CN101832865B - Association model testing device capable of adjusting wheel orientation angle and side slip distance - Google Patents
Association model testing device capable of adjusting wheel orientation angle and side slip distance Download PDFInfo
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- CN101832865B CN101832865B CN2010101571420A CN201010157142A CN101832865B CN 101832865 B CN101832865 B CN 101832865B CN 2010101571420 A CN2010101571420 A CN 2010101571420A CN 201010157142 A CN201010157142 A CN 201010157142A CN 101832865 B CN101832865 B CN 101832865B
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Abstract
The invention relates to an association model testing device capable of adjusting wheel orientation angles and side slip distances, belonging to research equipment for building a relation database of the automotive wheel side slip distance and the automotive wheel orientation angles. The association model testing device comprises a toe regulating mechanism (A), a side slip distance testing device (B), a wheel clamping assembly (C), a wheel force application mechanism (D) and a camber angle regulating mechanism (E), wherein, the wheel orientation angle regulating device is composed of the camber angle regulating mechanism and the toe regulating mechanism. The invention mainly aims to find corresponding wheel side slip distance at the matching relations of different orientation angles and build the relation database of the wheel orientation angles and the wheel side slip distances through regulating the wheel orientation angles ( the wheel camber angle and the toe). The database can realize rapid dynamic survey of the wheel orientation angles on an automotive detection line and the accurate adjustment of the wheel orientation angles, thus effectively eliminating wheel side slip phenomenon caused by out of alignment of a wheel orientation parameter.
Description
Technical field
The present invention relates to a kind of adjusting wheel orientation angle and sideslip amount correlation model proving installation, belong to the research equipment of setting up automotive wheel sideslip amount and wheel alignment angle relational database.Institute's database construction can make the side slid platform on the vehicle testing line obtain upgrading, the set kinetic measurement is quantitative kinetic measurement, realize the direct measurement of wheel alignment angle and accurately adjustment, thereby more effectively eliminate because the wheel side sliding amount that the wheel alignment parameter misalignment causes.
Background technology
At present, on mobile testing line, mainly be to measure the matching relationship correctness of judging between the wheel alignment parameter (toeing-in angle and camber angle) by side slid platform institute measuring car wheel sideslip.Be used as judging the foundation of wheel of vehicle location merely according to survey sideslip amount, can not have reached the predetermined correct purpose of adjusting of wheel alignment angle.And on detection line, use orientator not satisfy the beat requirement of fast detecting, so diagnose the foundation of relational database and the exploitation of wheel alignment angle fast detecting equipment to have great importance.
Summary of the invention
The object of the present invention is to provide a kind of adjusting wheel orientation angle and sideslip amount correlation model proving installation, to set up automotive wheel sideslip amount and wheel alignment angle relational database, this database existing side slid platform on the mobile testing line of can upgrading reaches on the detection line effect of kinetic measurement camber angle and toe-in angle fast.Thereby what make the side slid platform measurement no longer is indirect sideslip amount, but direct orientation angle makes the adjusting of wheel alignment angle direct more and accurate, and reduced the debugging error.
Above-mentioned purpose of the present invention can be achieved through the following technical solutions, and accompanying drawings is as follows:
A kind of adjusting wheel orientation angle and sideslip amount correlation model proving installation, mainly by toe-angle adjustment mechanism A, break away to measure trial assembly and put be installed assembly C, wheel force application mechanism D and camber angle governor motion E of B, wheel and form, described toe-angle adjustment mechanism A and camber angle governor motion E form the wheel orientation angle regulating device, tested wheel F is installed in wheel and is installed on the assembly C, adjust the toe-in angle size of tested wheel F by toe-angle adjustment mechanism A, its value is recorded by angle displacement sensor 6; By adjusting the camber angle size that camber angle governor motion E regulates tested wheel F, its value is recorded by obliquity sensor 19; It is heavy that described wheel force application mechanism D is used for that tested wheel F is applied certain power simulation axle that wheel bore, and the size of power is recorded by pulling force sensor 28; Described sideslip measurement trial assembly is put B and is comprised motion base frame plate 37 and the sideslip platen 39 that is contained on the motion base frame plate 37, motion base frame plate 37 drives by servo driving assembly 38, simulate tested wheel F and cross sideslip platen 39, the sideslip displacement of generation is recorded by displacement transducer 40; By above-mentioned wheel orientation angle regulating device, wheel force application mechanism D with break away and measure trial assembly and put B to obtain different orientation angles be pairing wheel side sliding amount under toeing-in angle and the camber angle matching relationship, set up the relational database of wheel alignment angle and sideslip amount, by this database the dynamically quick measurement and the wheel alignment angle of wheel orientation angle on the vehicle testing line are accurately adjusted, eliminated because the wheel side sliding phenomenon that the wheel alignment parameter misalignment causes.
Description of drawings
Fig. 1 adjusting wheel orientation angle and sideslip amount correlation model proving installation synoptic diagram;
The tested wheel of Fig. 2 is installed in adjusting wheel orientation angle and sideslip amount correlation model proving installation synoptic diagram;
Fig. 3 toe-angle adjustment mechanism synoptic diagram;
Fig. 4 camber angle governor motion synoptic diagram;
Fig. 5 camber angle governor motion side view;
Fig. 6 wheel force application mechanism synoptic diagram;
Fig. 7 breaks away and measures trial assembly and put synoptic diagram;
Fig. 8 motion base frame composition that hardens;
Fig. 9 side slid platform aligning device synoptic diagram;
Figure 10 wheel assembly synoptic diagram that is installed;
Figure 11 wheel assembly cut-open view that is installed.
Among the figure: A. toe-angle adjustment mechanism B. break away to measure the examination device C wheel assembly D. wheel force application mechanism E. camber angle that is installed and regulates machine
1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. 19. 20. 21. 22. 23. 24. 25. 26. 27. 28. 29. 30. 31. 32. 33. 34. 35. 36. 37. 38. 39. 40. 41. 42. 43. 44. 45. 46. 47.48. 49. 50. 51. 52.53. 54. 55. 56. 57. 58. 59. 60. 61. 62. 63. 64.
Embodiment
Further specify particular content of the present invention and embodiment thereof below in conjunction with the accompanying drawing illustrated embodiment.
A kind of adjusting wheel orientation angle and sideslip amount correlation model proving installation, mainly by toe-angle adjustment mechanism A, break away to measure trial assembly and put be installed assembly C, wheel force application mechanism D and camber angle governor motion E of B, wheel and form, it is characterized in that said wheel orientation angle regulating device is made up of toe-angle adjustment mechanism A and camber angle governor motion E.Tested wheel F is installed in wheel is installed on the dish C, adjust the toe-in angle size of tested wheel F by toe-angle adjustment mechanism A, its value can be recorded by angle displacement sensor 6; Adjust the camber angle size of the tested wheel F of camber angle governor motion E scalable, its value can be recorded by obliquity sensor 19.Tested wheel F is applied certain power can simulate the axle weight that wheel bears, application of force process is finished by wheel force application mechanism D, and the size of power is recorded by pulling force sensor 28.At this moment, make 37 motions of motion base frame plate by servo driving assembly 38, simulate tested wheel F and cross sideslip platen 39, the sideslip displacement of generation can be recorded by displacement transducer 40.Repeat above-mentioned steps, can find pairing wheel side sliding amount under different orientation angles (toeing-in angle and the camber angle) matching relationship, set up the relational database of wheel alignment angle and sideslip amount.The dynamically measurement fast that this database can be realized wheel orientation angle on the vehicle testing line realizes the accurate adjustment of wheel alignment angle, thereby more effectively eliminates because the wheel side sliding amount that the wheel alignment parameter misalignment causes.
Consult Fig. 3, said toe-angle adjustment mechanism A comprises toe-in angle adjusting leading screw 1, rolling disc 3 and camber angle adjusting casing web joint 4, camber angle adjusting casing web joint 4 is fixed on the rolling disc 3 and regulates casing 15 with camber angle and links to each other, the end that toe-in angle is regulated leading screw 1 is connected with rolling disc base 5 by toe-in adjusting leading screw hinged seat 7, and the prenex leading screw hinged seat 7 of regulating freely rotates on rolling disc base 5; The other end that toe-in angle is regulated leading screw 1 is connected with rolling disc 3 by rolling disc coupling assembling 2, rolling disc coupling assembling 2 is assemblies that self rotates, the end that toe-in angle is regulated leading screw 1 is equipped with toe-in angle adjusting leading screw handle 8, regulate leading screw handle 8 by rotating toe-in angle, make toe-in angle regulate leading screw 1 and promote the required angle of rolling disc 3 rotations, and the drive camber angle is regulated casing 15 rotations, tested wheel F is rotated, the angle of rotating is the toeing-in angle, the angle that rolling disc 3 rotates records by angle displacement sensor 6, realizes that finally the toe-in angle of tested wheel F is regulated.
Consult topic 4,5, the seat 10 that is connected through the hinge of camber adjustment leading screw 13 1 ends among the said camber angle governor motion E is connected with force application mechanism loading plate 9; The other end of camber adjustment leading screw 13 passes leading screw supporting base 22, and is connected with casing Connection Block 23 by connecting pin 21, and casing Connection Block 23 is fixed in camber angle to be regulated on the casing 15; The intermediate link of camber adjustment leading screw 13 links to each other with camber adjustment leading screw connection bearing 18, camber adjustment leading screw connection bearing 18 is installed in the middle bearing bracket 16, carry out longitudinal register with camber adjustment bearing cap 17, can make camber adjustment leading screw 13 rotate and move forward like this, promote angle of force application mechanism loading plate 9 inclinations, this moment the measured F of the wheel identical angle that also tilts, this angle is camber angle, it can be recorded by the obliquity sensor 19 that is installed on the threaded hole 61.
Consult Fig. 6, said wheel force application mechanism D mainly is made up of application of force leading screw 25 and pulling force sensor 28, application of force leading screw rocking handle 24 is equipped with in application of force leading screw 25 upper ends, application of force leading screw 25 tops are contained on the force application mechanism loading plate 9 by force application mechanism loading plate contiguous block 26, by rotation application of force leading screw rocking handle 24 25 rotations of application of force leading screw are moved down, the lower end of application of force leading screw 25 links to each other with leading screw rotation assembly 27, leading screw rotation assembly 27 is by rotation assembly bearing 34, rotation assembly bearing seat 35 and rotation assembly bearing cap 33 3 parts are formed, its effect is that application of force leading screw 25 can be rotated and move down, pulling force sensor 28 keeps not rotating, the upper and lower side of pulling force sensor 28 all is connected with the middle Connection Block 29 of rotation assembly bearing seat 35 and wheel installation assembly fixed head 30 respectively by two screw bolt, wheel installation assembly fixed head 30 moves up and down along the line slideway 31 that is fixed on the force application mechanism loading plate 9 by four above it symmetrical slide blocks 32, and drive tested wheel F and also move up and down together, realization loads tested wheel F, and the size of loading force is directly recorded by pulling force sensor 28.
Consult Fig. 7,8, described sideslip measures trial assembly and puts among the B, simulating the power that tested wheel F crosses sideslip platen 39 is provided by servo driving assembly 38, servomotor 44 in the servo driving assembly 38 is connected by joint flange 45 with speed reduction unit 46, speed reduction unit 46 and motion base frame plate 37 are connected by rack-and-pinion, motion base frame plate 37 follows 36 motions of journey guide rail by stroke slider 43, its effect is that the tested wheel F of simulation crosses sideslip platen 39, stroke guide rail 36 is fixed on the stroke base 42, the wheel side sliding amount is directly recorded by displacement transducer 40, sideslip platen 39 is installed on the roller 48 of four jiaos of symmetries, make its that laterally free movement, on motion base frame plate 37, be provided with the sideslip platen returning device 49 that makes sideslip platen 39 self-returns.
Consult Figure 10,11, described wheel be installed assembly C mainly by wheel be installed the dish 58, rotating shaft position-arresting disk 59, bearing cap 60, shaft collar 61, rotation axis 62 and bearing 63 are formed, shaft collar 61 and bearing cap 60 are contained on the rotation axis 62 by bearing 63, and it is spacing by rotating shaft position-arresting disk 59, described shaft collar 61 is used for wheel installation assembly fixed head 30 fixing, the wheel dish 58 that is installed is provided with the screw hole of the different size rim for automobile wheel that is used to install the different size wheel, be provided with outstanding threaded hole 64 in wheel dish 58 the center that is installed, be used for by bolt mounted angle sensor 19, and play the effect of tested wheel F location
Consult Fig. 9, described sideslip platen returning device 49 is by returning positive Rocker arm 51; rocking arm fixed head 52; returning device installing plate 53; time positive flap 54; return positive spring 55; middle swivel plate 56 and side slid platform web joint 57 compositions; side slid platform web joint 57 is connected by middle swivel plate 56 with an end of rocking arm fixed head 52; middle swivel plate 56 is connected on the returning device installing plate 53 by rotating shaft; the other end of rocking arm fixed head 52 passes through back positive Rocker arm 51 and promotes back positive flap 54 rotations; return the direction of rotation of positive flap 54 and middle swivel plate 56; link at an end that returns positive flap 54 and middle swivel plate 56 and side slid platform web joint 57 is equipped with back positive spring 55; side slid platform web joint 57 is connected with sideslip platen 39, and returning device installing plate 53 is fixedly mounted on the motion base frame plate 37.
Claims (7)
1. adjusting wheel orientation angle and sideslip amount correlation model proving installation, mainly by toe-angle adjustment mechanism (A), (B) put in the measurement trial assembly of breakking away, the wheel assembly (C) that is installed, wheel force application mechanism (D) and camber angle governor motion (E) are formed, it is characterized in that, described toe-angle adjustment mechanism (A) and camber angle governor motion (E) are formed the wheel orientation angle regulating device, tested wheel (F) is installed in wheel and is installed on the assembly (C), adjust the toe-in angle size of tested wheel (F) by toe-angle adjustment mechanism (A), its value is recorded by angle displacement sensor (6); By adjusting the camber angle size that camber angle governor motion (E) is regulated tested wheel (F), its value is recorded by obliquity sensor (19); It is heavy that described wheel force application mechanism (D) is used for that tested wheel (F) is applied certain power simulation axle that wheel bore, and the size of power is recorded by pulling force sensor (28); Described sideslip measures trial assembly and puts (B) and comprise motion base frame plate (37) and be contained in sideslip platen (39) on the motion base frame plate (37), motion base frame plate (37) drives by servo driving assembly (38), simulate tested wheel (F) and cross sideslip platen (39), the sideslip displacement of generation is recorded by displacement transducer (40); Putting the different orientation angles of (B) acquisition by above-mentioned wheel orientation angle regulating device, wheel force application mechanism (D) and the measurement trial assembly of breakking away is pairing wheel side sliding amount under toeing-in angle and the camber angle matching relationship, set up the relational database of wheel alignment angle and sideslip amount, by this database the dynamically quick measurement and the wheel alignment angle of wheel orientation angle on the vehicle testing line are accurately adjusted, eliminated because the wheel side sliding phenomenon that the wheel alignment parameter misalignment causes.
2. adjusting wheel orientation angle according to claim 1 and sideslip amount correlation model proving installation, it is characterized in that, said toe-angle adjustment mechanism (A) comprises toe-in angle adjusting leading screw (1), rolling disc (3) and camber angle are regulated casing web joint (4), camber angle adjusting casing web joint (4) is fixed on rolling disc (3) and upward and with camber angle adjusting casing (15) links to each other, the end that toe-in angle is regulated leading screw (1) is connected with rolling disc base (5) by the prenex leading screw hinged seat (7) of regulating, and prenex adjusting leading screw hinged seat (7) is gone up at rolling disc base (5) and freely rotated; The other end that toe-in angle is regulated leading screw (1) is connected with rolling disc (3) by rolling disc coupling assembling (2), rolling disc coupling assembling (2) is the assembly that self rotates, the end that toe-in angle is regulated leading screw (1) is equipped with toe-in angle adjusting leading screw handle (8), regulate leading screw handle (8) by rotating toe-in angle, make toe-in angle regulate leading screw (1) promotion rolling disc (3) and rotate required angle, and the drive camber angle is regulated casing (15) rotation, tested wheel (F) is rotated, the angle of rotating is the toeing-in angle, and the angle that rolling disc (3) rotates records by angle displacement sensor (6).
3. adjusting wheel orientation angle according to claim 1 and sideslip amount correlation model proving installation, it is characterized in that, camber adjustment leading screw (13) one ends in the said camber angle governor motion (E) be connected through the hinge the seat (10) be connected with force application mechanism loading plate (9); The other end of camber adjustment leading screw (13) passes leading screw supporting base (22), and is connected with casing Connection Block (23) by connecting pin (21), and casing Connection Block (23) is fixed in camber angle to be regulated on the casing (15); The intermediate link of camber adjustment leading screw (13) links to each other with camber adjustment leading screw connection bearing (18), camber adjustment leading screw connection bearing (18) is installed in the middle bearing bracket (16), carry out longitudinal register with camber adjustment bearing cap (17), rotate camber adjustment leading screw (13) and make the angle of tested wheel (F) inclination be camber angle, this angle is recorded by obliquity sensor (19).
4. adjusting wheel orientation angle according to claim 1 and sideslip amount correlation model proving installation, it is characterized in that, said wheel force application mechanism (D) mainly is made up of application of force leading screw (25) and pulling force sensor (28), application of force leading screw rocking handle (24) is equipped with in application of force leading screw (25) upper end, application of force leading screw (25) top is contained on the force application mechanism loading plate (9) by force application mechanism loading plate contiguous block (26), by rotation application of force leading screw rocking handle (24) application of force leading screw (25) rotation is moved down, the lower end of application of force leading screw (25) links to each other with leading screw rotation assembly (27), leading screw rotation assembly (27) is by rotation assembly bearing (34), rotation assembly bearing seat (35) and rotation assembly bearing cap (33) three parts are formed, its effect is that application of force leading screw (25) can be rotated and move down, pulling force sensor (28) keeps not rotating, the upper and lower side of pulling force sensor (28) all is connected with the middle Connection Block (29) of rotation assembly bearing seat (35) and wheel installation assembly fixed head (30) respectively by two screw bolt, wheel installation assembly fixed head (30) moves up and down along the line slideway (31) that is fixed on the force application mechanism loading plate (9) by four the symmetrical slide blocks (32) above it, and drive tested wheel (F) and also move up and down together, realization loads tested wheel (F), and the size of loading force is directly recorded by pulling force sensor (28).
5. adjusting wheel orientation angle according to claim 1 and sideslip amount correlation model proving installation, it is characterized in that described sideslip measures trial assembly and puts in (B), simulating the power that tested wheel (F) crosses sideslip platen (39) is provided by servo driving assembly (38), servomotor (44) in the servo driving assembly (38) is connected by joint flange (45) with speed reduction unit (46), speed reduction unit (46) is connected by rack-and-pinion with motion base frame plate (37), motion base frame plate (37) follows journey guide rail (36) motion by stroke slider (43), its effect is that the tested wheel of simulation (F) crosses sideslip platen (39), stroke guide rail (36) is fixed on the stroke base (42), the wheel side sliding amount is directly recorded by displacement transducer (40), sideslip platen (39) is installed on the roller (48) of four jiaos of symmetries, make its laterally free movement, on motion base frame plate (37), be provided with the sideslip platen returning device (49) that makes sideslip platen (39) self-return.
6. adjusting wheel orientation angle according to claim 1 and sideslip amount correlation model proving installation, it is characterized in that, described wheel is installed assembly (C) mainly by the wheel dish (58) that is installed, rotating shaft position-arresting disk (59), bearing cap (60), shaft collar (61), rotation axis (62) and bearing (63) are formed, shaft collar (61) and bearing cap (60) are contained on the rotation axis (62) by bearing (63), and it is spacing by rotating shaft position-arresting disk (59), described shaft collar (61) is used for wheel installation assembly fixed head (30) fixing, the wheel dish (58) that is installed is provided with the screw hole of the different size rim for automobile wheel that is used to install the different size wheel, be provided with outstanding threaded hole (64) in the be installed center of dish (58) of wheel, be used for by bolt mounted angle sensor (19), and play the effect of tested wheel (F) location.
7. adjusting wheel orientation angle according to claim 5 and sideslip are measured the correlation model testing arrangement; It is characterized in that; Described sideslip platen returning device (49) is by returning positive rocking arm (51); Rocking arm fixed head (52); Returning device installing plate (53); Return positive flap (54); Return positive spring (55); Middle swivel plate (56) and side slid platform connecting plate (57) form; Side slid platform connecting plate (57) is connected by middle swivel plate (56) with an end of rocking arm fixed head (52); Middle swivel plate (56) is connected on the returning device installing plate (53) by rotating shaft; The other end of rocking arm fixed head (52) passes through back positive rocking arm (51) and promotes back positive flap (54) rotation; Return the direction of rotation of positive flap (54) and middle swivel plate (56); Link at an end that returns positive flap (54) and middle swivel plate (56) and side slid platform connecting plate (57) is equipped with back positive spring (55); Side slid platform connecting plate (57) is connected with sideslip platen (39), and aligning device installing plate (53) is fixedly mounted on the motion base frame plate (37).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010101571420A CN101832865B (en) | 2010-04-28 | 2010-04-28 | Association model testing device capable of adjusting wheel orientation angle and side slip distance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2010101571420A CN101832865B (en) | 2010-04-28 | 2010-04-28 | Association model testing device capable of adjusting wheel orientation angle and side slip distance |
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| CN101832865A CN101832865A (en) | 2010-09-15 |
| CN101832865B true CN101832865B (en) | 2011-12-14 |
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| CN2010101571420A Expired - Fee Related CN101832865B (en) | 2010-04-28 | 2010-04-28 | Association model testing device capable of adjusting wheel orientation angle and side slip distance |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103267647B (en) * | 2013-05-20 | 2017-11-14 | 西北农林科技大学 | A kind of offset shaft drive wheel experimental rig |
| CN105136096B (en) * | 2014-05-27 | 2018-07-06 | 广州汽车集团股份有限公司 | Trailing wheel camber angle detector and trailing wheel flare angle detecting device |
| CN104251780B (en) * | 2014-08-07 | 2016-10-05 | 浙江吉利控股集团有限公司 | Four-wheel dynamically positions wheelbase measuring device |
| CN104359688B (en) * | 2014-12-02 | 2016-08-31 | 吉林大学 | The T-shaped displacement overall situation verification system of vehicle wheel alignment parameter vision detection system |
| CN107422752B (en) * | 2017-09-05 | 2024-04-12 | 机科发展科技股份有限公司 | Force-applying adjustable measuring device |
| CN108132086A (en) * | 2018-01-09 | 2018-06-08 | 哈尔滨理工大学 | Adjustable-angle vehicle wheel load measuring device |
| CN111220537B (en) * | 2020-02-24 | 2022-07-05 | 石家庄铁道大学 | Stretching pore path trend measuring system |
| CN111366380B (en) * | 2020-05-06 | 2024-05-07 | 吉林大学 | Synchronous detection device for components of sideslip of multi-shaft automobile wheel and shaft |
| CN114872793A (en) * | 2022-03-28 | 2022-08-09 | 蔚来汽车科技(安徽)有限公司 | Suspension four-wheel positioning and adjusting mechanism |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2280900Y (en) * | 1997-04-11 | 1998-05-06 | 王恩惠 | Canbined table for detecting brake, shaft weight, and side-slip of plate type motor vehicle |
| CN2518099Y (en) * | 2001-12-30 | 2002-10-23 | 吉林大学 | Multifunctional automotive wheel side skid checking platforn |
| CN100510685C (en) * | 2006-09-04 | 2009-07-08 | 吉林大学 | Integrative device for detecting slip quantity on sides between wheels and between axes of car of turning direction with dual front axle |
| WO2009152129A1 (en) * | 2008-06-09 | 2009-12-17 | Mts Systems Corporation | Flat belt roadway simulator with steer and/or camber adjustment and method for ascertaining rolling loss |
| US7784334B2 (en) * | 2008-08-15 | 2010-08-31 | Ford Global Technologies, Llc | Camber angle optimization for a biaxial wheel test machine |
| CN101539489B (en) * | 2009-04-22 | 2010-12-29 | 吉林大学 | Cross slid platform testing device of steering frame |
| CN101592557B (en) * | 2009-06-30 | 2011-12-28 | 华南理工大学 | Automobile sideslip detector and method for detecting sideslip |
| CN201673054U (en) * | 2010-04-28 | 2010-12-15 | 吉林大学 | Adjustable wheel orientation angle and sideslip tensor associated model test unit |
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2010
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