CN107063659A - A kind of pair of photo-electric automobile double-front axle sideslip check-out console and detection method - Google Patents
A kind of pair of photo-electric automobile double-front axle sideslip check-out console and detection method Download PDFInfo
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- CN107063659A CN107063659A CN201710192201.XA CN201710192201A CN107063659A CN 107063659 A CN107063659 A CN 107063659A CN 201710192201 A CN201710192201 A CN 201710192201A CN 107063659 A CN107063659 A CN 107063659A
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- slide plate
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- optoelectronic switch
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M17/00—Testing of vehicles
- G01M17/007—Wheeled or endless-tracked vehicles
- G01M17/04—Suspension or damping
- G01M17/045—Suspension or damping the vehicle wheels co-operating with rotatable rollers
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Abstract
The invention discloses double photo-electric automobile double-front axle sideslip check-out consoles and detection method, including frame, detection zone, revolver detection zone and right wheel detection zone are divided into the detection, and the position and composition of revolver detection zone and right wheel detection zone are symmetrical set；The right wheel detection zone includes right slide plate and right roller, and the right slide plate is arranged in frame by right roller, and right slide plate or right roller are provided with right guider；The direction of the right guider is vertically arranged with direction of traffic；It is connected between right slide plate and left skateboard by connecting rod with swing-bar mechanism, the connecting rod is provided with displacement transducer, right slide plate is provided with preceding optoelectronic switch and rear optoelectronic switch in direction of traffic.The double photoelectricity dynamic zero point type automobile side slip testers developed specifically designed for double front steering axle vehicles, the sliding sequence detection measured is surveyed by two groups of optoelectronic switch real-time judges and the design of large scale slide plate detection faces to meet once to cross each steeraxle of Double steering bridge automobile in car and can complete each bridge.
Description
Technical field
The present invention relates to vehicle performance test field, more particularly to a kind of pair photo-electric automobile double-front axle sideslip check-out console and
Detection method.
Background technology
Automobile guiding wheel (generally front-wheel), toe-in value with flare angle value if there is mismate, directive wheel is to just
While front is rolled, the relative horizontal sliding with ground is also produced, that is, is breakked away.Automobile was used after a period of time, can often be gone out
The situation of existing vehicle guidance undue tire wear, this is mainly due to caused by wheel side sliding.Side slip walue is crossed conference and directly affected
To the control stability and security of automobile, the inordinate wear of oversize tyre.For double front steering axle vehicles, wheel side sliding except
Breakked away between wheel outer, also there are Sideslip between axles.Wheel side sliding can cause vehicle run stability and linear driving performance to be deteriorated, plus
The inordinate wear of acute tire, declines fuel economy.And when wheel side sliding phenomenon is excessively serious, except meeting excessive wear
Outside directive wheel, the attachment condition of wheel can be also destroyed, automobile is lost orientation driveability, causes Automobile operation unbalance, cause
Traffic accident.To keep car of turning direction with dual front axle that there is good technology status, make its safety, run to low consumption, it is necessary to have
Car of turning direction with dual front axle wheel side sliding is detected and repaired on effect ground.
The content of the invention
For disadvantages described above, present invention aims at breakked away and axle between the wheel for how effectively detecting double front steering axle measurements
Between break away performance.
To achieve these goals, the invention provides a kind of pair of photo-electric automobile double-front axle sideslip check-out console, its feature
It is to include frame, detection zone, revolver detection zone and right wheel detection zone, revolver detection zone and right wheel detection are divided into the detection
The position in area and composition are symmetrical set；The right wheel detection zone includes right slide plate and right roller, and the right slide plate passes through the right side
Roller is arranged in frame, and right slide plate or right roller are provided with right guider；The direction of the right guider and driving side
To being vertically arranged；It is connected between right slide plate and left skateboard by connecting rod with swing-bar mechanism, the connecting rod is provided with displacement transducer,
The right slide plate is provided with preceding optoelectronic switch at the right slide plate port of export of direction of traffic, and the right slide plate is apart from preceding optoelectronic switch
Rear optoelectronic switch is provided with 500~1500mm.
Described double photo-electric automobile double-front axle sideslip check-out consoles, it is characterised in that described to loosen plate also including loosening plate
Loosen plate including a left side and plate is loosened on the right side, plate is loosened on a left side and Board position is loosened on the right side and composition is symmetrical set；Plate is loosened on a left side to be included
Slide plate and left tourelle are loosened in a left side, and the left side is loosened slide plate and is fixed on left tourelle, can left and right slidably；Loosen plate
Be arranged on the front of detection zone, between be provided with gap.
Described double photo-electric automobile double-front axle sideslip check-out consoles, it is characterised in that detection zone is small along the length of direction of traffic
In the distance between vehicle front steering axle to be measured and rear steering bridge.
Described double photo-electric automobile double-front axle sideslip check-out consoles, it is characterised in that rear optoelectronic switch and preceding optoelectronic switch peace
Holding position is higher than the horizontal plane of right slide plate.
Described double photo-electric automobile double-front axle sideslip check-out consoles, it is characterised in that between right slide plate and left skateboard and frame
It is additionally provided with return spring.
Described double photo-electric automobile double-front axle sideslip check-out consoles, it is characterised in that between right slide plate and left skateboard and frame
It is additionally provided with lockable mechanism.
A kind of pair of photo-electric automobile double-front axle sideslip detection method, it is characterised in that operational control vehicle to be tested is according to setting
Fixed speed drives into test zone, and adjustment left and right vehicle wheel wheel position is respectively aligned to that plate is loosened on a left side and plate is loosened on the right side, controls to be tested
Vehicle, which is first passed through, loosens area, then by detection zone, finally leaves test section；
When detection host monitor detects the presence of automobile front steering axle tire to rear optoelectronic switch to be blocked, detection main frame inspection
Location displacement sensor and record slide plate the moment shift value L0, and be recorded as front steering axle and break away the dynamic zero point of detection；
When detection host monitor detects the presence of vehicle front tire to preceding optoelectronic switch to be blocked, Host Detection displacement is detected
Sensor and record slide plate the moment shift value L1, system-computed goes out front steering axle sideslip distance, delta 1=L1-L0；
When detection host monitor detects the presence of automobile rear steering bridge tire to rear optoelectronic switch to be blocked, detection main frame inspection
Location displacement sensor and record slide plate the moment shift value L0 ', and be recorded as rear steering bridge sideslip dynamic zero point；
When detection host monitor detects the presence of automobile back wheel tire to preceding optoelectronic switch to be blocked, Host Detection displacement is detected
Sensor and record slide plate the moment shift value L1 ', system-computed goes out rear steering bridge sideslip value Δ 1 ', Δ 1 '=L1 '-
L0’。
Described double photo-electric automobile double-front axle sideslip detection methods, it is characterised in that also operated including Effective judgement,
The Effective judgement operation calculates the actual speed that vehicle to be measured passes through by optoelectronic switch and preceding optoelectronic switch after monitoring,
Actual speed is judged whether in the range of presetting, if this test invalidation not if.
Disclosed by the invention pair of photo-electric automobile double-front axle sideslip check-out console is specific to double front steering axle vehicle developments
Double photoelectricity dynamic zero point type automobile side slip testers, pass through two groups of optoelectronic switch real-time judges and large scale slide plate detection faces
Design and car is once crossed to each steeraxle of Double steering bridge automobile can complete the sequence detection that each bridge surveys sliding amount to meet.
Brief description of the drawings
The double photo-electric automobile double-front axles of Fig. 1, which break away, examines stage body primary structure schematic diagram；
Fig. 2 front steering axle tires, which are sailed out of, loosens plate, just to drive into detection plate schematic diagram；
Fig. 3 front steering axles tire just blocks rear photoelectricity schematic diagram；
Photoelectricity schematic diagram before Fig. 4 front steering axles tire is just blocked；
Fig. 5 rear steering bridge tires, which are sailed out of, loosens plate, just to drive into detection plate schematic diagram；
Fig. 6 rear steering bridge tires just block rear photoelectricity schematic diagram；
Photoelectricity schematic diagram before Fig. 7 rear steering bridge tires are just blocked.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The double photo-electric automobile double-front axles of Fig. 1, which break away, examines stage body primary structure schematic diagram, and Fig. 1 A portions are profile, B portions
For plane distribution schematic diagram；A left side is divided into double photo-electric automobile double-front axle sideslip check-out consoles, including frame 2, detection zone 3, detection
Detection zone and right wheel detection zone are taken turns, the position and composition of revolver detection zone and right wheel detection zone are symmetrical set；Right wheel is detected
Area includes right slide plate and right roller 6, and right slide plate is arranged in frame by right roller, and right slide plate or right roller are oriented to provided with right
Device 7；The guide direction of right guider is vertically arranged with direction of traffic；Pass through connecting rod and swing rod between right slide plate and left skateboard
Mechanism 4 is connected, and connecting rod is provided with displacement transducer 5, and right slide plate is provided with preceding optoelectronic switch 11 at the port of export of direction of traffic, right
Slide plate is being provided with rear optoelectronic switch 12 at preceding optoelectronic switch 500mm~1500mm.Loosen that plate 8 loosens plate including a left side and the right side is put
Deals, plate is loosened on a left side and Board position is loosened on the right side and composition is symmetrical set；Loosen plate and loosen slide plate including a left side and roll left dynamic in a left side
Device a, left side is loosened slide plate and is fixed on left tourelle, can left and right slidably；Loosen the front that plate is arranged on detection zone, it
Between be provided with gap.
Right slide plate and left skateboard are longitudinally constrained by guider, transversely level can only be slided.Right slide plate and left skateboard are only
Can be while outwardly or inwardly synchronous horizontal to be moved, the amount of right slide plate and left skateboard transverse horizontal movement is adopted by displacement transducer
Collection.Lockable mechanism is designed with right slide plate and left skateboard is used for the locking of non-detection situation bottom right slide plate and left skateboard, prevents machine
The improper damage of structure.The preceding rear of optoelectronic switch 11 (direction of traffic opposite direction) 500mm~1500mm positions, cloth postpones photoelectricity and opened
Close 12；Still there is the detection range of certain distance at the rear of optoelectronic switch 12 afterwards so that wheel on triggering optoelectronic switch when, wheel with
The plate face contact proper area of right slide plate and left skateboard ensures that wheel links with right slide plate and left skateboard.Equipment is before detection zone
Side, which is provided with, loosens plate, and wheel, which reaches to first pass through before right slide plate and left skateboard, loosens plate, to eliminate what is produced between wheel and ground
Skid force outwardly or inwardly.
When double front steering axle automobile guiding wheels cross sideskid, wheel can produce a sideslip perpendicular to travel direction
Power, the skid force moves in or out right slide plate and left skateboard；When using Double-linkage slide plate when, skid force make right slide plate and
Left skateboard outwardly or inwardly synchronizing moving simultaneously, side slip walue is the integrated value of left and right two-wheeled.Right slide plate and left skateboard inwardly or to
Outer displacement is transformed into electric signal by displacement transducer, and electric signal shows the sideslip of automobile after being handled through control instrument
Amount.
Double steering bridge automobile is once by sideslip data for detecting two steeraxles that can be convenient and reliable：Double photo-electrics
Automobile Double steering bridge sideslip check-out console system is by judging that vehicle is blocked to the order of its two groups of optoelectronic switches, to collect double turn
(i.e. preceding optoelectronic switch and rear optoelectronic switch group are in driving in the stroke at a distance of 500mm~1500mm for steeraxle before and after to bridge automobile
Spacing on direction) in, at the time of optoelectronic switch is with preceding optoelectronic switch is triggered after each bridge is triggered, and record correspondence moment displacement biography
The shift value of sensor；The shift value of rear optoelectronic switch correspondence displacement transducer is blocked as dynamic zero point using the bridge tire, to hide
The shift value of optoelectronic switch correspondence displacement transducer is ended as bridge sideslip detection before gear, displacement transducer position in recording process
The changing value of shifting, by network analysis to obtain the sideslip value of the bridge.
Double front steering axle sideslip testing processes and principle of operation decompose as follows：
Right slide plate and left skateboard are collectively referred to as claiming detection plate；Left skateboard is also referred to as left detection plate, and right slide plate is also referred to as right detection plate；
Photoelectricity after the referred to as preceding photoelectricity of preceding optoelectronic switch, rear photoelectricity switch abbreviation.
Fig. 2 is that front steering axle tire sails out of and loosens plate, just to drive into detection plate schematic diagram；Front steering axle, which is sailed out of, to be loosened
Plate, when just driving into detection plate, front steering axle tire is in the presence of plate is loosened, and eliminating can between the bridge tire and ground
The skid force outwardly or inwardly of energy, does not now drive into tire in detection plate, and it is zero relative to the displacement of driving center line,
The relative position of edge and center line of driving a vehicle is L on the right of left detection plate.
Fig. 3 front steering axles tire just blocks rear photoelectricity schematic diagram；Front steering axle tire just blocks rear optoelectronic switch, by
It is higher than ground level or detection plate plate face in optoelectronic switch installation site, now blocks the position of rear optoelectronic switch for this group of tire such as
Lower-left marginal portion shown in figure, and tire vertical centre is located in the detection plate of rear optoelectronic switch aft section.Now left inspection
On the right of drafting board along and the relative position of driving center line be L0, L0 now is used as what front steering axle side slip walue detect to move by system
State zero point.
Photoelectricity schematic diagram before Fig. 4 front steering axles tire is just blocked；Front steering axle tire just blocks preceding optoelectronic switch, preceding
Optoelectronic switch setting height(from bottom) is consistent afterwards, and the distance on direction of traffic is 500~1000mm, equally blocks preceding optoelectronic switch
Position be this group of tire lower-left marginal portion as depicted, tire vertical centre be located at preceding optoelectronic switch aft section inspection
On drafting board.It is now L1 along the relative position with center line of driving a vehicle on the right of left detection plate, detection plate is from last state to this state
Displacement be Δ 1, unit is mm.Then there is Δ 1=L1-L0, when front and rear optoelectronic switch distance is 500mm, (2 × Δ 1) is
For the sideslip value of front steering axle, when front and rear optoelectronic switch distance is 1000mm, Δ 1 is the sideslip value of front steering axle, unit
It is m/km；When front and rear optoelectronic switch distance is other values, the steeraxle sideslip value can be drawn according to corresponding relation.
Fig. 5 rear steering bridge tires, which are sailed out of, loosens plate, just to drive into detection plate schematic diagram；Rear steering bridge tire, which is sailed out of, to be loosened
Plate, when just driving into detection plate, rear steering bridge tire is in the presence of plate is loosened, and eliminating can between the bridge tire and ground
Can skid force outwardly or inwardly, now front steering axle tire sailed out of detection plate, examined in certain time in the process
Tire is not driven on drafting board, detection plate is in the presence of return spring, and displacement opposite direction replys certain displacement before
Amount, this amount of displacement by steeraxle length of the bridge, Vehicle Speed before and after front steering axle tire sideslip value size, vehicle etc. it is many because
Pass is have, is a changing value, detection plate, which differs, surely returns to dead-center position (initial position).Now from laststate to this shape
State, detection plate return displacement is Δ ', the relative position of left detection plate the right edge and center line of driving a vehicle is L '.
Fig. 6 rear steering bridge tires just block rear photoelectricity schematic diagram, and rear steering bridge tire just blocks rear photoelectricity, ibid institute
State, the position for blocking rear photoelectricity is this group of tire lower-left marginal portion as depicted, and tire vertical centre is located at rear photoelectricity
In the detection plate of aft section.Now on the right of left detection plate along and the relative position of driving center line be L0 ', system is by now
The dynamic zero point that L0 ' is detected as rear steering bridge side slip walue.
Photoelectricity schematic diagram rear steering bridge tire just blocks preceding photoelectricity before Fig. 7 rear steering bridge tires are just blocked, as before
Described, the position of photoelectricity is this group of tire lower-left marginal portion as depicted before equally blocking, before tire vertical centre is located at
In the detection plate of photoelectricity aft section.Now on the right of left detection plate along and the relative position of driving center line be L1 ', detection plate from
The displacement of last state to this state is Δ 1 ', and unit is mm.Then there are Δ 1 '=L1 '-L0 ', when front and rear optoelectronic switch distance
During for 500mm, (2 × Δ 1 ') is the sideslip value of rear steering bridge, and when front and rear optoelectronic switch distance is 1000mm, Δ 1 ' is
The sideslip value of rear steering bridge, unit is m/km.When front and rear optoelectronic switch distance is other values, it can be drawn according to corresponding relation
The steeraxle sideslip value.
So far whole double front steering axle skid detections are completed, either front steering axle or rear steering bridge, side slip walue
The zero point of detection is dynamic zero point, and the dynamic zero point is blocked rear photoelectricity by tire and obtained, and by front of rear photoelectricity 500~
The terminal that the side slip walue for blocking to judge the bridge tire of 1500mm preceding photoelectricity is detected, displacement in the process is multiplied by
(1000/s), as above Δ 1 or (2 × Δ 1), the Δ 1 ' or (2 × Δ 1 ') of step be recorded as respectively before this pair of front steering axle automobile
The side slip walue of rear steering bridge, unit is m/km.
The spacing arrangement of optoelectronic switch, can have detection vehicle averagely by the function of speed simultaneously, by velocity measuring,
Whether the speed of vehicle is in scope as defined in standard when may determine that detection, and automatic decision is tested whether effectively.
Above disclosed is only an embodiment of the present invention, can not limit the interest field of sheet with this certainly,
One of ordinary skill in the art will appreciate that all or part of flow of above-described embodiment is realized, and according to the claims in the present invention institute
The equivalent variations of work, still fall within the scope that the present invention is covered.
Claims (8)
1. a kind of pair of photo-electric automobile double-front axle sideslip check-out console, it is characterised in that including frame, detection zone, the detection is distinguished
For revolver detection zone and right wheel detection zone, the position and composition of revolver detection zone and right wheel detection zone are symmetrical set；It is described
Right wheel detection zone includes right slide plate and right roller, and the right slide plate is arranged in frame by right roller, right slide plate or right roller
It is provided with right guider；The direction of the right guider is vertically arranged with direction of traffic；Lead between right slide plate and left skateboard
Cross connecting rod with swing-bar mechanism to be connected, the connecting rod is provided with displacement transducer, the right slide plate goes out in the right slide plate of direction of traffic
Preceding optoelectronic switch is provided with mouth end, the right slide plate is being provided with rear optoelectronic switch at preceding 500~1500mm of optoelectronic switch.
2. according to claim 1 pair of photo-electric automobile double-front axle sideslip check-out console, it is characterised in that also including loosening plate,
Described to loosen that plate loosens plate including a left side and plate is loosened on the right side, plate is loosened on a left side and Board position is loosened on the right side and composition is symmetrical set；It is left
Loosen plate and loosen slide plate and left tourelle including a left side, the left side is loosened slide plate and is fixed on left tourelle, can left and right freedom
Slide；Loosen the front that plate is arranged on detection zone, between be provided with gap.
3. according to claim 2 pair of photo-electric automobile double-front axle sideslip check-out console, it is characterised in that detection zone edge driving
The length in direction is less than the distance between vehicle front steering axle to be measured and rear steering bridge.
4. according to claim 3 pair of photo-electric automobile double-front axle sideslip check-out console, it is characterised in that rear optoelectronic switch and
Preceding optoelectronic switch installation site is higher than the horizontal plane of right slide plate.
5. according to claim 4 pair of photo-electric automobile double-front axle sideslip check-out console, it is characterised in that right slide plate and left cunning
Return spring is additionally provided between plate and frame.
6. double photo-electric automobile double-front axle sideslip check-out consoles according to claim 1 to 5 any one, it is characterised in that right
Lockable mechanism is additionally provided between slide plate and left skateboard and frame.
7. a kind of pair of photo-electric automobile double-front axle sideslip detection method, it is characterised in that operational control vehicle to be tested is according to setting
Speed drive into test zone, adjustment left and right vehicle wheel wheel position is respectively aligned to that plate is loosened on a left side and plate is loosened on the right side, controls test run to be measured
First pass through and to loosen area, then by detection zone, finally leave test section；
When detection host monitor detects the presence of automobile front steering axle tire to rear optoelectronic switch to be blocked, detection Host Detection position
Displacement sensor and record slide plate the moment shift value L0, and be recorded as front steering axle and break away the dynamic zero point of detection；
When detection host monitor detects the presence of vehicle front tire to preceding optoelectronic switch to be blocked, Host Detection displacement sensing is detected
Device and record slide plate the moment shift value L1, system-computed goes out front steering axle sideslip distance, delta 1=L1-L0；
When detection host monitor detects the presence of automobile rear steering bridge tire to rear optoelectronic switch to be blocked, detection Host Detection position
Displacement sensor and record slide plate the moment shift value L0 ', and be recorded as rear steering bridge sideslip dynamic zero point；
When detection host monitor detects the presence of automobile back wheel tire to preceding optoelectronic switch to be blocked, Host Detection displacement sensing is detected
Device and record slide plate the moment shift value L1 ', system-computed goes out rear steering bridge sideslip value Δ 1 ', Δ 1 '=L1 '-L0 '.
8. according to claim 7 pair of photo-electric automobile double-front axle sideslip detection method, it is characterised in that also including effective
Property judge operation, Effective judgement operation is calculated vehicle to be measured and passed through by optoelectronic switch and preceding optoelectronic switch after monitoring
Actual speed, actual speed is judged whether in the range of presetting, if this test invalidation not if.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192201.XA CN107063659A (en) | 2017-03-28 | 2017-03-28 | A kind of pair of photo-electric automobile double-front axle sideslip check-out console and detection method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710192201.XA CN107063659A (en) | 2017-03-28 | 2017-03-28 | A kind of pair of photo-electric automobile double-front axle sideslip check-out console and detection method |
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| Publication Number | Publication Date |
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| CN107063659A true CN107063659A (en) | 2017-08-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710192201.XA Pending CN107063659A (en) | 2017-03-28 | 2017-03-28 | A kind of pair of photo-electric automobile double-front axle sideslip check-out console and detection method |
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| CN (1) | CN107063659A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108186296A (en) * | 2017-12-27 | 2018-06-22 | 重庆柚瓣家科技有限公司 | Open air is from the auxiliary running gear of walking robot |
| CN108897300A (en) * | 2018-05-24 | 2018-11-27 | 格力电器（武汉）有限公司 | A kind of test equipment of air-conditioner controller, method, apparatus and storage medium |
| CN111366380A (en) * | 2020-05-06 | 2020-07-03 | 吉林大学 | Synchronous detection device for sideslip components of multi-shaft automobile wheel and shaft |
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| CN2662225Y (en) * | 2003-12-19 | 2004-12-08 | 周申生 | Automobile side skidding inspection bench |
| CN105021409A (en) * | 2015-08-03 | 2015-11-04 | 山东科大微机应用研究所有限公司 | Double-slide-plate double-steering-axle automobile sideslip test table and automobile sideslip test method |
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| CN2662225Y (en) * | 2003-12-19 | 2004-12-08 | 周申生 | Automobile side skidding inspection bench |
| CN105021409A (en) * | 2015-08-03 | 2015-11-04 | 山东科大微机应用研究所有限公司 | Double-slide-plate double-steering-axle automobile sideslip test table and automobile sideslip test method |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108186296A (en) * | 2017-12-27 | 2018-06-22 | 重庆柚瓣家科技有限公司 | Open air is from the auxiliary running gear of walking robot |
| CN108897300A (en) * | 2018-05-24 | 2018-11-27 | 格力电器（武汉）有限公司 | A kind of test equipment of air-conditioner controller, method, apparatus and storage medium |
| CN108897300B (en) * | 2018-05-24 | 2024-01-16 | 格力电器（武汉）有限公司 | Test equipment, method and device for air conditioner controller and storage medium |
| CN111366380A (en) * | 2020-05-06 | 2020-07-03 | 吉林大学 | Synchronous detection device for sideslip components of multi-shaft automobile wheel and shaft |
| 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 |
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