A multi-functional chassis test bed

Abstract

This utility model relates to a multifunctional chassis test bench, including a frame module and a wheel system module. The frame module is equipped with a power supply module, a load platform module, and a control system. A torque sensor is mounted on the drive shaft of the wheel system module. The frame module includes a skeleton body, a wheelbase adjustment device, and a track width adjustment device. A wheel system module is located on each side of the track width adjustment device. The load platform module, from bottom to top, includes a base plate, a six-degree-of-freedom platform, and a load hopper. The load hopper contains load weights of various specifications, and a pressure sensor is embedded in the six-degree-of-freedom platform. This application is widely adaptable to various chassis and wheel systems of different specifications, enabling arbitrary adjustment of test track width and wheelbase. Through the load weights in the six-degree-of-freedom platform and load hopper, the rotational speed and torque of each wheel under different center-of-gravity layouts can be fed back, providing comprehensive, accurate, and timely theoretical and experimental data for chassis optimization design and new chassis development, thus improving the versatility and test function diversity of the test bench.

Description

Technical Field

[0001] This utility model relates to the field of agricultural robot technology, and in particular to a multifunctional chassis test bench. Background Technology

[0002] In the field of chassis R&D and testing, especially in the area of ​​agricultural robot chassis, there is currently no single test bench that can accommodate a variety of different chassis specifications. Different chassis have varying wheelbases, track widths, and load center of gravity layouts, and the wheel systems to be tested are diverse. Traditional test benches cannot be flexibly adjusted to meet comprehensive testing needs, which limits the versatility and accuracy of testing and fails to provide sufficient and effective data support for the development of new chassis.

[0003] Existing chassis test benches are mostly fixed structures with limited or no adjustable track width and wheelbase, making them unsuitable for different vehicle models. The load height of the second layer is usually fixed, and there is a lack of precise means to measure the center of gravity. The wheel mounting devices are fixed and cannot be easily replaced to adapt to different wheel types, and there is a lack of real-time feedback on speed and torque. This limits their applicability to a single vehicle model, restricts their testing capabilities, and fails to meet the complex and varied testing scenarios required for chassis development. Furthermore, the comprehensiveness and accuracy of the test data are lacking. Utility Model Content

[0004] To address the problem that existing technologies cannot flexibly adjust to meet comprehensive testing requirements such as wheelbase, track width, and load center of gravity layout, this utility model provides a multi-functional chassis test bench, including a frame module and a connected wheel system module. The frame module is equipped with a power supply module, a load platform module, and a control system for controlling the chassis test bench; a torque sensor is installed on the drive shaft of the wheel system module.

[0005] The frame module includes a frame body, a wheelbase adjustment device, and a track width adjustment device; the wheelbase adjustment device is located on the front and rear sides of the frame body and is used to adjust the front-rear distance of the wheel system module; two track width adjustment devices are respectively located on both sides of the wheelbase adjustment device and are used to adjust the left-right distance of the wheel system module; a wheel system module is provided on each side of the track width adjustment device.

[0006] The frame body includes two parallel first connectors, which are fixedly connected by a crossbeam.

[0007] The axial distance adjustment device on one side of the skeleton body includes a second connector and skeleton connectors vertically fixed at both ends; the other ends of the two skeleton connectors are retractably nested within the two first connectors.

[0008] The wheel track adjustment device includes two wheel axle connectors, which are retractably nested within the two ends of the second connector.

[0009] The load platform module includes, from bottom to top, a base plate, a six-degree-of-freedom platform, and a load hopper. The load hopper contains several load weights of various specifications, and the six-degree-of-freedom platform is embedded with a pressure sensor.

[0010] Furthermore, the first connector has a plurality of first waist holes, and the skeleton connector has a plurality of second waist holes. The first waist holes and the second waist holes at the connection between the first connector and the skeleton connector are fixed together by bolts.

[0011] The second connector has several third waist holes, and the wheel axle connector has several fourth waist holes. The third waist holes and the fourth waist holes at the connection between the second connector and the wheel axle connector are fixed together by bolts.

[0012] Furthermore, the first waist hole on a single first connector is provided in two rows, with the first waist holes in the two rows of corresponding positions arranged alternately; the second waist hole on a single skeleton connector is provided in two rows, with the second waist holes in the two rows of corresponding positions arranged alternately; the third waist hole on a single second connector is provided in two rows, with the third waist holes in the two rows of corresponding positions arranged alternately; the fourth waist hole on a single wheel axle connector is provided in two rows, with the fourth waist holes in the two rows of corresponding positions arranged alternately.

[0013] Furthermore, the second connector and the wheel axle connector are provided with a positive and negative lead screw module, the positive and negative lead screw module includes a positive and negative lead screw assembly and two sliding blocks that can slide thereon; the positive and negative lead screw assembly is fixed to the second connector, and the two sliding blocks are respectively fixed to the two wheel axle connectors on that side;

[0014] The first connector and the skeleton connector are provided with the positive and negative lead screw module. The positive and negative lead screw module includes a positive and negative lead screw assembly and two sliding blocks that can slide thereon. The positive and negative lead screw assembly is fixed to the first connector, and the two sliding blocks are respectively fixed to the two skeleton connectors on that side.

[0015] Furthermore, the wheel system module includes a four-wheel independent drive module, a track drive module, a drive-rotor integrated module, and a two-wheel differential module, and the different wheel system modules are connected to the frame module through mounting components.

[0016] Furthermore, the bottom of the load hopper is provided with several mounting holes, and the bottom of the load weight is provided with screw holes that match the mounting holes. The load weight is fixed to the load hopper by bolts.

[0017] Furthermore, the vehicle frame module is also equipped with a navigation module, which includes a main bracket on which a camera, a lidar and an RTK real-time dynamic differential positioning device are mounted.

[0018] Compared with the prior art, this utility model has the following beneficial effects:

[0019] This application is widely adaptable to various chassis and wheel system modules of different specifications. By adjusting the wheelbase adjustment device, arbitrary test wheelbase and track width can be adjusted, demonstrating high versatility. The six-degree-of-freedom platform allows for adjustment of the two-layer load height. Through the arbitrary arrangement of load weights within the load hopper, not only can the impact of different load heights on the overall stability of the machine be tested, but it can also provide precise real-time feedback on the rotational speed and torque of each wheel under different center-of-gravity layouts. This provides comprehensive, accurate, and timely theoretical and experimental data for chassis optimization design and new chassis development, greatly enhancing the versatility of the test bench and the diversity of its testing functions. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the structure of this utility model;

[0021] Figure 2 This is a schematic diagram of the frame and wheel system module of this utility model;

[0022] Figure 3 This is a schematic diagram showing the shortest possible wheelbase and axle length of the frame module of this utility model.

[0023] Figure 4 This is a schematic diagram of the adjustment method of the lead screw slide module for the wheel axle and wheel track of this utility model;

[0024] Figure 5 This is a schematic diagram of the wheel system module structure of this utility model;

[0025] Figure 6 This is a schematic diagram of the wheel system installation of the four-wheel independent drive module of this utility model;

[0026] Figure 7 This is a schematic diagram of the layout of the track drive module of this utility model;

[0027] Figure 8 This is a schematic diagram of the wheel system installation of the integrated drive and rotation module of this utility model;

[0028] Figure 9 This is a schematic diagram of the layout of the dual-wheel differential drive module of this utility model;

[0029] Figure 10 This is a schematic diagram of the universal wheel installation for the dual-wheel differential drive module of this utility model;

[0030] Figure 11This is a schematic diagram of the drive wheel installation of the dual-wheel differential drive module of this utility model;

[0031] Figure 12 This is a schematic diagram of the control module structure of this utility model;

[0032] Figure 13 This is a schematic diagram of the load platform module structure of this utility model;

[0033] Figure 14 This is a schematic diagram of the navigation module structure of this utility model;

[0034] In the diagram: 1. Wheel system module; 11. Wheel; 12. Drive motor; 13. Mounting component; 14. Coupling; 15. Torque sensor; 16. Side connecting beam of the frame; 17. Mounting bolt; 111. Drive wheel; 112. Caster wheel; 2. Frame module; 21. Track adjustment device; 22. Wheelbase adjustment device; 23. Frame body; 24. First connecting component; 25. Crossbeam; 26. Second connecting component; 27. Frame connecting component; 28. Wheel axle connecting component; 3. Control module; 31. PDU power distribution unit; 32. Outer cover; 33. Touch screen; 34. URCU controller; 35. E DU electronic display unit; 36. Button; 37. Emergency stop switch; 4. Load platform module; 41. Base plate; 42. Six-degree-of-freedom platform; 43. Pressure sensor; 44. Load hopper; 45. Load weight; 46. Mounting hole; 5. Navigation module; 51. Main bracket; 52. Camera; 53. LiDAR bracket; 54. LiDAR; 55. RTK bracket; 56. RTK real-time dynamic differential positioning instrument; 6. Power supply module; 71. First waist hole; 72. Second waist hole; 73. Third waist hole; 74. Fourth waist hole; 81. Positive and negative lead screw assembly; 82. Sliding block; 83. Fixing bracket; 84. Mounting bracket. Detailed Implementation

[0035] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0036] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. The terms "upper," "lower," "front," "rear," "top," "bottom," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or part referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. It should be understood that such data can be interchanged where appropriate for the embodiments of this utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0037] like Figure 1 As shown, a multifunctional chassis test bench includes a frame module 2 and a connected wheel system module 1. The frame module 2 is equipped with a power supply module 6, a load platform module 4, and a control system 3 for controlling the chassis test bench. A torque sensor 15 is installed on the drive shaft of the wheel system module 1. Through the torque sensor 15, the actual torque and speed data of each wheel can be collected in real time and transmitted to the control system 3. The power supply module 6 is used to supply power to all modules of the entire chassis test bench.

[0038] like Figure 2 As shown, the frame module 2 includes a frame body 23 (as shown by the dashed line in the figure), a wheelbase adjustment device 22 (as shown by the dotted line in the figure), and a track width adjustment device 21 (as shown by the double dotted line in the figure). The wheelbase adjustment device 22 is located on the front and rear sides of the frame body 23 and is used to adjust the front-rear distance of the wheel system module 1. Two track width adjustment devices 21 are respectively located on both sides of the wheelbase adjustment device 22 and are used to adjust the left-right distance of the wheel system module 1. A wheel system module 1 is provided on each side of the track width adjustment device 21.

[0039] Specifically, the skeleton body 23 includes two parallel first connectors 24, which are fixedly connected by a crossbeam 25.

[0040] The wheelbase adjustment device 22 on one side of the frame body 23 includes a second connector 26 and a frame connector 27 vertically fixed at both ends; the other ends of the two frame connectors 27 are retractably nested in the two first connectors 24, that is, when in use, a single frame connector 27 on the same side corresponds to a single first connector 24.

[0041] The wheel track adjustment device 21 includes two wheel axle connectors 28, which are retractably nested within the two ends of the second connector 26.

[0042] According to the test requirements, by adjusting the different positions of the wheelbase adjustment device 22 in the frame body 24 and the different positions of the wheel track adjustment device 21 on the wheelbase adjustment device 22, the wheel track and wheel track can be adjusted to achieve any test wheel track and wheel track, so as to test the optimal ratio of wheel track and wheel track and the optimal power matching under the optimal wheel axle ratio, and provide support for subsequent design.

[0043] As one implementation method, wheelbase and track width adjustment can be achieved via bolts and bolts, such as... Figure 2 As shown, the first connector 24 has several first waist holes 71, and the frame connector 27 has several second waist holes 72. The first waist holes 71 and the second waist holes 72 at the connection between the first connector 24 and the frame connector 27 are fixed together by bolts.

[0044] The second connector 26 has several third waist holes 73, and the wheel axle connector 28 has several fourth waist holes 74. The third waist holes 73 and fourth waist holes 74 at the connection between the second connector 26 and the wheel axle connector 28 are fixed together by bolts.

[0045] The connection method using waist holes and bolts not only facilitates disassembly and assembly but also allows for adjustments to smaller wheelbases and track widths (such as...). Figure 3 (as shown) and adjustments for larger wheelbases and track widths (such as...) Figure 2 (As shown), it offers high flexibility in adjustment. For example, Figure 3 In this state, the frame connector 27 is housed within the frame body 23, and the wheel axle connector 28 is housed within the wheelbase adjustment device 22.

[0046] To ensure the stability of the connections between components and improve the mechanical performance of the entire frame module 2, the first waist hole 71 on a single first connector 24 is provided in two rows, with the two rows of corresponding first waist holes 71 arranged alternately; the second waist hole 72 on a single frame connector 27 is provided in two rows, with the two rows of corresponding second waist holes 72 arranged alternately; the third waist hole 73 on a single second connector 26 is provided in two rows, with the two rows of corresponding third waist holes 73 arranged alternately; and the fourth waist hole 74 on a single wheel axle connector 28 is provided in two rows, with the two rows of corresponding fourth waist holes 74 arranged alternately.

[0047] As one implementation method, wheelbase and track width adjustment can be achieved using a lead screw slide module, such as... Figure 4 As shown, the second connecting member 26 and the wheel axle connecting member 28 are equipped with a positive and negative lead screw module. The positive and negative lead screw module includes a positive and negative lead screw assembly 81 and two sliding blocks 82 that can slide on it. The positive and negative lead screw assembly 81 drives the opening and closing movement of the two sliding blocks 82. The positive and negative lead screw assembly 81 is fixed to the second connecting member 26, and the two sliding blocks 82 are respectively fixed to the two wheel axle connecting members 28 on this side. Figure 4As shown, the positive and negative lead screw assembly 81 is fixed to both ends of the second connector 26 by the fixing bracket 83, and the sliding block 82 is fixed to the wheel and axle connector 28 by the mounting bracket 84.

[0048] The first connecting member 24 and the skeleton connecting member 27 are equipped with a positive and negative lead screw module. The positive and negative lead screw module includes a positive and negative lead screw assembly 81 and two sliding blocks 82 that can slide on it. The positive and negative lead screw assembly 81 drives the opening and closing movement of the two sliding blocks 82. The positive and negative lead screw assembly 81 is fixed to the first connecting member 24, and the two sliding blocks 82 are respectively fixed to the two skeleton connecting members 27 on the same side. Figure 4 As shown, the positive and negative lead screw assembly 81 is fixed to both ends of the first connector 24 by the fixing bracket 83, and the sliding block 82 is fixed to the skeleton connector 27 by the mounting bracket 84.

[0049] The forward and reverse lead screw assembly 81 generally includes a drive motor, forward and reverse lead screws, and guide rods on both sides. Each lead screw has two meshing nuts on its positive and negative threaded ends. Each nut has a nut seat fixed to both sides that can slide on the guide rod. Each nut and its corresponding nut seat are fixed to a single sliding block 82. Driven by the motor, the relative / opposite movement of the two nuts realizes the opening and closing movement of the sliding block 82. The forward and reverse lead screw module is existing technology and will not be described in detail here.

[0050] Commonly used wheel system modules 1 include: four-wheel independent drive module, track drive module, integrated drive and steering module, and two-wheel differential module. Different wheel system modules 1 are connected to the frame module 2 via mounting components 13. The mounting component 13 includes mounting blocks 13 and frame side connecting beams 16. For example... Figure 5 As shown, the wheel system module 1 includes a wheel 11 (in the track drive module, the wheel 11 is a track drive wheel), a travel drive motor 12 (such as a hub motor), a mounting block 13, a coupling 14, and a torque sensor 15. The torque sensor 15 is mounted on the drive shaft of the wheel 11 through the coupling 14.

[0051] Four-wheel independent drive module (such as) Figure 2 and Figure 6 As shown), track drive module (such as Figure 7 (as shown) and drive-integrated module (such as) Figure 8 The wheel 11 (as shown) is fixed to the wheel axle connector 28 by the mounting block 13, and the mounting block 13 and the wheel axle connector 28 are connected by the mounting bolt 17.

[0052] like Figure 9 As shown, the dual-wheel differential module includes two drive wheels 111 mounted in the middle of the frame module 2 and four swivel wheels 112 at the front and rear of the frame module 2. Figure 10 As shown, the omnidirectional wheel 112 is fixed to the wheel axle connector 28 via the mounting block 13. (As...) Figure 11As shown, the wheel system module 1 of the drive wheel 111 also includes a frame side connecting beam 16, and its mounting block 13 is fixed to the first connector 24 through the frame side connecting beam 16. The frame side connecting beam 16 is fixed to the mounting block 13 and the first connector 24 by bolts.

[0053] With the universal installation interface and different mounting parts 13, replacing different wheel system modules only requires removing the original wheel system module along with the wheel system mounting parts 13. It can easily install two-wheel independent drive modules, four-wheel independent drive modules, drive-rotation integrated modules and track wheel system devices of different specifications and sizes, realize various tests of different wheel system forms, and has high versatility.

[0054] like Figure 1 and Figure 13 As shown, the load platform module includes, from bottom to top, a base plate 41, a six-degree-of-freedom platform 42, and a load bucket 44. The load bucket 44 contains several load weights 45 of various specifications, and the six-degree-of-freedom platform 42 is embedded with a pressure sensor 43.

[0055] The six-degree-of-freedom platform 42 includes six telescopic rods, with their upper and lower ends hinged to the load hopper 44 and the base plate 41, respectively. The telescopic rods are based on hydraulic or electric actuators, and each telescopic rod has a pressure sensor 43 at its bottom. The six-degree-of-freedom platform 42 can adjust the height and angle of the two-layer load and provide load information feedback. The pressure sensor 43 is used to provide feedback on the force on each telescopic rod on the six-degree-of-freedom platform 42. Combining the load weight and the telescopic rod posture (telescopic length and its angle), the overall load center of gravity position coordinates of the entire load hopper 44 can be reversibly solved by the control system 3.

[0056] Depending on the specific testing requirements, load weights 45 of varying weights can be placed at different locations within the load hopper 44. This allows for testing not only the impact of different load heights on the overall stability of the machine but also anti-tipping tests for different center-of-gravity layouts, providing a basis for the center-of-gravity layout of the second-layer actuators. Simultaneously, tests can be conducted with different load ratios under varying axle configurations to assess the impact of different center-of-gravity layouts on chassis steering performance and steering offset, or to determine the optimal load range for a specific motor torque.

[0057] In order to quickly fix and limit the position of the load weight 45, the bottom of the load hopper 44 is provided with several mounting holes 46, and the bottom of the load weight 45 is provided with screw holes that match the mounting holes. The load weight 45 is fixed to the load hopper 44 by bolts.

[0058] like Figure 12As shown, control module 3 includes: a PDU power distribution unit 31, an outer casing 32, a touch screen display 44, a URCU controller 34, an EDU electronic display unit 35, buttons 36, and an emergency stop switch 37. The URCU, or general artificial intelligence controller for agricultural robots, is the core component of the agricultural robot, equivalent to its "brain," enabling the robot to autonomously perceive, make decisions, and execute tasks in agricultural production. Through the touch screen display 33, the torque sensor 15 collects the actual torque and speed data of each wheel. The control system processes the data and displays it on the touch screen display 33, achieving real-time feedback.

[0059] As a preferred implementation method, such as Figure 14 As shown, the chassis module 2 also includes a navigation module 5. The navigation module 5 comprises a main bracket 51, on which a camera 52, a lidar 54, and an RTK real-time dynamic differential positioning device 56 are mounted. The main bracket 51 supports the entire navigation module 6. The camera 52 can collect environmental information and also be used for visual SLAM navigation. The lidar 54 is fixed to the main bracket 51 via a lidar bracket 53. The installation angle and position of the lidar are adjustable to adapt to navigation needs in different scenarios. The RTK real-time dynamic differential positioning device 56 is fixed to the main bracket 51 via an RTK bracket 55 and is used for autonomous navigation. Autonomous navigation can better reflect the true autonomous operating status of the chassis and can be used for verification and testing of navigation algorithms.

[0060] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of implementation of this utility model. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of this utility model, and all such improvements and modifications should be covered within the protection scope of this utility model.

Claims

1. A multifunctional chassis test bench, characterized in that, The chassis includes a frame module (2) and a wheel system module (1) connected thereto. The frame module (2) is equipped with a power supply module (6), a load platform module (4), and a control system (3) for controlling the chassis test bench. The drive shaft of the wheel system module (1) is equipped with a torque sensor (15). The frame module (2) includes a frame body (23), a wheelbase adjustment device (22), and a track width adjustment device (21); the wheelbase adjustment device (22) is located on the front and rear sides of the frame body (23) and is used to adjust the front and rear distance of the wheel system module (1); two track width adjustment devices (21) are respectively located on both sides of the wheelbase adjustment device (22) and are used to adjust the left and right distance of the wheel system module (1); a wheel system module (1) is provided on each side of the track width adjustment device (21); The skeleton body (23) includes two parallel first connectors (24), which are fixedly connected by a crossbeam (25). The wheelbase adjustment device (22) on one side of the frame body (23) includes a second connector (26) and frame connectors (27) vertically fixed at both ends; the other ends of the two frame connectors (27) are retractably nested in the two first connectors (24); the wheelbase adjustment device (21) includes two wheel axle connectors (28), which are retractably nested in the two ends of the second connector (26); The load platform module includes, from bottom to top, a base plate (41), a six-degree-of-freedom platform (42), and a load hopper (44). The load hopper (44) contains several load weights (45) of various specifications. The six-degree-of-freedom platform (42) is embedded with a pressure sensor (43).

2. The multifunctional chassis test bench according to claim 1, characterized in that, The first connector (24) has a plurality of first waist holes (71), and the skeleton connector (27) has a plurality of second waist holes (72). The first waist holes (71) and the second waist holes (72) at the connection between the first connector (24) and the skeleton connector (27) are fixed together by bolts. The second connector (26) has several third waist holes (73), and the wheel axle connector (28) has several fourth waist holes (74). The third waist holes (73) and the fourth waist holes (74) at the connection between the second connector (26) and the wheel axle connector (28) are fixed together by bolts.

3. The multifunctional chassis test bench according to claim 2, characterized in that, The first waist hole (71) on a single first connector (24) is provided in two rows, and the first waist hole (71) at corresponding positions in the two rows are staggered; the second waist hole (72) on a single skeleton connector (27) is provided in two rows, and the second waist hole (72) at corresponding positions in the two rows are staggered; the third waist hole (73) on a single second connector (26) is provided in two rows, and the third waist hole (73) at corresponding positions in the two rows are staggered; the fourth waist hole (74) on a single wheel axle connector (28) is provided in two rows, and the fourth waist hole (74) at corresponding positions in the two rows are staggered.

4. The multifunctional chassis test bench according to claim 1, characterized in that, The second connector (26) and the wheel axle connector (28) are provided with a positive and negative lead screw module. The positive and negative lead screw module includes a positive and negative lead screw assembly (81) and two sliding blocks (82) that can slide on it. The positive and negative lead screw assembly (81) is fixed on the second connector (26), and the two sliding blocks (82) are respectively fixed on the two wheel axle connectors (28) on that side. The first connector (24) and the skeleton connector (27) are provided with the positive and negative lead screw module. The positive and negative lead screw module includes a positive and negative lead screw assembly (81) and two sliding blocks (82) that can slide on it. The positive and negative lead screw assembly (81) is fixed on the first connector (24), and the two sliding blocks (82) are respectively fixed on the two skeleton connectors (27) on that side.

5. The multifunctional chassis test bench according to claim 1, characterized in that, The wheel system module (1) includes a four-wheel independent drive module, a track drive module, a drive-rotation integrated module and a two-wheel differential module. Different wheel system modules (1) are connected to the frame module (2) through mounting parts.

6. The multifunctional chassis test bench according to claim 1, characterized in that, The bottom of the load hopper (44) is provided with several mounting holes (46), and the bottom of the load weight (45) is provided with screw holes that match the mounting holes (46). The load weight (45) is fixed to the load hopper (44) by bolts.

7. The multifunctional chassis test bench according to claim 1, characterized in that, The vehicle frame module (2) is also equipped with a navigation module (5), which includes a main bracket (51) on which a camera (52), a lidar (54) and an RTK real-time dynamic differential positioning device (56) are mounted.

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