Sliding steering test platform and test vehicle thereof

Abstract

The utility model provides a sliding steering test platform and a test vehicle thereof. The sliding steering test platform comprises a power output shaft, a measuring shaft, a sensor group and a signal transmission circuit, the first end of the power output shaft is fixedly connected with the first end of the measuring shaft, the power output shaft drives the measuring shaft and moves synchronously with the measuring shaft, and the second end of the power output shaft is fixedly connected with a driving motor for driving a vehicle; the first end of the power output shaft and the first end of the measuring shaft are fixedly connected and move synchronously. The sensor group is fixedly connected with the second end of the measuring shaft; the sensor group is electrically connected with the signal transmission circuit used for transmitting and processing signals. According to the utility model, a combined test structure of the measuring shaft and the three-dimensional sensor is designed on the inner side of the vehicle driving shaft, and the structure moves along with the vehicle to be tested, so that field test and data feedback during normal use can be carried out, and the purpose that the vehicle does not depend on a specific test board for detection is achieved.

Description

Technical Field

[0001] The utility model belongs to the technical field of automobile parts detection equipment, and in particular relates to a sliding steering test platform and a test vehicle thereof. Background Art

[0002] In existing vehicle testing, the whole vehicle is generally tested in a test bench. The vehicle needs to be parked on a fixed test bench. When simulating the steering load of the vehicle, most of the current equipment simulates the vehicle steering by installing a steering wheel at the bottom of the bench and then using a set of motors to drive it to move as a whole on a hard ground; or the steering system of the vehicle is directly driven by the steering simulation mechanism (application number 202111672429.1, application date 2021.12.31);

[0003] For vehicles traveling on unpaved roads, the working roads are often rugged and undulating. Conventional test benches or fixed tests have limitations for skid steering tests on unpaved roads because the stress conditions of the four wheels are relatively similar or the positions are relatively fixed. Utility Model Content

[0004] In response to the above technical problems, the utility model designs a joint test structure of a measuring axis and a three-dimensional sensor on the inner side of the vehicle drive shaft. The structure moves with the vehicle to be tested, and can perform field tests and provide data feedback during normal use, thereby achieving the purpose of not relying on a specific test bench for detection of the vehicle.

[0005] The first end of the power output shaft is fixedly connected to the first end of the measuring shaft, the power output shaft drives the measuring shaft and moves synchronously with the measuring shaft, and the second end of the power output shaft is fixedly connected to a driving motor that drives the vehicle;

[0006] The sensor group is fixedly connected to the second end of the measuring shaft; the sensor group is electrically connected to the signal transmission circuit for transmitting and processing signals.

[0007] As an improvement, the sensor group includes: a tension and pressure sensor, a displacement sensor and a torque sensor; the tension and pressure sensor for measuring the tension and pressure exerted on the sliding steering is fixedly connected to the measuring shaft;

[0008] The displacement sensor for measuring the movement is relatively fixed to the measuring axis;

[0009] The torque sensor for outputting torque of the driving motor is fixedly connected to the end of the measuring shaft.

[0010] As an improvement, the skid steering test platform further comprises a plurality of vertical load test platforms; the vertical load test platforms comprise a plurality of wheel bearing racks with adjustable heights and a vertical load sensor;

[0011] A vertical load sensor is installed between the upper surface of the wheel carrier and the wheel.

[0012] As an improvement, the signal transmission circuit includes a sensor signal transmission circuit, and the sensor signal transmission circuit includes: a number of sensor signal processing circuits, a communication gateway;

[0013] The sensors in the sensor group are electrically connected to the sensor signal processing circuits respectively, and the sensor signal processing circuits are electrically connected to the communication gateway.

[0014] As an improvement, the signal transmission circuit further includes a remote control central circuit, and the remote control central circuit includes: a switch, a target simulator, a remote control receiver, a wireless router, and an interactive device;

[0015] The switch, remote control receiver, wireless router, interactive device and the target simulation machine for calculation are electrically connected;

[0016] The switch is wirelessly connected to the sensor signal transmission circuit. A second aspect of the utility model provides a test vehicle adapted to a sliding steering test platform, comprising: a vehicle body, a plurality of wheels, and a steering drive mechanism;

[0017] The wheels are arranged in pairs; a steering drive mechanism is movably connected to at least one pair of slidable and steerable wheels, and the wheels are fixedly connected to the power output shaft.

[0018] The beneficial effect of the utility model is that the utility model achieves the purpose of testing the sliding steering function of the vehicle on complex terrain, such as unpaved roads, by means of a test structure combining a three-dimensional sensor with a wheel drive shaft and the setting of a corresponding circuit. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Partial assembly diagram of the test platform of the embodiment of the present invention;

[0020] Figure 2 The signal transmission circuit of the new embodiment Figure 1 ;

[0021] Figure 3 Assembly diagram of the vertical load test platform of the novel embodiment;

[0022] Figure 4 Circuit diagram of the sensor signal transmission circuit of the new embodiment;

[0023] Figure 5 Circuit diagram of the remote control hub circuit of the new embodiment;

[0024] Figure 6 The servo control circuit of the novel embodiment;

[0025] Figure 7 The signal transmission circuit of the new embodiment Figure 2 ;

[0026] Figure 8 The complete assembly diagram of the test vehicle of the new embodiment;

[0027] Fig. 9 The test vehicle and test platform of the new embodiment are assembled;

[0028] The serial numbers in the above figure mean the following: 1 power output shaft, 2 measuring shaft, 3 sensor group, 4 signal transmission circuit, 5 drive motor, 6 vertical load test platform, 31 tension pressure sensor, 32 displacement sensor, 33 torque sensor. DETAILED DESCRIPTION

[0029] The following examples further illustrate the content of the utility model, but should not be construed as limiting the utility model. Without departing from the spirit and essence of the utility model, modifications or replacements made to the methods, steps or conditions of the utility model are within the scope of the utility model.

[0030] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0031] In Example 1, Figure 1 , Figure 2 , Figure 7 As shown,

[0032] A skid steering test platform, comprising: a power output shaft 1, a measuring shaft 2, a sensor group 3, a signal transmission circuit 4, and a drive motor 5;

[0033] The driving motor 5 for driving the power output shaft 1 to rotate is movably connected to the power output shaft 1, and the driving motor 5 is installed at a position close to the first end of the power output shaft 1;

[0034] The first end of the power output shaft 1 is fixedly connected to the first end of the measuring shaft 2 and moves synchronously;

[0035] The sensor group 3 is fixedly connected to the second end of the measuring shaft 2; the sensor group 3 is electrically connected to the signal transmission circuit 4 for transmitting and processing signals.

[0036] The first end of the power output shaft 1 is fixedly connected to the first end of the measuring shaft 2, the power output shaft 1 drives the measuring shaft 2 and moves synchronously with the measuring shaft 2, and the second end of the power output shaft 1 is fixedly connected to the driving motor 5 that drives the vehicle;

[0037] The sensor group 3 is fixedly connected to the second end of the measuring shaft 2; the sensor group 3 is electrically connected to the signal transmission circuit 4 for transmitting and processing signals.

[0038] In this embodiment:

[0039] The measuring shaft 2 is installed inside the power output shaft 1. The measuring shaft 2 and the power output shaft 1 can be fixedly connected by flange connection, threaded connection, snap connection, etc. The power output shaft 1 drives the measuring shaft 2 to rotate and move together.

[0040] The measuring shaft 2 is connected to the power output shaft 1 , and the sensor group 3 installed on the measuring shaft 2 can measure information such as displacement, rotation speed, tension, pressure, torque, etc. through the measuring shaft 2 .

[0041] The measurement information is processed and transmitted through the signal transmission circuit 4 to form a test signal, and signal processing, data storage, theoretical value comparison and debugging and calibration are performed according to the pre-set program in the circuit. The circuit includes a storage unit (not shown separately in the figure) to store information such as displacement, rotation speed, tension, pressure, torque, etc. measured by the measuring shaft 2; a calculation simulation unit: calculates the difference between the set value and the actual value of the driving force, and the difference between the target value and the actual value of the sliding steering angle; and further adjusts the driving force required for the vehicle wheel sliding steering according to the two differences, and / or further adjusts the target value of the vehicle wheel sliding steering angle.

[0042] The measuring axis 2 can be easily combined with the conventional wheel drive axis to measure displacement, tension pressure, angular displacement, torque and other information; the test platform can be installed with the vehicle, is not affected by terrain factors, and can measure the sliding steering information in complex environments. At the same time, it can measure the vehicle moving speed, drive motor speed and other information.

[0043] In Example 2, Figure 1 As shown:

[0044] In the sliding steering test platform, the sensor group 3 includes: a tension and pressure sensor 31, a displacement sensor 32 and a torque sensor 33; the tension and pressure sensor 31 for measuring the tension and pressure exerted on the sliding steering is fixedly connected to the measuring shaft;

[0045] The displacement sensor 32 for measuring the movement is relatively fixed to the measuring axis;

[0046] The torque sensor 33 for outputting torque from the driving motor 5 is fixedly connected to the end of the measuring shaft 2 .

[0047] In this embodiment:

[0048] Tension and pressure sensor 31, displacement sensor and torque sensor; the tension and pressure sensor is a resistance strain sensor, which is a resistance sensor with a resistance strain gauge as a conversion element. The resistance strain sensor consists of an elastic sensitive element, a resistance strain gauge, a compensation resistor and a shell. It can be designed into a variety of structural forms according to specific measurement requirements, such as S-type, L-type, rectangular, cylindrical, hollow cube, etc., which are easy to install or easy to measure; its specific parameter range can be set by referring to the following Table 1, and the specific range can be selected as 200kg and 300kg;

[0049] Table 1

[0050]

[0051]

[0052] The displacement sensor 32, such as an analog structure type, includes a potentiometer displacement sensor, an inductive displacement sensor, a synchro, a capacitive displacement sensor, an eddy current displacement sensor, a Hall displacement sensor, etc.; or a digital displacement sensor. An important advantage of using a digital displacement sensor is that it is easy to send the signal directly to the computer system, and it can be sleeved or fixedly connected to the measuring shaft.

[0053] The torque sensor 33 converts the physical change of torque into an accurate electrical signal. A special torque measuring strain gauge is pasted on the elastic shaft (measuring shaft) to be measured with strain glue to form a strain bridge. If the working power is provided to the strain bridge, the electrical signal of the elastic shaft being torsion can be tested.

[0054] In Example 3, Figure 3 As shown,

[0055] In the sliding steering test platform, the sliding steering test platform also includes a plurality of vertical load test platforms; the vertical load test platforms include a plurality of wheel bearing racks with adjustable heights and a vertical load sensor;

[0056] A vertical load sensor is installed on the wheel carrier support foot or the upper surface of the wheel carrier.

[0057] In this embodiment:

[0058] The wheel carrier is vertically placed directly below a single wheel, and a vertical load sensor is installed between the upper surface of the wheel carrier and the wheel, or vertical load sensors are installed on a plurality of legs of the wheel carrier.

[0059] The wheel carrier includes a double-layer platform and a plurality of legs. The double-layer platform is fixedly installed with a plurality of legs near the edge. Each layer of the double-layer platform can be a rectangular platform. The legs are installed at the four corners of the rectangular platform. A truncated cone-shaped stabilizing seat is fixed at the lower end of the legs to increase the stability of the legs.

[0060] When the vertical load test platform is in use, the vehicle to be tested (test vehicle) is parked on the wheel carrier, and the vertical load data of each tire of the vehicle is measured and recorded. The height of a single test platform simulates the situation when there is a certain height difference between different tires, and the vertical load distribution under the corresponding situation is measured and recorded to establish a vertical load distribution model; during the sliding steering test, the vehicle can be placed in the actual sliding steering test environment and evacuated from the vertical load test platform; the vertical load test platform can provide data for sliding testing and load distribution calculation; at the same time, the vertical load test platform occupies a small space and has a simple structure.

[0061] In Example 4, Figure 2 , Figure 4 , Figure 7 As shown,

[0062] In the skid steering test platform, the signal transmission circuit 4 includes a sensor signal transmission circuit, and the sensor signal transmission circuit includes: a number of sensor signal processing circuits, a communication gateway;

[0063] The sensors in the measuring axis 3 are electrically connected to the sensor signal processing circuits respectively, and the sensor signal processing circuits are electrically connected to the communication gateway.

[0064] In this embodiment:

[0065] The communication gateway is a wireless gateway or a wired gateway. In the present invention, a wireless gateway is selected to transmit sensor signals.

[0066] In Example 5, Figure 2 , Figure 5 , Figure 7 As shown,

[0067] In the sliding steering test platform, the signal transmission circuit 4 also includes a remote control central circuit, and the remote control central circuit includes: a switch, a target simulator, a remote control receiver, a wireless router, and an interactive device;

[0068] The switch, the remote control receiver, the wireless router, the external display and the target simulation machine for calculation are electrically connected;

[0069] The switch is wirelessly connected to the sensor signal transmission circuit.

[0070] In this embodiment:

[0071] The interactive device displays the simulation status of the target simulator and can modify the preset conditions and motion status;

[0072] The switch is connected via a wireless network and includes: wireless communication modules, such as wifi, bluetooth connection modules, and digital processing equipment.

[0073] In Example 6, Figure 2 , Figure 6 , Figure 7 As shown,

[0074] In the sliding steering test platform, the signal transmission circuit 4 also includes a servo control circuit, and the servo control circuit includes: a plurality of servo controller groups, a driving central controller and a plurality of COM ports;

[0075] The plurality of servo controller groups are connected to the drive central controller via a COM port and are electrically connected to the drive motor 5;

[0076] The servo controller group includes at least one servo controller.

[0077] In this embodiment:

[0078] The wheels of the vehicle to be tested are divided into two groups, and each group of wheels shares a COM port for steering control; each wheel is independently installed with a servo controller; each group of wheels rotates in coordination while ensuring the circuit safety of a single wheel.

[0079] In Example 7, Figure 2 , Figure 6 , Figure 7 As shown,

[0080] The sliding steering test platform, the servo control circuit also includes: a plurality of emergency stop quick switches; a plurality of the emergency stop switches are electrically connected to the servo controller respectively.

[0081] In this embodiment;

[0082] When an emergency occurs in the vehicle to be tested during the test, the emergency stop switch is activated, the servo control circuit is shut down, and the vehicle to be tested brakes to ensure vehicle safety.

[0083] In Example 8, Figure 2 , Figure 7 As shown,

[0084] The sliding steering test platform also includes a voltage-stabilized power supply, which is electrically connected to the sensor group 3, the signal transmission circuit 4, and the drive motor 5.

[0085] In this embodiment:

[0086] The voltage-stabilized power supply provides 24V DC power, or can be set to 48V, 220V and voltage-stabilizing equipment and voltage-regulating equipment according to the situation to power the test platform.

[0087] In Example 9, Figure 1 , Figure 8 , Fig. 9 As shown,

[0088] A test vehicle adapted for the sliding steering test platform as described in Examples 1-8, comprising: a vehicle body, a plurality of wheels, and a steering drive mechanism; the wheels are arranged in pairs; and the steering drive mechanism movably connects at least one pair of sliding and steerable wheels.

[0089] In this embodiment:

[0090] Each wheel is driven and steered independently;

[0091] The vehicle has one or more pairs of slidable and steerable wheels, which are steered by a steering drive mechanism to ensure stable steering and ensure independent and stable operation of the wheels under different force conditions.

[0092] The sensor group 3 is connected to the power output shaft 1 via the measuring shaft 2, such as by means of clamping, flange connection, hot melting, sleeve connection, threaded connection, etc.

[0093] The wheels of the test vehicle are placed on the vertical load test platform.

[0094] In Example 10, Figure 8 , Fig. 9 As shown,

[0095] A skid-steer vehicle comprises a vehicle body, wherein the vehicle body comprises a plurality of mounting slots for mounting visual acquisition devices.

[0096] In this embodiment:

[0097] The visual acquisition device includes an optical radar, a monocular photography device, a binocular photography device, etc.; the new skid-steer vehicle can cooperate with the visual acquisition device to collect visual images of different positions and complete a variety of complex tasks.

[0098] Although the utility model has been described in detail above by means of general description, specific implementation methods and tests, it is obvious to those skilled in the art that some modifications or improvements can be made to the utility model based on the utility model. Therefore, these modifications or improvements made without departing from the spirit of the utility model are within the scope of protection claimed by the utility model.

Claims

1. A skid steering test platform, characterized in that: include: Power output shaft (1), measuring shaft (2), sensor group (3), signal transmission circuit (4); The first end of the power output shaft (1) is fixedly connected to the first end of the measuring shaft (2); the power output shaft (1) drives the measuring shaft (2) and moves synchronously with the measuring shaft (2); and the second end of the power output shaft (1) is fixedly connected to a driving motor (5) that drives the vehicle; The sensor group (3) is fixedly connected to the second end of the measuring shaft (2); the sensor group (3) is electrically connected to the signal transmission circuit (4) for transmitting and processing signals.

2. The skid steering test platform according to claim 1, characterized in that: The sensor group (3) comprises: a tension and pressure sensor (31), a displacement sensor (32) and a torque sensor (33); the tension and pressure sensor (31) for measuring the tension and pressure exerted on the sliding steering is fixedly connected to the measuring shaft; The displacement sensor (32) for measuring the movement amount is fixed relative to the measuring axis; The torque sensor (33) for outputting torque from the drive motor (5) is fixedly connected to the end of the measuring shaft (2).

3. The skid steering test platform according to claim 1, characterized in that: The skid steering test platform also includes a plurality of vertical load test platforms; the vertical load test platforms include a plurality of wheel bearing racks with adjustable heights and a vertical load sensor; A vertical load sensor is installed on the wheel carrier support foot or the upper surface of the wheel carrier.

4. The skid steering test platform according to claim 1, characterized in that: The signal transmission circuit (4) comprises a sensor signal transmission circuit, and the sensor signal transmission circuit comprises: a plurality of sensor signal processing circuits, a communication gateway; The sensors in the sensor group (3) are respectively electrically connected to the sensor signal processing circuits, and the sensor signal processing circuits are electrically connected to the communication gateway.

5. The skid steering test platform according to claim 4, characterized in that: The signal transmission circuit (4) further comprises a remote control central circuit, wherein the remote control central circuit comprises: a switch, a target simulator, a remote control receiver, a wireless router, and an interactive device; The switch, remote control receiver, wireless router, interactive device and the target simulation machine for calculation are electrically connected; The switch is wirelessly connected to the sensor signal transmission circuit.

6. The skid steering test platform according to claim 1, characterized in that: The signal transmission circuit (4) further comprises a servo control circuit, wherein the servo control circuit comprises: a plurality of servo controller groups, a driving central controller and a plurality of COM ports; The plurality of servo controller groups are connected to the drive central controller via a COM port and are electrically connected to the drive motor (5); The servo controller group includes at least one servo controller.

7. The skid steering test platform according to claim 6, characterized in that: The servo control circuit further includes: a plurality of emergency stop switches; the plurality of emergency stop switches are electrically connected to the servo controller respectively.

8. The skid steering test platform according to claim 1, characterized in that: It also includes a voltage-stabilized power supply, which is electrically connected to the sensor group (3), the signal transmission circuit (4), and the drive motor (5).

9. A test vehicle adapted to the skid steering test platform according to any one of claims 1 to 8, characterized in that: include: Car body, several wheels, steering drive mechanism; The wheels are paired in pairs; The steering drive mechanism is movably connected to at least one pair of slidable and steerable wheels.

10. The test vehicle according to claim 9, characterized in that: The vehicle body includes a plurality of mounting slots in which visual acquisition devices can be mounted.

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