CN104729863B - Multifunctional tire road detection apparatus and its method of testing - Google Patents
Multifunctional tire road detection apparatus and its method of testing Download PDFInfo
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- CN104729863B CN104729863B CN201510178345.0A CN201510178345A CN104729863B CN 104729863 B CN104729863 B CN 104729863B CN 201510178345 A CN201510178345 A CN 201510178345A CN 104729863 B CN104729863 B CN 104729863B
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Abstract
The present invention relates to a kind of multifunctional tire road detection apparatus and its method of testing, the device is arranged on two sets of suspension systems on vehicle frame and tire steering mechanism is independently connected with both sides test tire respectively, realize tire independent steering and in cohesion or outward attitude and angle of heel adjustment is dissipated, the detection under road conditions on the spot to mechanics of tire characteristic is realized by data such as various related sensors acquisition tire corners, side force, longitudinal acceleration and side accelerations under steam.Solve the problems, such as in existing tire room detection means be difficult to simulate outside actually used road surface and tire room detection means in lateral deviation, roll that operating mode lower stress is uneven and detection operating mode is single.The device has the characteristics that simple for structure, easily controllable and adjusts.
Description
Technical field
The present invention relates to a kind of suitable for the detection means of acquisition tire characteristics under outdoor road conditions and its based on the device
Tire characteristics method of testing.
Background technology
Tire is the unique parts between vehicle and road surface, and the interaction on tire and road surface determines the fortune of vehicle
Dynamic state.Many important performances of vehicle are all relevant with the characteristic of tire.The control stability of vehicle, braking safety, vehicle
Vertical vibration, power performance, all rely on the research of tire characteristics.Therefore, tire characteristics research has very great showing
Sincere adopted and wide application prospect.
But physical tire structure and rubber for tire all extremely complex with the frictional behavior on various road surfaces, it not only with speed
Degree, pressure at right angle are relevant, and are affected with pavement behavior (main line face, ice and snow road, ponding road surface) by road surface species.With this
Meanwhile, in vehicle travel process, the force-bearing situation of tire, motion state and the interaction between road surface are complicated and changeable.
Sum it up, these factors have all been significantly greatly increased the difficulty of tire characteristics acquisition.
At present, the detection means of tire characteristics includes two classes：Detection means outside detection means in tire room, tire room.Wheel
In proloculum, the subject matter of detection means presence is：It is difficult to simulate actually used pavement behavior (main line face, ice and snow road, ponding
Road surface) and use environment；Outside tire room, mainly comprising single-wheel detection means and two-wheel detection means, existed is main for detection means
Problem is：Complicated for outdoor single-wheel structure of the detecting device, while single-wheel causes tire in lateral deviation, rolls operating mode lower stress injustice
Weighing apparatus, can realize the single operating modes such as rolling resistance, sliding resistance for outdoor two-wheel detection means, it is impossible to realize lateral deviation, inclination and compound work
Tire characteristics detection under condition.
Content of the invention
The invention aims to overcoming the defect that existing tire road detection system and method are present, propose a kind of many
Function tire road detection apparatus and its method of testing.Based on the detection means, solve indoor detection means and be difficult to simulation in fact
Border is uneven using detection means stress outside pavement behavior (main line face, ice and snow road, ponding road surface) and use environment and tire room
Weighing apparatus, detection operating mode are single, it is impossible to the problems such as realizing the tire characteristics under lateral deviation, inclination and complex conditions and detect, while can obtain
Take the coefficient of friction between tire and actually used road surface.
Multifunctional tire road detection apparatus of the present invention, including vehicle frame, test tire, suspension system, tire steering mechanism,
Tractor attachment structure, brake disc, wheel bearing, brake apparatus, noncontact velocity sensor, wheel steering angle sensor, inertia
Test cell, speed probe, console, battery；
Two sets of suspension systems are symmetrical centered on travel direction to be arranged on the vehicle frame, often set suspension system by
Damper assembly, steering linkage member, tire roll governor motion and linking arm composition；That is, one end of damper assembly is connected in
On the support plate of vehicle frame, the other end is connected in the upper end of steering linkage member, and the lower end of steering linkage member rolls regulation machine by tire
Structure is connected with linking arm one end ball pivot, and the other end of linking arm is hinged with vehicle frame lower supporting plate；
Steering linkage member is connected with described wheel bearing inner ring, and described brake disc is connected with wheel bearing outer shroud；Right
Should be connected with steering linkage member in the brake apparatus described in brake disc；Described test tire is solid with brake disc by wheel rim
Even.
Two sets of tire steering mechanism are symmetrical centered on travel direction to be arranged on the vehicle frame, often covers tyre revolution
To mechanism by drive sleeve, direction turning piece, steering ball end, steering linkage component, steering knuckle and servomotor, planetary reduction gear, side
Constitute to force snesor；That is, planetary reduction gear is installed on the upper backup pad of vehicle frame, the input of servomotor and planetary reduction gear
Axle drive connection, the output shaft of planetary reduction gear are connected with the key kind of drive with drive sleeve, and drive sleeve is driven with key with direction turning piece
Mode is connected, and the direction turning piece other end and steering ball end one end are hinged, the steering ball end other end and steering linkage component threaded one end
Connection, the steering linkage component other end are connected with lateral force sensors, and lateral force sensors are connected with steering knuckle；Steering knuckle
The other end is hinged with described steering linkage member lower end；Described wheel steering angle sensor is arranged on servomotor free end；
Described tire rolls governor motion by the trapezoidal regulating block of ball pivot, regulation screw mandrel, adjusting nut and locking nut group
Become；The ball screw of the trapezoidal regulating block of ball pivot is connected with the steering linkage member, and passes through locking nut by trapezoidal for ball pivot regulation
The ball screw locking of block, the upper surface of the lower surface of the trapezoidal spigot surface of the trapezoidal regulating block of ball pivot and the trapezoidal spigot surface of linking arm
Laminating, one end of adjusting screw are connected with the trapezoidal regulating block of ball pivot, and the other end is connected with linking arm with thread connecting mode, are adjusted
Nut connects with screw mandrel is adjusted.
Described tractor attachment structure is by synchronous micro-adjusting component, connector, adjustable plate, link, welding support and pulling force
Sensor is constituted；Synchronous micro-adjusting component two ends are fixed with link and connector respectively, and pulling force sensor one end is solid with connector
Even, the other end is connected with adjustable plate, and adjustable plate is connected with welding support, and welding support two ends are connected with vehicle frame upper backup pad.
Described console, battery, inertia test cell are installed on vehicle frame upper backup pad respectively, described noncontact speed
Degree sensor is connected on vehicle frame lower supporting plate；
Described speed probe one end is connected with wheel rim square hole interference fits mode, and the other end is with wheel bearing square hole mistake
Cross fit system to be connected；
Described servomotor is connected with the drive control plate in console；
Described noncontact velocity sensor, wheel steering angle sensor, inertia test cell, pulling force sensor, side force
Sensor and speed probe by data wire respectively with console in central controller communication link.
A load Sand Bucket is also set up on vehicle frame, by filling husky amount to realize the regulation of detection means tire vertical load.
When tire is rolled under specified operating mode, by noncontact velocity sensor when detection means is travelled acquisition device
Longitudinal velocity and side velocity, by inertia test cell when detection means is travelled the longitudinal acceleration of acquisition device, lateral
Acceleration and yaw velocity, measure the longitudinal force (including rolling resistance and brake force) of detection means by pulling force sensor,
Side force of tire is obtained by lateral force sensors.
The multifunctional tire road detection apparatus of the present invention can be used for the lateral deviation of tire, indulge cunning, rolling resistance, inclination, side
Incline vertical sliding compound, roll that lateral deviation is compound, lateral deviation is vertical sliding compound and roll the vertical sliding attribute testing such as compound of lateral deviation, obtain tire each
Test feature curve under individual operating mode.
Using multifunctional tire road detection apparatus of the present invention, the detection test of following tire characteristics is can achieve：
1st, the test of tire cornering characteristics
A. by carrying the sand that is weighed in Sand Bucket in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. tractor is connected with detection means by tractor attachment structure, under the traction of tractor, makes detection means
Straight-line travelling applies, to two tires, the contrary corner for determining by the servomotor in tire steering mechanism to command speed, this
When vehicle travel resistance increase, adjust the tractive force of tractor so that detection means keeps the speed specified, passes by side force
Sensor and wheel steering angle sensor obtain slip angle of tire and side force of tire；
C. two tire corners are changed, repeat step b obtains the tire cornering characteristics curve under various side drift angles.This experiment is also
Can complete under the conditions of different speed, tire pressure etc..
2nd, the test of sliding characteristic indulged by tire
A. by carrying the sand that is weighed in Sand Bucket in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. tractor is connected with detection means by tractor attachment structure, under the traction of tractor, makes detection means
Straight-line travelling gives two tires, one less brake force by brake apparatus, now vehicle travel resistance respectively to command speed
Increase, adjust the tractive force of tractor so that detection means keeps the speed that specifies, and tire is obtained now by pulling force sensor
Longitudinal force, measures tire angular velocity by speed probe, measures detection means speed by noncontact velocity sensor, to obtain
Take braking skid rate；
C. change tire brake apparatus brake force to be slided up to tire entirely, repeat step b obtains vertical sliding characteristic curve, changes load
Lotus and speed obtain the vertical sliding characteristic test result under corresponding operating mode.This experiment can also be in conditions such as different speed, tire pressures
Under complete.
3rd, the test of tire drag characteristic
A. by carrying the sand that is weighed in Sand Bucket in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. tractor is connected with detection means by tractor attachment structure, under the traction of tractor, makes detection means
Straight-line travelling obtains tire drag to command speed by pulling force sensor；
C. the process for changing hauling speed repeat step b of tractor is multiple, you can obtain the rolling resistance increased with speed
Force characteristic curve.This experiment can also be completed under the conditions of different speed, tire pressure etc..
4. the test of tire roll characteristics
A. by carrying the sand that is weighed in Sand Bucket in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. first governor motion is rolled by tire and two tyre side inclination angles is adjusted, then will be led by tractor attachment structure
Draw car to connect with detection means, detection means straight-line travelling is made under the traction of tractor to command speed, by wheel steering angle
Sensor and lateral force sensors obtain side drift angle and the side force of tire；
C. two tyre side inclination angles are changed, the tire that repeat step b is obtained under various angles of heel rolls characteristic curve.This experiment
Can also complete under the conditions of different speed, tire pressure etc..
5th, tire inclination, the test of lateral deviation composite attribute
A. by carrying the sand that is weighed in Sand Bucket in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. first governor motion is rolled by tire and two tyre side inclination angles is adjusted, then will be led by tractor attachment structure
Draw car to connect with detection means, under the traction of tractor, make detection means straight-line travelling to command speed, turned to by tire
The contrary corner that servomotor in mechanism applies to determine to two tires, now vehicle travel resistance increase, adjust tractor
Tractive force so that detection means keeps the speed that specifies, now measurement reads side drift angle, angle of heel and the side force of tire；
C. angle of heel and the side drift angle of two tires are changed, the tire under the various angles of heel of repeat step b acquisition is rolled, lateral deviation
Composite attribute curve.This experiment can also be completed under the conditions of different load, speed, tire pressure etc..
6th, tire rolls, indulges the test of sliding composite attribute
A. by carrying the sand that is weighed in Sand Bucket in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. first governor motion is rolled by tire and two tyre side inclination angles is adjusted, then will be led by tractor attachment structure
Draw car to connect with detection means, detection means straight-line travelling is made under the traction of tractor to command speed, by brake apparatus
Two tire one less brake force is given respectively, and now vehicle travel resistance increases, and adjusts the tractive force of tractor so that detection
Device keeps the speed that specifies, and obtains longitudinal force and the side force of tire now by pulling force sensor, lateral force sensors, leads to
Speed probe measurement tire angular velocity is crossed, by noncontact velocity sensor measurement apparatus speed, to obtain braking skid rate；
C. angle of heel and the brake force of tire are changed respectively, repeat step b obtains and rolls, indulges sliding composite attribute test knot
Really.This experiment can also be completed under the conditions of different load, speed, tire pressure etc..
7th, Wheel slip, the test of vertical sliding composite attribute
A. by the sand that Sand Bucket is weighed in advance is carried, the accurate load or unload of detection means tire vertical load is realized, is made
Test device tire is in different specified load；
B. tractor is connected with detection means by tractor attachment structure, under the traction of tractor, makes detection means
Straight-line travelling applies, to two tires, the contrary corner for determining by the servomotor in tire steering mechanism to command speed, leads to
Brake apparatus is crossed respectively to two tires, one less brake force, now vehicle travel resistance increase, adjust the traction of tractor
Power so that detection means keeps the speed that specifies, and obtains longitudinal force of tire now by pulling force sensor, is sensed by side force
Device and wheel steering angle sensor obtain slip angle of tire and side force of tire, measure tire angular velocity by speed probe, lead to
Noncontact velocity sensor measurement apparatus speed is crossed, obtains braking skid rate；
C. corner and the brake force of two tires are changed, repeat step b obtains lateral deviation, vertical sliding composite attribute test result.This
Experiment can also be completed under the conditions of different load, speed, tire pressure etc..
8th, tire inclination, lateral deviation, the test of vertical sliding composite attribute
A. by carrying the sand that is weighed in Sand Bucket in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. first governor motion is rolled by tire and two tyre side inclination angles is adjusted, then will be led by tractor attachment structure
Draw car to connect with detection means, detection means straight-line travelling is made under the traction of tractor to command speed, by brake apparatus
Give two tires, one less brake force respectively, the phase for determining is applied to two tires by the servomotor in tire steering mechanism
Angle of twist, now vehicle travel resistance increase, adjust the tractive force of tractor so that detection means keeps the speed that specifies, this
When obtain side force, longitudinal force and the side drift angle of tire by pulling force sensor, lateral force sensors and wheel steering angle sensor,
Tire angular velocity is measured by speed probe, by noncontact velocity sensor measurement apparatus speed, to obtain braking skid
Rate；
C. angle of heel, corner and the brake force of tire are changed, repeat step b obtains inclination, lateral deviation, vertical sliding composite attribute survey
Test result.This experiment can also be completed under the conditions of different load, speed, tire pressure etc..
From the foregoing, it will be observed that detection means can complete the tire characteristics detection of above-mentioned eight classes operating mode, while can be according to difference
Tire testing operating mode carries out operating mode and is combined, and has completed tire characteristic test under other operating modes, is simultaneous for above-mentioned eight class different steady
Transient test result is obtained on the basis of state method of testing, that is, be input into and the input of time dependent transient state is changed to by stable state, then may be used
To obtain transient state tire characteristics test result.
The present invention has technique effect following prominent：
1) present invention can realize various pavement behaviors and the tire of road environment and the on-line checking of link characteristics, solve
Existing interior detection means pavement behavior and environmental simulation hardly possible problem.
2) the tire steering mechanism of the present invention and tire roll governor motion, and cooperation suspension system and brake apparatus can be real
Now tire starts, brakes, indulging the performance detection of tire and road under sliding, inclination, lateral deviation and complex conditions, solves existing outdoor
Detection means detection is in lateral deviation, inclination operating mode lower stress is uneven and detects the single problem of operating mode, improves the utilization of equipment
Rate.
3) detection means proposed by the present invention can complete lateral deviation, inclination and lateral deviation-vertical sliding characteristic inspection in linear motion
Survey, requirement of the lateral deviation experiment to place size is greatly reduced, reduces experimental cost.
4) detection means proposed by the present invention and its method of testing are widely portable to various tires, including passenger car, business
With the vehicle tyres such as car, engineering truck, motorcycle and aero tyre, appropriate load need only be chosen according to the use requirement of detected tyre
The detection range of lotus counterweight and detection sensor.
5) tire of the present invention rolls governor motion, adjusts simplicity with controlling simple, structure to be easily achieved with mechanism
Feature；By the sand that is weighed in cylinder in advance is adjusted, the loading of tire vertical load is realized, with tradition counterweight load mode phase
Than have the characteristics that loading accuracy is high, adjustment simple structure, easily operated.
6) detection means proposed by the present invention realizes tire mechanical characteristic under each operating mode by standard transducer, with current room
Inside and outside tire-testing equipment obtains mechanical characteristic under each operating mode by the special six-component sensor of tire and compares, and greatly reduces
The manufacturing cost of equipment, significantly improves the versatility of equipment.
Description of the drawings
Fig. 1 is the structural front view of multifunctional tire road detection apparatus of the present invention；
Fig. 2 is sectional view at A-A shown in Fig. 1；
Fig. 3 is multifunctional tire road detection apparatus three dimensional structure diagram of the present invention；
Fig. 4 is the structure enlarged diagram of B portion shown in Fig. 1；
Fig. 5 is vehicle frame three dimensional structure diagram；
Fig. 6 is the electrical equipment principle schematic of multifunctional tire road detection apparatus of the present invention；
Fig. 7 is lateral deviation experimental technique schematic diagram；
Fig. 8 is vertical sliding (braking) experimental technique schematic diagram；
Fig. 9 is rolling resistance experimental technique schematic diagram；
Figure 10 is roll characteristics experimental technique schematic diagram；
Figure 11 is to roll, indulge sliding composite attribute experimental technique schematic diagram；
Figure 12 is inclination, lateral deviation composite attribute experimental technique schematic diagram；
Figure 13 is lateral deviation, vertical sliding composite attribute experimental technique schematic diagram；
Figure 14 is inclination, lateral deviation, vertical sliding composite attribute experimental technique schematic diagram.
Specific embodiment
The embodiment for being given below in conjunction with the accompanying drawings is described in further detail to the present invention.
Embodiment 1
Referring to figs. 1 to Fig. 6, a kind of multifunctional tire road detection apparatus, including vehicle frame 1, test tire 3, suspension system,
Tire steering mechanism, tractor attachment structure, brake disc 19, wheel bearing 21, brake apparatus 22, noncontact velocity sensor
13rd, wheel steering angle sensor 23, inertia test cell 25, speed probe 20, console 24, battery 26；
Two sets of suspension systems are symmetrical centered on travel direction to be arranged on the vehicle frame 1, often covers suspension system
Governor motion is rolled by damper assembly 2, steering linkage member 5, tire and linking arm 14 constitutes；That is, one end of damper assembly 2
It is connected on the support plate 1.1 of vehicle frame 1, the other end is connected in the upper end of steering linkage member 5, and the lower end of steering linkage member 5 is by wheel
The sidewall governor motion that inclines is connected with 14 one end ball pivot of linking arm, and the other end of linking arm 14 is hinged with vehicle frame lower supporting plate 1.3；
Steering linkage member 5 is connected with described 21 inner ring of wheel bearing, and described brake disc 19 is solid with wheel bearing outer shroud
Even；It is connected corresponding to the brake apparatus 22 described in brake disc 19 and steering linkage member 5；Described test tire 3 passes through wheel rim 4
It is connected with brake disc 19.
Two sets of tire steering mechanism are symmetrical centered on travel direction to be arranged on the vehicle frame 1, often covers tire
Steering mechanism by drive sleeve 11, direction turning piece 10, steering ball end 9, steering linkage component 8, steering knuckle 6 and servomotor 27, OK
Star decelerator 12, lateral force sensors 7 constitute；That is, planetary reduction gear 12 is installed on the upper backup pad 1.2 of vehicle frame 1, servo electricity
Machine 27 and the input shaft drive connection of planetary reduction gear 12, the output shaft of planetary reduction gear 12 is with drive sleeve 11 with the key kind of drive
It is connected, drive sleeve 11 is connected with the key kind of drive with direction turning piece 10,10 other end of direction turning piece is hinged with 9 one end of steering ball end, turns
It is connected to 9 other end of bulb with 8 threaded one end of steering linkage component, 8 other end of steering linkage component is solid with lateral force sensors 7
Even, lateral force sensors 7 are connected with steering knuckle 6；6 other end of steering knuckle is hinged with described 5 lower end of steering linkage member；Institute
The wheel steering angle sensor 23 that states is arranged on 27 free end of servomotor；
Described tire rolls governor motion by the trapezoidal regulating block 17 of ball pivot, regulation screw mandrel 16, adjusting nut 15 and locking
Nut 18 constitutes；The ball screw of the trapezoidal regulating block 17 of ball pivot is connected with the steering linkage member 5, and will by locking nut 18
The ball screw locking of the trapezoidal regulating block 17 of ball pivot, the lower surface of the trapezoidal spigot surface of the trapezoidal regulating block 17 of ball pivot and linking arm 14
The upper surface laminating of trapezoidal spigot surface, one end of adjusting screw 16 are connected with the trapezoidal regulating block 17 of ball pivot, and the other end is connected with screw thread
Connect mode to be connected with linking arm 14, adjusting nut 15 connects with screw mandrel 16 is adjusted.
Described tractor attachment structure is by synchronous micro-adjusting component 29, connector 30, adjustable plate 31, link 28, welding
Frame 32 and pulling force sensor 34 are constituted；29 two ends of synchronous micro-adjusting component are fixed with link 28 and connector 30 respectively, and pulling force is passed
34 one end of sensor is connected with connector 30, and the other end is connected with adjustable plate 31, and adjustable plate 31 is connected with welding support 32, welding
32 two ends of frame are connected with vehicle frame upper backup pad 1.2.
Described console 24, battery 26, inertia test cell 25 are installed on vehicle frame upper backup pad 1.2 respectively, described
Noncontact velocity sensor 13 be connected on vehicle frame lower supporting plate 1.3；
Described 20 one end of speed probe is connected with 4 square hole interference fits mode of wheel rim, and the other end is with wheel bearing 21
Square hole interference fits mode is connected；
Described servomotor 27 is connected with the drive control plate in console 24；
Described noncontact velocity sensor 13, wheel steering angle sensor 23, inertia test cell 25, pulling force sensor
34th, lateral force sensors 7 and speed probe 20 by data wire respectively with console 24 in central controller communication link.
A load Sand Bucket 33 is also set up on vehicle frame 1, by filling husky amount to realize the regulation of detection means tire vertical load.
When tire is rolled under specified operating mode, by noncontact velocity sensor 13 when detection means is travelled acquisition device
Longitudinal velocity and side velocity, by inertia test cell 25 when detection means is travelled the longitudinal acceleration of acquisition device,
Side acceleration and yaw velocity, measure rolling resistance and the longitudinal force of detection means, by side by pulling force sensor 34
Side force of tire is obtained to force snesor.
Test device of the present invention can be used for tire lateral deviation, vertical sliding, roll, roll that lateral deviation is compound, roll vertical sliding compound, rolling
Dynamic resistance, inclination lateral deviation are vertical to slide the tire mechanical property testing such as compound, obtains and tests test feature of the tire under corresponding operating mode
Curve.Its detection method is as follows：
1) lateral deviation test
As shown in fig. 7, in test first by carrying the sand that is weighed in Sand Bucket 33 in advance, realizing detection means tire and hanging down
Straight load is loaded, and makes test device tire under specified load.By tractor attachment structure by same for tractor detection means
Connection, makes detection means straight-line travelling (respectively taking turns nothing steering angle) to command speed, turn to by tire under the traction of tractor
The contrary corner that servomotor 27 in mechanism applies to determine to two tires, now vehicle travel resistance increase, adjust tractor
Tractive force so that detection means keeps the speed specified, obtains wheel by lateral force sensors 7 and wheel steering angle sensor 23
Sidewall drift angle and side force of tire.Increase steering angle to determination value, repeat above step, so as to obtain the wheel under multiple side drift angles
Tire side force changes.The stable state lateral deviation mechanics characteristic curve of test tire is obtained in the process.
The similar operation of stable state lateral deviation test is applied to, when detection means straight-line travelling reaches command speed, to traction
Car applies transient state input (such as sinusoidal or angle step in angle etc.), while continuously record tire steering angle and side force of tire are in transient state mistake
The change of journey, so as to obtain tire transient state lateral deviation dynamic characteristic test result.
2) retardation test
As shown in figure 8, in test first by carrying the sand that is weighed in Sand Bucket 33 in advance, realizing detection means tire and hanging down
Straight load is loaded, and makes test device tire under specified load.By tractor attachment structure by same for tractor detection means
Connection, makes detection means straight-line travelling (respectively taking turns nothing steering angle) to command speed, by brake apparatus under the traction of tractor
22 give two tires, one less brake force respectively, and now vehicle travel resistance increases, and adjusts the tractive force of tractor so that inspection
The speed that device keeps specifying is surveyed, longitudinal force of tire is obtained by pulling force sensor 34, tire is measured by speed probe 20
Angular speed, by 13 measurement apparatus speed of noncontact velocity sensor, to obtain braking skid rate.Change tire brake apparatus 22
Brake force is slided entirely up to tire, is repeated process above and is obtained braking characteristic curve, changes load and speed is obtained accordingly
Braking characteristic experimental result under operating mode.
3) rolling resistance test
As shown in figure 9, in test first by carrying the sand that is weighed in Sand Bucket 33 in advance, realizing detection means tire and hanging down
Straight load is loaded, and makes test device tire under specified load.By tractor attachment structure by same for tractor detection means
Connection, makes detection means straight-line travelling (respectively taking turns nothing steering angle) to command speed, by pull sensing under the traction of tractor
Device 34 obtains tire drag.The hauling speed repetition process above for changing tractor is multiple, you can obtain increasing with speed
Plus rolling resistance property curve.
4) test is rolled
As shown in Figure 10, in test first by carrying the sand that is weighed in Sand Bucket 33 in advance, detection means tire is realized
Vertical load is loaded, and makes test device tire under specified load.First governor motion is rolled by tire and adjust two tires
Then tractor is connected with detection means by angle of heel by tractor attachment structure, allows detection fill under the traction of tractor
Straight-line travelling is put to command speed, side drift angle and the side of tire is obtained by wheel steering angle sensor 23 and lateral force sensors 7
Xiang Li, the tire that the process above that repeats is obtained under various angles of heel roll characteristic curve.
5) roll, vertical cunning is tested
As shown in figure 11, in test first by carrying the sand that is weighed in Sand Bucket 33 in advance, detection means tire is realized
Vertical load is loaded, and makes test device tire under specified load.First governor motion is rolled by tire and adjust two tires
Then tractor is connected with detection means by angle of heel by tractor attachment structure, allows detection fill under the traction of tractor
Straight-line travelling being put to command speed, two tires, one less brake force being given respectively by brake apparatus 22, now vehicle is travelled
Resistance increases, and adjusts the tractive force of tractor so that detection means keeps the speed that specifies, by pulling force sensor 34, laterally
Force snesor 7 obtains the longitudinal force of tire and side force, measures tire angular velocity by speed probe 20, by noncontact speed
Degree 13 measurement apparatus speed of sensor, to obtain braking skid rate.After repeating multiple slip rates and angle of heel, record is corresponding to take turns
Tire power, angle of heel are obtained the inclination of tire, vertical sliding composite attribute test result.
6) roll, lateral deviation is tested
As shown in figure 12, in test first by carrying the sand that is weighed in Sand Bucket 33 in advance, detection means tire is realized
Vertical load is loaded, and makes test device tire under specified load.First governor motion is rolled by tire and adjust two tires
Angle of heel, applies, to two tires, the contrary corner for determining by the servomotor 27 in tire steering mechanism, and now vehicle is travelled
Resistance increases, and adjusts the tractive force of tractor so that detection means keeps the speed that specifies, and now measurement reads the inclination of tire
Angle, side drift angle and side force, the process above that repeats obtain the tire cornering characteristics curve under various angles of heel.
7) lateral deviation, vertical sliding test
As shown in figure 13, in test first by carrying the sand that is weighed in Sand Bucket 33 in advance, detection means tire is realized
Vertical load is loaded, and makes test device tire under specified load.Dress is detected by same for tractor by tractor attachment structure
Connection is put, and detection means straight-line travelling is made under the traction of tractor to command speed, by the servo in tire steering mechanism
The contrary corner that motor 27 applies to determine to two tires, gives two tires, one less brake force respectively by brake apparatus 22,
Now vehicle travel resistance increases, and adjusts the tractive force of tractor so that detection means keeps the speed that specifies, now by drawing
Force snesor 34 obtains longitudinal force of tire, by lateral force sensors 7 and wheel steering angle sensor 23 obtain slip angle of tire and
Side force of tire, measures tire angular velocity by speed probe 20, by 13 measurement apparatus speed of noncontact velocity sensor,
To obtain braking skid rate；After repeating multigroup slip rate and side drift angle, record corresponding longitudinal force of tire, device speed and add
Speed is obtained the lateral deviation of tire, vertical sliding composite attribute test result.
8) inclination, lateral deviation, vertical sliding test
As shown in figure 14, in test first by carrying the sand that is weighed in Sand Bucket 33 in advance, detection means tire is realized
Vertical load is loaded, and makes test device tire under specified load.First governor motion is rolled by tire and adjust two tires
Then tractor is connected with detection means by angle of heel by tractor attachment structure, fills detection under the traction of tractor
Straight-line travelling is put to command speed, two tires, one less brake force is given respectively by brake apparatus 22, turned to by tire
The contrary corner that servomotor 27 in mechanism applies to determine to two tires, now vehicle travel resistance increase, adjust tractor
Tractive force so that detection means keeps the speed specified, now by pulling force sensor 34, lateral force sensors 7 and wheel
Rotary angle transmitter 23 obtains side force, longitudinal force and the side drift angle of tire, measures tire angular velocity by speed probe 20, leads to
13 measurement apparatus speed of noncontact velocity sensor is crossed, so as to obtain braking skid rate.Repeat multigroup slip rate, angle of heel and side
Behind drift angle, record corresponding side force of tire, device speed and acceleration and the inclination of tire, lateral deviation, vertical sliding compound is obtained
Characteristic test result.
It is described above eight kinds of Tyre in Stable State characteristics of tire of multifunctional tire road detection apparatus proposed by the present invention
Experimental technique.The transient test under above operating mode can be realized according to same method by detection means, need only change input
Mode, then be obtained the mechanical characteristic of corresponding tire transient state.
Claims (10)
1. a kind of multifunctional tire road detection apparatus, turn to machine including vehicle frame (1), test tire (3), suspension system, tire
Structure, tractor attachment structure, brake disc (19), wheel bearing (21), brake apparatus (22), noncontact velocity sensor (13),
Wheel steering angle sensor (23), inertia test cell (25), speed probe (20), console (24), battery (26), its feature
It is：
Two sets of suspension systems are symmetrical centered on travel direction to be arranged on the vehicle frame (1), often set suspension system by
Damper assembly (2), steering linkage member (5), tire roll governor motion and linking arm (14) composition；That is, damper assembly (2)
One end be connected on the support plate (1.1) of vehicle frame (1), the other end is connected in the upper end of steering linkage member (5), steering linkage member
(5) lower end is rolled governor motion by tire and is connected with linking arm (14) one end ball pivot, the other end of linking arm (14) and car
Frame lower supporting plate (1.3) is hinged；
Steering linkage member (5) and described wheel bearing (21) inner ring are connected, described brake disc (19) and wheel bearing outer shroud
It is connected；Described brake apparatus (22) and steering linkage member (5) corresponding to brake disc (19) is connected；Described test tire
(3) it is connected by wheel rim (4) same to brake disc (19)；
Two sets of tire steering mechanism are symmetrical centered on travel direction to be arranged on the vehicle frame (1), often covers tyre revolution
To mechanism by drive sleeve (11), direction turning piece (10), steering ball end (9), steering linkage component (8), steering knuckle (6) and servo electricity
Machine (27), planetary reduction gear (12), lateral force sensors (7) composition；That is, planetary reduction gear (12) is installed in the upper of vehicle frame (1)
In gripper shoe (1.2), the input shaft drive connection of servomotor (27) and planetary reduction gear (12), planetary reduction gear (12) defeated
The same drive sleeve of shaft (11) is connected with the key kind of drive, and drive sleeve (11) is connected with the key kind of drive with direction turning piece (10), is turned to
Piece (10) other end and steering ball end (9) one end hinge, steering ball end (9) other end and steering linkage component (8) threaded one end
Connection, steering linkage component (8) other end and lateral force sensors (7) are connected, lateral force sensors (7) and steering knuckle (6)
It is connected；Steering knuckle (6) other end is hinged with described steering linkage member (5) lower end；Described wheel steering angle sensor (23)
It is arranged on servomotor (27) free end；
Described tire rolls governor motion by the trapezoidal regulating block of ball pivot (17), regulation screw mandrel (16), adjusting nut (15) and lock
Jack panel (18) constitutes；The ball screw of the trapezoidal regulating block of ball pivot (17) is connected with the steering linkage member (5), and by locking
The ball screw of trapezoidal for ball pivot regulating block (17) is locked by nut (18), under the trapezoidal spigot surface of the trapezoidal regulating block of ball pivot (17)
Surface is fitted with the upper surface of the trapezoidal spigot surface of linking arm (14), and one end of adjusting screw (16) is with the trapezoidal regulating block of ball pivot (17)
It is connected, the other end is connected with linking arm (14) with thread connecting mode, adjusting nut (15) connects with screw mandrel (16) is adjusted；
Described tractor attachment structure is by synchronous micro-adjusting component (29), connector (30), adjustable plate (31), link (28), weldering
Connect support (32) and pulling force sensor (34) is constituted；Synchronous micro-adjusting component (29) two ends respectively with link (28) and connector
(30) fixing, pulling force sensor (34) one end same connector (30) are connected, and the same adjustable plate of the other end (31) is connected, adjustable plate (31)
Same welding support (32) are connected, and welding support (32) two ends are connected with vehicle frame upper backup pad (1.2)；
Described console (24), battery (26), inertia test cell (25) are installed on vehicle frame upper backup pad (1.2) respectively,
Described noncontact velocity sensor (13) is connected on vehicle frame lower supporting plate (1.3)；
Described speed probe (20) one end same wheel rim (4) square hole interference fits mode is connected, the same wheel bearing of the other end
(21) square hole interference fits mode is connected；
Described servomotor (27) is connected with the drive control plate in console (24)；
Described noncontact velocity sensor (13), wheel steering angle sensor (23), inertia test cell (25), pulling force sensor
(34), lateral force sensors (7) and speed probe (20) by data wire respectively with console (24) in central controller
Communication link.
2. multifunctional tire road detection apparatus according to claim 1, it is characterised in that also include to be arranged on vehicle frame
(1) the load Sand Bucket (33) on.
3. a kind of method of the detection means test tire cornering characteristics based on described in claim 2, it is characterised in that include with
Lower step：
A. by carrying the sand that is weighed in Sand Bucket (33) in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. tractor is connected with detection means by tractor attachment structure, detection means straight line is made under the traction of tractor
Travel to command speed, the contrary corner for determining is applied to two tires by the servomotor (27) in tire steering mechanism, this
When vehicle travel resistance increase, adjust the tractive force of tractor so that detection means keeps the speed specified, passes by side force
Sensor (7) and wheel steering angle sensor (23) obtain slip angle of tire and side force of tire；
C. two tire corners are changed, repeat step b obtains the tire cornering characteristics curve under various side drift angles.
4. a kind of method that sliding characteristic indulged by detection means test tire based on described in claim 2, it is characterised in that include with
Lower step：
A. by carrying the sand that is weighed in Sand Bucket (33) in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. tractor is connected with detection means by tractor attachment structure, detection means straight line is made under the traction of tractor
Travel to command speed, two tires, one less brake force is given respectively by brake apparatus (22), now vehicle travel resistance
Increase, adjust the tractive force of tractor so that detection means keeps the speed that specifies, and obtains now by pulling force sensor (34)
Longitudinal force of tire, measures tire angular velocity by speed probe (20), by noncontact velocity sensor (13) measurement detection
Device speed, to obtain braking skid rate；
C. change tire brake apparatus (22) brake force to be slided up to tire entirely, repeat step b obtains vertical sliding characteristic curve；Change and carry
Lotus and speed obtain the vertical sliding characteristic test result under corresponding operating mode.
5. a kind of method that detection means based on described in claim 2 tests tire rolling resistance property, it is characterised in that bag
Include following steps：
A. by carrying the sand that is weighed in Sand Bucket (33) in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. tractor is connected with detection means by tractor attachment structure, detection means straight line is made under the traction of tractor
Travel to command speed, tire drag is obtained by pulling force sensor (34)；
C. change the hauling speed of tractor, the process of repeat step b is multiple, you can the rolling resistance for obtaining increasing with speed is special
Linearity curve.
6. a kind of detection means test tyre side based on described in claim 2 is inclined the method for characteristic, it is characterised in that include with
Lower step：
A. by carrying the sand that is weighed in Sand Bucket (33) in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. first governor motion is rolled by tire and two tyre side inclination angles is adjusted, then pass through tractor attachment structure by tractor
Connect with detection means, under the traction of tractor, make detection means straight-line travelling to command speed, sensed by wheel steering angle
Device (23) and lateral force sensors (7) obtain side drift angle and the side force of tire；
C. two tyre side inclination angles are changed, the tire that repeat step b is obtained under various angles of heel rolls characteristic curve.
7. a kind of detection means test tyre side based on described in claim 2 incline, the method for lateral deviation composite attribute, its feature exists
In comprising the following steps：
A. by carrying the sand that is weighed in Sand Bucket (33) in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. first governor motion is rolled by tire and two tyre side inclination angles is adjusted, then pass through tractor attachment structure by tractor
Connect with detection means, detection means straight-line travelling is made under the traction of tractor to command speed, by tire steering mechanism
In the contrary corner that applies to determine to two tires of servomotor (27), now vehicle travel resistance increase, adjust tractor
Tractive force so that detection means keeps the speed that specifies, now measurement reads side drift angle, angle of heel and the side force of tire；
C. angle of heel and the side drift angle of two tires are changed, the tire under the various angles of heel of repeat step b acquisition is rolled, lateral deviation is combined
Characteristic curve.
8. a kind of method that detection means test tyre side based on described in claim 2 is inclined, indulges sliding composite attribute, its feature exist
In comprising the following steps：
A. by carrying the sand that is weighed in Sand Bucket (33) in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. first governor motion is rolled by tire and two tyre side inclination angles is adjusted, then pass through tractor attachment structure by tractor
Connect with detection means, detection means straight-line travelling is made under the traction of tractor to command speed, by brake apparatus (22)
Two tire one less brake force is given respectively, and now vehicle travel resistance increases, and adjusts the tractive force of tractor so that detection
Device keeps the speed that specifies, and obtains longitudinal force and the side of tire now by pulling force sensor (34), lateral force sensors (7)
Xiang Li, measures tire angular velocity by speed probe (20), by noncontact velocity sensor (13) measurement apparatus speed, with
Obtain braking skid rate；
C. angle of heel and the brake force of tire are changed respectively, repeat step b obtains and rolls, indulges sliding composite attribute test result.
9. a kind of detection means based on described in claim 2 tests Wheel slip, the method for vertical sliding composite attribute, and its feature exists
In comprising the following steps：
A. by carrying the sand that is weighed in Sand Bucket (33) in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. tractor is connected with detection means by tractor attachment structure, detection means straight line is made under the traction of tractor
Travel to command speed, the contrary corner for determining is applied to two tires by the servomotor (27) in tire steering mechanism, lead to
Brake apparatus (22) is crossed respectively to two tires, one less brake force, now vehicle travel resistance increase, adjust tractor
Tractive force so that detection means keeps the speed that specifies, and obtains longitudinal force of tire now by pulling force sensor (34), by side
Slip angle of tire and side force of tire are obtained to force snesor (7) and wheel steering angle sensor (23), by speed probe
(20) tire angular velocity is measured, by noncontact velocity sensor (13) measurement apparatus speed, obtains braking skid rate；
C. corner and the brake force of two tires are changed, repeat step b obtains lateral deviation, vertical sliding composite attribute test result.
10. a kind of detection means test tyre side based on described in claim 2 incline, lateral deviation, the method for vertical sliding composite attribute, its
It is characterised by comprising the following steps：
A. by carrying the sand that is weighed in Sand Bucket (33) in advance, the accurate load or unload of detection means tire vertical load is realized,
Test device tire is made in different specified load；
B. first governor motion is rolled by tire and two tyre side inclination angles is adjusted, then pass through tractor attachment structure by tractor
Connect with detection means, detection means straight-line travelling is made under the traction of tractor to command speed, by brake apparatus (22)
Give two tires, one less brake force respectively, apply to determine to two tires by the servomotor (27) in tire steering mechanism
Contrary corner, now vehicle travel resistance increase, adjust the tractive force of tractor so that detection means keeps the speed specified
Degree, obtains the lateral of tire now by pulling force sensor (34), lateral force sensors (7) and wheel steering angle sensor (23)
Power, longitudinal force and side drift angle, measure tire angular velocity by speed probe (20), are surveyed by noncontact velocity sensor (13)
Amount device speed, to obtain braking skid rate；
C. angle of heel, corner and the brake force of tire are changed, repeat step b obtains inclination, lateral deviation, vertical sliding composite attribute test knot
Really.
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