Wheel retraction device and test vehicle for smart car real vehicle testing

Abstract

The present invention discloses a wheel retracting device for real vehicle testing of intelligent vehicles, which relates to the technical field of intelligent vehicle manufacturing, and mainly includes a telescopic device, a connecting arm, a rocker arm and a rocker arm shaft. The telescopic device is fixedly arranged on the vehicle body; the connecting arm is rotatably connected to the output end of the telescopic device; one end of the rocker arm is hinged to the end of the connecting arm away from the telescopic device; the rocker arm shaft is rotatably arranged on the vehicle body and placed horizontally and perpendicular to the rocker arm, the end of the rocker arm away from the connecting arm is fixedly connected to the rocker arm shaft, and a wheel is fixedly arranged on the rocker arm shaft. The present invention also discloses a test vehicle, including wheels, a vehicle body and the wheel retracting device for real vehicle testing of intelligent vehicles as described above. The telescopic device, the connecting arm, the rocker arm and the rocker arm shaft of the present invention form a concentric crank slider mechanism, which can protect the wheel subsystem from damage during the collision of the test vehicle and is flexible in operation.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent automobile manufacturing, and in particular to a wheel retracting device and a test vehicle for real vehicle testing of an intelligent automobile. Background Art

[0002] Before smart cars are officially put on the road, they need to meet certain safety technical requirements and vehicle control performance requirements, which inevitably requires smart cars to undergo sufficient performance and safety tests that comply with legal and regulatory standards. As one of the important participants in smart car testing, the test car is mainly used to test whether the smart vehicle can identify the corresponding test vehicle speed, distance, lane information and other information under various driving conditions with other vehicles around it, and make corresponding acceleration, deceleration, lane change and parking operations. Today's test cars mostly use target platform dummy cars, which integrate all parts except the body into a box (car body) less than 20cm high. The box is built with car-shaped balloons or foam boards, which can greatly reduce the losses caused by the collision of the two cars. However, the wheel subsystem is exposed to the body and in contact with the ground during the operation of the target platform dummy car, which will cause damage to the wheel subsystem during the collision. Therefore, a wheel retraction device and test car for smart car real car testing are needed to protect the wheel subsystem from damage during the collision of the test car. Summary of the invention

[0003] The purpose of the present invention is to provide a wheel retraction device and a test vehicle for real vehicle testing of an intelligent vehicle, so as to solve the problems existing in the above-mentioned prior art, and to protect the wheel subsystem from damage during the collision of the test vehicle and to operate flexibly.

[0004] To achieve the above object, the present invention provides the following solutions:

[0005] The present invention provides a wheel retracting device for real vehicle testing of an intelligent vehicle, comprising:

[0006] A telescopic device, wherein the telescopic device is fixedly arranged on the vehicle body;

[0007] A connecting arm, the connecting arm being rotatably connected to the output end of the telescopic device;

[0008] A rocker arm, one end of which is hinged to an end of the connecting arm away from the telescopic device;

[0009] A rocker shaft is rotatably arranged on the vehicle body and is placed horizontally and perpendicular to the rocker arm. One end of the rocker arm away from the connecting arm is fixedly connected to the rocker shaft, and a wheel is fixedly arranged on the rocker shaft.

[0010] Preferably, it also includes a connecting rod shaft, which is arranged parallel to the rocker arm shaft and is rotatably connected to the output end of the telescopic device, and one end of the connecting arm close to the telescopic device is fixedly connected to the connecting rod shaft.

[0011] Preferably, two connecting arms are provided and are respectively fixed to two ends of the connecting rod shaft.

[0012] Preferably, a first pulley is provided on the connecting rod shaft, and the first pulley is connected to the wheel axle of the wheel through a synchronous belt.

[0013] Preferably, it also includes a pulley bracket, which is fixedly arranged on the connecting rod shaft, the first pulley is rotatably arranged on the pulley bracket, two first pulleys are sequentially arranged on the connecting rod shaft, and the angle between the center line of the pulley bracket and the center line of the connecting arm is 64°-68°, and second pulleys are arranged at both ends of the wheel shaft, and the two second pulleys are respectively connected to the two first pulleys through the synchronous belt, and the two ends of the wheel shaft are fixed to the rocker arm shaft through the wheel connecting arm.

[0014] Preferably, the angle between the wheel connecting arm and the rocker arm is 18°-22°, and the wheel connecting arm and the rocker arm are the same in length.

[0015] Preferably, the telescopic device comprises a cylinder and a clamp, and the clamp is fixedly connected to the end of the piston rod of the cylinder.

[0016] Preferably, the telescopic device also includes a fastening block, a locking nut and a reinforcing nut, the clamp includes two semi-annular hoops arranged opposite to each other, and locking plates are provided at both ends of the semi-annular hoops, one end of the fastening block is provided with a groove, and the locking plate at the end of the clamp close to the telescopic device can extend into the groove and lock, the piston rod of the cylinder is threaded, the other end of the fastening block is set as a threaded column and is the same as the thread of the piston rod, part of the locking nut is threadedly sleeved on the piston rod, and the other part is threadedly sleeved on the threaded column of the fastening block, and the reinforcement nut is threadedly sleeved on the piston rod and abuts against the end of the locking nut away from the fastening block.

[0017] Preferably, it further comprises two brackets, the bottom of the bracket is fixedly arranged on the vehicle body, the top is provided with a through hole, the axis of the through hole is parallel to the axis of the wheel, and the two ends of the rocker shaft are rotatably connected to the two brackets through bearings.

[0018] The present invention also provides a test vehicle, comprising wheels, a vehicle body and the wheel retracting device for real vehicle testing of the smart car as described above.

[0019] Compared with the prior art, the present invention has achieved the following technical effects:

[0020] The telescopic device of the present invention is fixedly arranged on the vehicle body, the connecting arm is rotatably connected to the output end of the telescopic device, one end of the rocker arm is hinged to the end of the connecting arm away from the telescopic device, the rocker arm shaft is rotatably arranged on the vehicle body and is placed horizontally and perpendicular to the rocker arm, the end of the rocker arm away from the connecting arm is fixedly connected to the rocker arm shaft, and a wheel is fixedly arranged on the rocker arm shaft. The telescopic device, the connecting arm, the rocker arm and the rocker arm shaft form a concentric crank slider mechanism, which has a simple and compact structure and a small size, and is easy to arrange in a vehicle body with a narrow space. When the vehicle body does not collide, it can provide sufficient support force to ensure sufficient ground clearance. When a collision occurs, the wheel can be automatically retracted into the vehicle body under the action of the vehicle-mounted control system, so that the vehicle body bottom plate with greater mechanical strength and a flat surface contacts the ground to protect the integrity of the wheel subsystem structure and performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 A schematic diagram of a wheel retracting device assembly for a smart car real vehicle test in an embodiment of the present invention;

[0023] Figure 2 It is an assembly diagram of a wheel retracting device assembly for a smart car real vehicle test in an embodiment of the present invention;

[0024] Figure 3 This is a schematic diagram of the structure of the telescopic device in an embodiment of the present invention;

[0025] Figure 4 It is a front view of the fastening block in the embodiment of the present invention;

[0026] Figure 5 It is a left side view of the fastening block in the embodiment of the present invention;

[0027] Figure 6 This is a front view of a clamp in an embodiment of the present invention;

[0028] Figure 7 A top view of a clamp in an embodiment of the present invention;

[0029] Figure 8 It is a schematic diagram of the connection between the connecting arm and the connecting rod shaft (including the first pulley and the pulley bracket) in an embodiment of the present invention;

[0030] Fig. 9 It is a schematic diagram of the structure in which the rocker arm and the wheel connecting arm are fixed on the rocker arm shaft in an embodiment of the present invention;

[0031] Fig.10 1 is a parts diagram of a bracket according to an embodiment of the present invention;

[0032] Fig.11 It is an assembly diagram of a wheel retracting device assembly for a real vehicle test of a smart car when the wheel is grounded in an embodiment of the present invention;

[0033] Fig.12 It is an assembly diagram of the wheel retracting device assembly for a real vehicle test of a smart car when the wheel is retracted in an embodiment of the present invention.

[0034] In the figure: 1- telescopic device; 101- cylinder; 102- reinforcement nut; 103- locking nut; 104- fastening block; 1041- threaded column; 1042- first fastening hole; 105- clamp; 1051- second fastening hole; 2- connecting arm; 3- rocker arm; 4- bracket; 5- wheel; 6- connecting rod shaft; 7- first pulley; 8- pulley bracket; 9- rocker arm shaft; 10- wheel connecting arm; 401- through hole; 402- bracket fixing hole; 11- vehicle body; 12- second pulley. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] The purpose of the present invention is to provide a wheel retracting device and a test vehicle for real vehicle testing of an intelligent vehicle, so as to solve the problems existing in the prior art, and to protect the wheel subsystem from damage during the collision of the test vehicle and to operate flexibly.

[0037] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0038] Embodiment 1

[0039] like Figure 1-Figure 12As shown, the present invention provides a wheel retracting device for real vehicle testing of an intelligent vehicle, comprising a telescopic device 1, a connecting arm 2, a rocker arm 3 and a rocker arm shaft 9, wherein the telescopic device 1 is fixedly arranged on a vehicle body 11; the connecting arm 2 is rotationally connected to the output end of the telescopic device 1; one end of the rocker arm 3 is hinged to the end of the connecting arm 2 away from the telescopic device 1; preferably, the rocker arm 3 is connected to the connecting arm 2 through a pin and a graphite bushing, and the graphite bushing has good self-lubrication and wear resistance, can reduce the friction and wear between the pin and the connection part, and prolong the service life of the connection component, and at the same time, the graphite bushing can also withstand a certain impact load, thereby improving the impact resistance of the connection. The cooperation of the pin and the graphite bushing can achieve a high-precision hinged connection. The diameter and length of the pin can be precisely designed and processed according to the specific connection requirements to ensure the cooperation accuracy with the connecting hole. The inner diameter of the graphite bushing can also be precisely matched with the pin to reduce clearance and looseness, improve the accuracy and stability of the connection, and ensure that the movement between the connecting arm 2 and the rocker arm 3 is smoother and more accurate, reducing errors and vibrations caused by loose connections or insufficient accuracy. The rocker shaft 9 is rotatably set on the vehicle body 11 and is placed horizontally and perpendicular to the rocker arm. The end of the rocker arm 3 away from the connecting arm 2 is fixedly connected to the rocker shaft 9, and the wheel 5 is fixedly set on the rocker shaft 9. The telescopic device 1, the connecting arm 2, the rocker arm 3 and the rocker arm shaft 9 form a concentric crank slider mechanism, which has a simple and compact structure and a small size, and is easy to arrange in a vehicle body 11 with a small space. Compared with some traditional linear suspension or drive connection methods, the hinged and rotating connections between the various components make the overall structure more compact, and the telescopic device 1, the connecting arm 2, the rocker arm 3 and the rocker arm shaft 9 are relatively flexible, so that the operation of the wheel retraction device of the smart car actual vehicle test is more flexible. When the vehicle body 11 does not collide, it can provide sufficient supporting force to ensure sufficient ground clearance. When a collision occurs, the wheel can be autonomously retracted into the vehicle body 11 under the action of the on-board control system, so that the bottom plate of the vehicle body 11 with greater mechanical strength and a flat surface is in contact with the ground to protect the integrity of the wheel subsystem structure and performance.

[0040] In some embodiments, the wheel retracting device of the smart car actual vehicle test further includes a connecting rod shaft 6, which is arranged parallel to the rocker shaft 9 and is rotatably connected to the output end of the telescopic device 1, and one end of the connecting arm 2 close to the telescopic device 1 is fixedly connected to the connecting rod shaft 6. The connecting rod shaft 6 is arranged parallel to the rocker shaft 9, providing a more stable connection point for the connecting arm 2. One end of the connecting arm 2 is fixed to the connecting rod shaft 6, and the other end is hinged to the rocker 3. This structure makes the connecting arm 2 more stable and reliable when transmitting force and moving. Compared with a single rotation connection, the fixed connection mode of the connecting rod shaft 6 can reduce the shaking and deformation of the connecting arm 2 during the movement, and improve the structural stability of the entire device. At the same time, the connecting rod shaft 6 is rotatably connected to the output end of the telescopic device 1, so that the force output by the telescopic device 1 can be more smoothly transmitted to the connecting arm 2, and the force transmission is more direct and efficient during the process of wheel retraction and extension. Since the connecting rod shaft 6 is parallel to the rocker shaft 9, the direction of force transmission is clearer, which reduces the energy loss and component wear caused by the change in the direction of force.

[0041] In some embodiments, two connecting arms 2 are provided and are respectively fixed at both ends of the connecting rod shaft 6. The two connecting arms 2 are respectively fixed at both ends of the connecting rod shaft 6. When the wheel is subjected to forces from different directions, the forces can be more evenly distributed on the connecting rod shaft 6. The design of the two connecting arms 2 can also increase the stability of the entire device. The connecting arms 2 and the connecting rod shaft 6 form a stable frame structure, which can better resist the influence of dynamic forces, reduce the shaking and vibration of the device, and improve the stability of the wheel movement.

[0042] It should be noted that, in some feasible cases, only one connecting arm 2 may be provided, suspended above or below the wheel and hinged to the rocker arm. However, with this arrangement, the stability of the wheel is not as good as when two connecting arms 2 are provided.

[0043] In some embodiments, a first pulley 7 is provided on the connecting rod shaft 6, and the first pulley 7 is connected to the wheel shaft of the wheel through a synchronous belt, which can maintain the movement trajectory of the wheel. The first pulley 7 is connected to the wheel shaft through a synchronous belt, which can achieve precise synchronous transmission, thereby accurately controlling the movement trajectory of the wheel. Whether in the process of wheel retraction or extension, it can ensure that the wheel moves according to the predetermined path.

[0044] In some embodiments, the wheel retraction device of the smart car actual vehicle test also includes a pulley bracket 8, the pulley bracket 8 is fixedly arranged on the connecting rod shaft 6, and the first pulley 7 is rotatably arranged on the pulley bracket 8. Two first pulleys 7 are arranged on the connecting rod shaft 6 in sequence, and the angle between the axis of the pulley bracket 8 and the axis of the connecting arm 2 is 64°-68°. The synchronous belt is a belt. Since the synchronous belt has a certain elasticity, it can adapt to slight deformations and can stretch and retract to a small extent. Within this angle range, the pulley bracket 8 can ensure the tension and transmission efficiency of the synchronous belt. This reasonable angle design can also reduce the bending degree of the synchronous belt, reduce the wear and energy loss of the synchronous belt, and improve the service life of the transmission system. The angle between the axis of the pulley bracket 8 and the axis of the connecting arm 2 is preferably 66°. The installation angle of 66° can ensure that the belt is always in a tensioned state and will not interfere with the frame. Second pulleys 12 are provided at both ends of the wheel axle. The two second pulleys 12 are respectively connected to the two first pulleys 7 through synchronous belts, and the two ends of the wheel axle are fixed to the rocker shaft 9 through the wheel connecting arm 10. The double pulley design increases the stability and reliability of the transmission. On the one hand, the two pulleys can share the load of the transmission and reduce the wear and fatigue of a single pulley; on the other hand, the double pulley transmission can better balance the forces on both sides of the wheel to avoid the deflection or instability of the wheel during movement.

[0045] In some embodiments, the angle between the wheel arm 10 and the rocker arm 3 is 18°-22°, preferably 20°, and the wheel arm 10 and the rocker arm 3 have the same length. Since the wheel 5 and the second pulley 12 are connected by bolts, this angle can provide space for the installation of the bolts. Moreover, a certain angle range can also enable the wheel arm 10 and the rocker arm 3 to withstand forces from different directions, which can ensure the uniformity of force to a certain extent. At the same time, since the angle and length are relatively fixed, the installer can more easily determine the position and installation order of each component.

[0046] In some embodiments, the telescopic device 1 includes a cylinder 101 and a clamp 105, and the clamp 105 is fixedly connected to the end of the piston rod of the cylinder 101. The clamp 105 is used to realize a rotational connection with the connecting rod shaft 6, which not only ensures the connection strength between the telescopic device 1 and the connecting rod shaft 6, but also allows relative rotation between the two.

[0047] In some embodiments, the telescopic device 1 further includes a fastening block 104, a locking nut 103 and a reinforcing nut 102, the clamp 105 includes two semi-annular hoops arranged opposite to each other, and locking plates are arranged at both ends of the semi-annular hoops, one end of the fastening block 104 is provided with a groove, the groove is provided with a first fastening hole 1042, and the locking plate is provided with a corresponding second fastening hole 1051, and the bolt passes through the first fastening hole 1042 on the groove and the second fastening hole 1051 on the locking plate in sequence to fasten the clamp 1 05 is locked on the fastening block 104, and the locking plate of the clamp 105 at one end close to the telescopic device 1 can be inserted into the groove and locked. The piston rod is threaded, and the other end of the fastening block 104 is set as a threaded column 1041 and is the same as the thread of the piston rod. The locking nut 103 is partially threaded on the piston rod, and the other part is threaded on the threaded column 1041 of the fastening block 104. The reinforcing nut 102 is threaded on the piston rod and abuts against the end of the locking nut 103 away from the fastening block 104. The locking nut 103 is partially threaded on the piston rod, and the other part is threaded on the threaded column 1041 of the fastening block 104. By tightening the locking nut 103, the piston rod, the fastening block 104 and the clamp 105 can be tightly combined to withstand various forces from the wheels and the vehicle during driving. The reinforcing nut 102 is threadedly sleeved on the piston rod and abuts against an end of the locking nut 103 away from the fastening block 104, further preventing the locking nut 103 from loosening and ensuring the stability of the connection.

[0048] In some embodiments, the wheel retracting device for the actual vehicle test of the smart car further includes two brackets 4, the bottom of the bracket 4 is provided with a bracket fixing hole 402, and the bolt passes through the bracket fixing hole 402 to fix the bracket 4 to the car body 11, and the top is provided with a through hole 401, the axis of the through hole 401 is parallel to the axis of the wheel 5, that is, the axial direction of the through hole 401 is the same as the length direction of the wheel axis, and the two ends of the rocker shaft 9 are respectively rotatably connected to the two brackets 4 through bearings. The design of the two brackets 4 makes the installation of the wheel retracting device for the actual vehicle test of the smart car more convenient and quick. During the installation process, the bracket 4 can be first fixed to the car body 11, and then the rocker shaft 9 can be installed on the bracket 4 through the bearing.

[0049] Embodiment 2

[0050] This embodiment also provides a test vehicle, comprising wheels 5, a vehicle body 11, and a wheel retracting device for the smart car real vehicle test as described in the first embodiment.

[0051] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A wheel retracting device for real vehicle testing of an intelligent vehicle, characterized in that: include A telescopic device, wherein the telescopic device is fixedly arranged on the vehicle body; A connecting arm, the connecting arm being rotatably connected to the output end of the telescopic device; A rocker arm, one end of which is hinged to an end of the connecting arm away from the telescopic device; A rocker shaft, the rocker shaft is rotatably arranged on the vehicle body and is placed horizontally and perpendicular to the rocker arm, one end of the rocker arm away from the connecting arm is fixedly connected to the rocker shaft, and a wheel is fixedly arranged on the rocker shaft; A connecting rod shaft, the connecting rod shaft is arranged parallel to the rocker arm shaft and is rotatably connected to the output end of the telescopic device, one end of the connecting arm close to the telescopic device is fixedly connected to the connecting rod shaft and a first pulley is arranged on the connecting rod shaft, and the first pulley is connected to the wheel shaft of the wheel through a synchronous belt; A pulley bracket, wherein the pulley bracket is fixedly arranged on the connecting rod shaft, the first pulley is rotatably arranged on the pulley bracket, the angle between the center line of the pulley bracket and the center line of the connecting arm is 64°-68°, a second pulley is arranged at the end of the wheel shaft, the second pulley is connected to the first pulley through the synchronous belt, and the end of the wheel shaft is fixed to the rocker arm shaft through the wheel connecting arm.

2. The wheel retracting device for real vehicle testing of a smart car according to claim 1 is characterized in that: The connecting arms are provided with two and are respectively fixed at two ends of the connecting rod shaft.

3. The wheel retracting device for real vehicle testing of a smart car according to claim 1, characterized in that: Two first pulleys are sequentially arranged on the connecting rod shaft, and second pulleys are arranged at both ends of the wheel shaft. The two second pulleys are respectively connected to the two first pulleys through the synchronous belt, and the two ends of the wheel shaft are fixed to the rocker arm shaft through wheel connecting arms.

4. The wheel retracting device for real vehicle testing of a smart car according to claim 3 is characterized in that: The included angle between the wheel connecting arm and the rocker arm is 18°-22°, and the wheel connecting arm and the rocker arm have the same length.

5. The wheel retracting device for real vehicle testing of a smart car according to claim 1, characterized in that: The telescopic device comprises a cylinder and a clamp, and the clamp is fixedly connected to the end of the piston rod of the cylinder.

6. The wheel retracting device for real vehicle testing of a smart car according to claim 5, characterized in that: The telescopic device also includes a fastening block, a locking nut and a reinforcing nut. The clamp includes two semi-annular hoops arranged opposite to each other, and locking plates are arranged at both ends of the semi-annular hoops. One end of the fastening block is provided with a groove, and the locking plate at the end of the clamp close to the telescopic device can extend into the groove and lock. The piston rod of the cylinder is threaded, and the other end of the fastening block is arranged as a threaded column and is the same as the thread of the piston rod. Part of the locking nut is threadedly sleeved on the piston rod, and the other part is threadedly sleeved on the threaded column of the fastening block. The reinforcement nut is threadedly sleeved on the piston rod and abuts against the end of the locking nut away from the fastening block.

7. The wheel retracting device for real vehicle testing of a smart car according to claim 1, characterized in that: It also includes two brackets, the bottom of which is fixedly arranged on the vehicle body, and the top is provided with a through hole, the axis of the through hole is parallel to the axis of the wheel, and the two ends of the rocker shaft are rotatably connected to the two brackets through bearings.

8. A test vehicle, characterized in that: The invention comprises a wheel, a vehicle body and a wheel retracting device for real vehicle testing of a smart vehicle as claimed in any one of claims 1 to 7.

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