This closed-loop control is repeated, and finally the control effect with the six-component force of the wheel is achieved; The calculation method of the decoupling matrix is ​​as follows: when the wheel does not rotate, the displacements D1 and Dr of the two Z-direction actuators (26) are equal; then the wheel longitudinal force is Fx, the wheel lateral force is Fy1+Fy2+Fy3, the wheel vertical displacement is (D1+Dr) / 2, the vertical force is Fz1+Fz2, the wheel braking force is (Fz1-Fz2)*L3, the wheel steering torque is (Fy1-Fy2)*L1, and the wheel ground contact torque is (Fy1+Fy2)*L4-Fy3*L5; When the wheel rotates, assuming the rotation angle is a, the wheel vertical force remains unchanged, the wheel longitudinal force is Fx*cos(a), the wheel lateral force is Fy1+Fy2+Fy3, the wheel vertical displacement is (Dl+Dr) / 2, the wheel braking force is (Fz1-Fz2)*L3+Fx*sin(a)*L2*cos(a), and the wheel steering torque is The wheel contact point torque is where a = (Dl - D r ) / 2 / 2 / π / L3 * 360; L1: the horizontal distance between the center point of any Y-direction force sensor (214) at the upper end and the center point of the wheel side connection device (211); L2: horizontal distance between the center point of the X-direction force sensor (215) and the center point of the wheel side connection device (211); L3: horizontal distance between the center line of the Z-direction force sensor (28) and the center point of the wheel side connection device (211); L4: the vertical distance between the center point of any Y-direction force sensor (214) at the upper end and the center point of the wheel side connection device (211); L5: vertical distance between the center point of the lower end Y-direction force sensor (214) and the center point of the wheel side connection device (211); b: the angle between the line connecting the center point of any Y-direction force sensor (214) at the upper end and the center point of the wheel side connecting device (211) and the horizontal line; Correct the decoupling matrix by taking the second derivative of the wheel vertical displacement (Dl+Dr) / 2 to obtain the vertical acceleration A, which is then multiplied by the corrected mass M to obtain the true vertical load Fz1+Fz2-MA. When the system is in static testing or not moving, MA is 0; Each set of three-axis loading mechanism (2) includes a wheel-side six-component force decoupling device (21), an X-axis loading long rod (22), three Y-axis loading long rods (23), an X-axis loading actuator (24), three Y-axis loading actuators (25), two Z-axis actuators (26), two Z-axis displacement sensors (27) and two Z-axis force sensors (28); the fixed foundation (3) includes a platform foundation (31), a platform foundation groove (32), a platform building platform (33), four slide rails (34) and eight Z-axis actuator synchronous adjustment motors (35); the upper end of each Z-axis actuator (26) is connected in sequence to a Z-axis displacement sensor (27) and a Z-axis force sensor (28); the upper end of the Z-axis force sensor (28) and the lower end of the Z-axis actuator (26) are respectively universally connected to the lower end surface of the side wall of the wheel-side six-component force decoupling device (21) and the upper end of the Z-axis actuator synchronous adjustment motor (35); The wheel side six-component force decoupling device (21) comprises a wheel side connection device (211), a wheel side six-component force decoupling device connection plate (212), an axle housing connection plate (213), three Y-direction force sensors (214) and an X-direction force sensor (215); the three Y-direction force sensors (214) are respectively and evenly fixed on the circumference of the rear end surface of the circular perforated outer edge of the wheel side connection device (211), and the X-direction force sensor (215) is fixed to the middle of the left side wall or the right side wall of the wheel side connection device (211).

2. A chassis load-bearing system verification mechanism, characterized in that: Used to implement the chassis load-bearing system verification method described in claim 1; The chassis bearing system verification mechanism includes bearing system Y-direction and Z-direction displacement mechanisms (1), four sets of three-direction loading mechanisms (2) and a fixed foundation (3); The Y-direction and Z-direction displacement mechanisms (1) of the bearing system and the four sets of three-direction loading mechanisms (2) are respectively fixed on a fixed foundation (3); A sinking groove is provided in the middle of the fixed foundation (3), and four sets of three-directional loading mechanisms (2) are divided into two groups, two of which are fixed to the upper end surfaces of the fixed foundation (3) on the front and rear sides of the sinking groove in a symmetrical manner along the Y direction, and the two sets of three-directional loading mechanisms (2) in the same group are symmetrically arranged in the left and right directions; the lower end of the Z-direction loading actuator on the free end of each set of three-directional loading mechanisms (2) can be slidably matched with the bottom of the sinking groove in the Y direction; the X-direction loading actuator of each set of three-directional loading mechanisms (2) is fixedly connected to the upper end surface of the fixed foundation (3) on the left or right side of the sinking groove at one end away from the sinking groove; The free ends of the four sets of three-directional loading mechanisms (2) are all located between the sunken grooves of the fixed foundation (3) and the upper end surfaces of the Y-direction and Z-direction displacement mechanisms (1) of the bearing system at corresponding positions.

3. A chassis load-bearing system verification mechanism according to claim 2, characterized in that: The Y-direction and Z-direction displacement mechanism (1) of the bearing system comprises four mechanism vertical beams (11), two left and right Z-direction sliding cross beams (12), two front and rear Y-direction sliding longitudinal beams (13), four Z-direction adjustment motors (14) and four Y-direction adjustment motors (15); the four mechanism vertical beams (11) are respectively fixed to the upper end surface of the fixed foundation (3) outside the four corners of the sunken groove; the left and right Z-direction sliding cross beams (12) are respectively corresponding to the vertical sliding arrangement between the two mechanism vertical beams (11) on the same side; the front and rear Y-direction sliding longitudinal beams (13) are respectively horizontally forward and backward. The sliding mechanism is arranged between the left and right Z-direction sliding beams (12); four Z-direction adjustment motors (14) are respectively arranged on the upper end surfaces of the four mechanism vertical beams (11), and the two Z-direction adjustment motors (14) on the same side are respectively connected to the front and rear ends of a Z-direction sliding beam (12) on the same side through screw threads; four Y-direction adjustment motors (15) are respectively fixed to the front and rear ends of the inner side walls of the left and right Z-direction sliding beams (12), and the two Y-direction adjustment motors (15) on the same side are respectively connected to the same side end of an adjacent Y-direction sliding longitudinal beam (13) through screw threads.

4. A chassis load-bearing system verification mechanism according to claim 3, characterized in that: The lower end of each mechanism vertical beam (11) is fixedly connected to a horizontal connecting surface (16); a reinforcing support plate (17) is provided between the outer side wall of the mechanism vertical beam (11) and the upper end surface of the corresponding horizontal connecting surface (16); a weight-reducing hole is provided on the reinforcing support plate (17); the lower end surface of the horizontal connecting surface (16) is fixed to the upper end surface of the fixed foundation (3); the contact surface between each mechanism vertical beam (11) and the corresponding sliding Z-direction sliding beam (12) and the contact surface between each Z-direction sliding beam (12) and the corresponding sliding Y-direction sliding longitudinal beam (13) are respectively provided with matching sliding guide grooves and sliders.

5. The chassis load-bearing system verification mechanism according to claim 4, characterized in that: Each set of three-direction loading mechanism (2) comprises a wheel side six-component force decoupling device (21), an X-direction loading long rod (22), three Y-direction loading long rods (23), an X-direction loading actuator (24), three Y-direction loading actuators (25), two Z-direction actuators (26), two Z-direction displacement sensors (27) and two Z-direction force sensors (28); one end of the X-direction loading long rod (22) and one end of the three Y-direction loading long rods (23) are respectively universally connected to the wheel side six-component force decoupling device (21), an X-direction loading long rod (22), three Y-direction loading long rods (23), an X-direction loading actuator (24), three Y-direction loading actuators (25), two Z-direction actuators (26), two Z-direction displacement sensors (27) and two Z-direction force sensors (28); one end of the X-direction loading long rod (22) and one end of the three Y-direction loading long rods (23) are universally connected to the wheel side six-component force decoupling device (21), an X-direction loading long rod (22), three Y-direction loading long rods (23), two Z-direction displacement sensors (27) and two Z-direction force sensors (28) The side end wall and rear end face of the force decoupling device (21), the X-direction loading actuator (24) and the three Y-direction loading actuators (25) are universally connected to the other end of the X-direction loading long rod (22) and the other end of the three Y-direction loading long rods (23), and the X-direction loading actuator (24) and the three Y-direction loading actuators (25) are fixed to the upper end face of the fixed foundation (3); the fixed foundation (3) includes a platform foundation (31), a platform foundation groove (32), a platform building platform ( 33), four slide rails (34) and 8 Z-direction actuator synchronous adjustment motors (35); the platform foundation groove (32) is set in the middle of the upper end surface of the platform foundation (31), and the four slide rails (34) are set in the middle of the bottom of the platform foundation groove (32) parallel to the Y direction. The platform is built on the platform (33) across the four slide rails (34) in the X direction. Every two Z-direction actuator synchronous adjustment motors (35) are respectively slidably connected to one slide rail (34), and each Z-direction actuator synchronous adjustment motor (35) is connected to a slide rail (34). The actuator synchronous adjustment motor (35) slides in the Y direction on a slide rail (34) exposed outside the platform (33) of the stand; the upper end of each Z-direction actuator (26) is connected in sequence to a Z-direction displacement sensor (27) and a Z-direction force sensor (28); the upper end of the Z-direction force sensor (28) and the lower end of the Z-direction actuator (26) are respectively universally connected to the lower end surface of the side wall of the wheel side six-component force decoupling device (21) and the upper end of the Z-direction actuator synchronous adjustment motor (35).

6. The chassis load-bearing system verification mechanism according to claim 5, characterized in that: The wheel side six-component force decoupling device (21) comprises a wheel side connection device (211), a wheel side six-component force decoupling device connection plate (212), an axle housing connection plate (213), three Y-direction force sensors (214) and an X-direction force sensor (215); the wheel side connection device (211) is a block body with a Y-shaped structure as a whole, a circular through-hole is provided in the middle of the plane of the block body with the Y-shaped structure, the axle housing connection plate (213) and the wheel side six-component force decoupling device connection plate (212) are respectively coaxially sleeved and fixed on the front and rear end surfaces of the wheel side connection device (211) where the circular through-hole is located, the three Y-direction force sensors (214) are respectively and evenly fixed on the circumference of the rear end surface of the outer edge of the circular through-hole of the wheel side connection device (211), and the X-direction force sensor (215) is fixed on the middle of the left side wall or the right side wall of the wheel side connection device (211).

7. A chassis load-bearing system verification mechanism according to claim 6, characterized in that: The X-direction loading actuator (24) includes an X-direction actuator fixing bracket (241), the X-direction loading actuator (24) is fixed to the upper end surface of the fixed foundation (3) through the X-direction actuator fixing bracket (241), and the two ends of the X-direction loading long rod (22) are respectively connected to the X-direction force sensor (215) and the front end ball head of the X-direction loading actuator (24); three Y-direction loading actuators (25) are fixed to the upper end surface of the fixed foundation (3) through a Y-direction actuator fixing bracket, and the three Y Three Y-direction force sensors (214) aligned with the Y-direction loading actuator (25) are fixed on a Y-direction actuator fixing bracket, and the two ends of each Y-direction loading long rod (23) are respectively connected to the aligned Y-direction force sensor (214) and the front end ball head of the Y-direction loading actuator (25); the lower end ball heads of the two Z-direction actuators (26) are connected to a Z-direction actuator adjustment base plate, and the Z-direction actuator adjustment base plate is fixed to the upper ends of the aligned two Z-direction actuator synchronous adjustment motors (35).

8. The chassis load-bearing system verification mechanism according to claim 7, characterized in that: The X-direction loading rod (22) comprises two X-direction ball head seats (221) and an X-direction long rod (222) with ball heads at both ends. The two X-direction ball head seats (221) are fixedly connected to the front end of the X-direction force sensor (215) and the X-direction loading actuator (24), respectively. The two ends of the X-direction long rod (222) with ball heads at both ends are respectively connected to the ball heads of the two X-direction ball head seats (221). The structure of each Y-direction loading rod (23) is exactly the same as that of the X-direction loading rod (22). Each Y-direction loading rod (23) comprises a Y-direction ball head seat (231) and a Y-direction long rod (232) with ball heads at both ends. The two Y-direction ball head seats (231) The Y-direction force sensor (214) and the front end of the Y-direction loading actuator (25) are fixedly connected respectively, and the two ends of the Y-direction long rod (232) with ball heads at both ends are respectively connected to the ball heads of the two Y-direction ball head seats (231); each Z-direction actuator (26) includes two Z-direction ball head seats (261) and a Z-direction actuator body (262) with ball heads at both ends. The two Z-direction ball head seats (261) are fixedly connected to the lower end surface of one side wall of the aligned wheel side connection device (211) and the Z-direction actuator adjustment base plate respectively, and the Z-direction actuator body (262) with ball heads at both ends is respectively connected to the ball heads of the two Z-direction ball head seats (261).

9. The chassis load-bearing system verification mechanism according to claim 8, characterized in that: The invention also includes a commercial vehicle double rear axle chassis bearing system (4), which includes a chassis bearing system (41) and a fixing fixture (42); the fixing fixture (42) is arranged above the chassis bearing system (41); each shaft head (411) of the chassis bearing system (41) is connected and fixed to the corresponding wheel side six-component force decoupling device (21) through a wheel side six-component force decoupling device connecting plate (212) and an axle housing connecting plate (213); and the fixing fixture (42) is screwed to the lower end surfaces of the front and rear two Y-direction sliding longitudinal beams (13) through bolts.

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