CN210774717U - Automatic driving test vehicle - Google Patents
Automatic driving test vehicle Download PDFInfo
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- CN210774717U CN210774717U CN201921757365.3U CN201921757365U CN210774717U CN 210774717 U CN210774717 U CN 210774717U CN 201921757365 U CN201921757365 U CN 201921757365U CN 210774717 U CN210774717 U CN 210774717U
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- 238000012360 testing method Methods 0.000 title claims abstract description 43
- 238000004891 communication Methods 0.000 claims abstract description 11
- 230000001360 synchronised effect Effects 0.000 claims description 65
- 230000035939 shock Effects 0.000 claims description 26
- 239000000725 suspension Substances 0.000 claims description 25
- 239000006096 absorbing agent Substances 0.000 claims description 16
- 238000007667 floating Methods 0.000 claims description 16
- 230000007246 mechanism Effects 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 10
- 238000010521 absorption reaction Methods 0.000 claims description 8
- 230000000149 penetrating effect Effects 0.000 claims 1
- 230000005611 electricity Effects 0.000 abstract description 4
- 230000002146 bilateral effect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 8
- 238000013016 damping Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 4
- 238000009434 installation Methods 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
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Abstract
The utility model discloses an automatic drive test car. It includes the chassis, the chassis top is equipped with the apron, bilateral symmetry is equipped with the first swash plate of downward sloping around the apron, apron left and right sides symmetry is equipped with the second swash plate of downward sloping, adjacent first swash plate and second swash plate are connected through connecting the swash plate, the chassis lower surface front side is equipped with two drive module, drive module includes the drive wheel and is used for driving drive wheel pivoted motor, chassis lower surface rear side middle part is equipped with the universal wheel, be equipped with the controller on the chassis, wireless communication module, GPS signal receiver, be equipped with GPS signal reception antenna on the first swash plate, the controller respectively with the motor, wireless communication module and GPS signal receiver electricity are connected, GPS signal reception antenna is connected with GPS signal receiver electricity. The utility model discloses can carry on dummy model, automobile model etc. and go forward along setting for the route at a high speed to realize that various models move ahead under the speed condition of setting for according to the route of setting for.
Description
Technical Field
The utility model relates to a test car technical field especially relates to an automatic drive test car.
Background
With the rapid development of computer technology and artificial intelligence technology in recent years, the unmanned technology is one of the popular technologies being developed by all parties. Before commercial unmanned vehicles are released by automobile manufacturers, various tests are inevitably carried out to ensure the safety of the unmanned vehicles on the road. In order to test the safety and reliability of the unmanned automobile, the traffic road condition must be simulated in a test field, so that the test road condition is basically consistent with the real road condition, such as simulating pedestrians, and simulating the driving environment of non-motor vehicles and motor vehicles under various road conditions.
In order to ensure the safety of the test and prevent the tested vehicle from being damaged due to collision, the pedestrian, the non-motor vehicle, the motor vehicle and the like are replaced by models. Therefore, how to make various models move forward according to the set route under the set speed condition is a problem to be solved.
Disclosure of Invention
The utility model provides an above-mentioned technical problem of solution, an automatic driving test car is provided, it can carry on dummy model, automobile model etc. and go forward along setting for the route at a high speed to realize that various models move ahead under the speed condition of setting for according to the route of setting for.
In order to solve the problem, the utility model discloses a following technical scheme realizes:
the utility model discloses an automatic drive test car, which comprises a base, the chassis top is equipped with the apron, bilateral symmetry is equipped with the first swash plate of downward sloping around the apron, apron left and right sides symmetry is equipped with the second swash plate of downward sloping, and adjacent first swash plate and second swash plate are connected through connecting the swash plate, surface front side is equipped with two drive module under the chassis, drive module includes the drive wheel and is used for driving drive wheel pivoted motor, surface rear side middle part is equipped with the universal wheel under the chassis, be equipped with controller, wireless communication module, GPS signal receiver on the chassis, be equipped with GPS signal reception antenna on the first swash plate, the controller is connected with motor, wireless communication module and GPS signal receiver electricity respectively, GPS signal reception antenna is connected with GPS signal receiver electricity.
In this scheme, the motor drives the drive wheel and rotates the drive autopilot test car and remove, realizes turning through the rotation differential of two drive wheels. The controller controls the automatic driving test vehicle to work, the wireless communication module receives and transmits wireless signals, the intelligent terminal receives remote control, and the GPS signal receiver acquires GPS signals to realize self positioning. The wireless communication module is a 3G module, a WIFI module or a Zigbee module.
During testing, the dummy model, the automobile model and the like are fixed on the cover plate, and the automatic driving test vehicle carries the dummy model, the automobile model and the like to advance at high speed along a set route, so that the various models can advance at the set speed according to the set route. The vehicle body is octagonal, and the periphery of the outer side of the vehicle body is provided with slopes, so that wheels of the tested unmanned vehicle can roll onto the top of the vehicle body without being damaged, and collision damage of the automatic driving test vehicle and the tested unmanned vehicle is reduced.
Preferably, the first inclined plate and the second inclined plate are inclined at the same downward angle.
Preferably, the first inclined plate and the second inclined plate are rectangular, the connecting inclined plate is triangular, and the outer edges of the first inclined plate, the second inclined plate and the connecting inclined plate form an octagon.
Preferably, the universal wheel is connected with the chassis through a first suspension device, the first suspension device comprises a shock absorption support and a floating cross beam, the shock absorption support comprises a connecting plate which is longitudinally arranged and guide mechanisms which are symmetrically arranged at the left side and the right side of the connecting plate, the guide mechanism comprises an upper top plate, a lower bottom plate, a guide shaft and a spring support, the guide shaft is vertically arranged, two ends of the guide shaft are respectively connected with the upper top plate and the lower bottom plate, a spring is sleeved outside the guide shaft, the spring support is sleeved outside the guide shaft and can move up and down along the guide shaft, the lower part of the spring is positioned in the spring support, the floating beam is positioned between the two spring supports, two ends of the floating beam are respectively fixedly connected with the spring support on the corresponding side, the universal wheel is located below the middle of the floating cross beam and fixedly connected with the floating cross beam, and the damping support is fixedly connected with the chassis.
Two ends of the floating beam are connected with two guide shafts of the damping support through spring supports, and the springs have a damping effect. The first suspension device is arranged in the middle of the front end of the test vehicle, when the test vehicle bears external large load, the universal wheels are stressed to push the floating cross beam to move upwards, and the spring supports on the two sides upwards compress the springs to play a role in shock absorption. The two springs are symmetrically arranged relative to the universal wheel, and have no side turning moment, so that the test vehicle is more stable in the process of advancing. When the floating beam moves upwards to the highest position, the lowest horizontal position of the universal wheel is higher than the lowest horizontal position of the lower bottom plate. When the test car bears outside heavy load, the universal wheel can both retract into the inside of the car body completely for the bottom of the car body contacts with the ground, and therefore the suspension is prevented from being damaged.
Preferably, the outer side of the guide shaft is further sleeved with a linear bearing, and the linear bearing is fixedly connected with the spring support.
Preferably, the driving module further comprises a second suspension device, the second suspension device comprises a support, a swing arm, a shock absorber, a primary synchronous pulley, a secondary synchronous pulley and a synchronous belt, the support is provided with a first through groove and a second through groove which are vertically arranged side by side, the top end of the swing arm is positioned in the first through groove and hinged with the support through a first rotating shaft, the motor is horizontally arranged outside the support, the second through groove is positioned between the first through groove and the motor, the shaft extension of the motor horizontally penetrates through the side wall of the support and extends into the second through groove, the primary synchronous pulley is sleeved on the shaft extension of the motor, the shaft extension of the motor is coaxial with the first rotating shaft, the driving wheel is hinged with the bottom end of the swing arm through the second rotating shaft, the secondary synchronous pulley is sleeved on the second rotating shaft, the primary synchronous pulley and the secondary synchronous pulley are positioned on the same plane, the primary synchronous pulley and the secondary synchronous pulley are connected through the synchronous belt, the swing arm middle part is equipped with first through-hole, the shock absorber bottom stretch into first through-hole and with first through-hole inner wall lower part fixed connection, the shock absorber top stretches into first logical groove and is articulated through third pivot and support.
The support is the E font, and first logical groove is used for holding the swing arm rotation center end, and the second logical groove is used for holding the axle extension of main synchronous pulley and motor. The swing arm can rotate around the first rotating shaft on the support, and because the shaft of the motor extends to be coaxial with the first rotating shaft, when the swing arm rotates, the main synchronous belt wheel, the auxiliary synchronous belt wheel and the synchronous belt can synchronously rotate along with the swing arm, so that the transmission function is not influenced. When the driving wheel moves upwards, the spring of the shock absorber is compressed, the swing arm rotates around the first rotating shaft, the shock absorber rotates around the third rotating shaft, and the weight of the vehicle body is transmitted to the wheel through the support, the swing arm and the shock absorber. The motor rotates and drives the primary synchronous pulley to rotate, the primary synchronous pulley drives the secondary synchronous pulley to rotate, the secondary synchronous pulley drives the driving wheel to rotate, the scheme is designed into primary synchronous belt transmission, the transmission efficiency is high, the structure is simple, and the synchronous pulley is not easy to loosen and fall off.
Preferably, the swing arm is connected to the first rotating shaft through a first rolling bearing.
Preferably, the swing arm bottom is equipped with from last to running through the third of swing arm down and leads to the groove, the drive wheel is located the third and leads to the inslot, the second pivot level passes the both sides wall that the third led to the groove, follow synchronous pulley and be located the swing arm outside.
Preferably, a side wall of the third through groove is connected to the second rotating shaft through a second rolling bearing.
Preferably, the second suspension device further includes a tension pulley that is provided on the timing belt and tensions the timing belt, and a tension pulley adjustment mechanism that adjusts a height position of the tension pulley. The take-up pulley is used for tensioning the hold-in range, guarantees transmission efficiency.
Preferably, the tensioning wheel adjusting mechanism is located between the swing arm and the synchronous belt, the tensioning wheel adjusting mechanism comprises an adjusting arm, an adjusting pull rod, an installation block and an adjusting nut, the bottom end of the adjusting arm is hinged to the swing arm, the top end of the adjusting arm is hinged to the tensioning wheel, the installation block is arranged on the swing arm, a second through hole for the adjusting pull rod to pass through is formed in the installation block, the adjusting nut is arranged on the installation block and can rotate around the central axis of the second through hole, a threaded hole of the adjusting nut is coaxial with the second through hole, a threaded section is arranged on the upper portion of the adjusting pull rod, the threaded section passes through the second through hole and is in threaded connection with the adjusting nut, and the bottom end of the adjusting pull rod is.
The tensioning wheel adjusting mechanism can adjust the position of the tensioning wheel in real time when the swing arm swings, so that the tensioning wheel can always tension the synchronous belt. The user accessible adjusting nut adjusts the relative position of take-up pulley and hold-in range, makes the take-up pulley tensioning hold-in range.
The utility model has the advantages that: (1) the vehicle can carry dummy models, automobile models and the like to advance along a set route at a high speed, so that various models can advance according to the set route under a set speed condition. (2) The test car has spring suspension mechanism, when bearing outside heavy load, the drive wheel can both retract the automobile body inside with from the driving wheel completely for the automobile body bottom contacts with ground, thereby avoids hanging and receives the damage.
Drawings
FIG. 1 is a schematic structural view of an embodiment;
FIG. 2 is a rear view of the embodiment;
FIG. 3 is a schematic view of a first suspension arrangement;
FIG. 4 is a cross-sectional view A-A of FIG. 3;
FIG. 5 is a top view of the first suspension;
FIG. 6 is a schematic view of a second suspension arrangement;
FIG. 7 is a top view of a second suspension;
FIG. 8 is a sectional view A-A of FIG. 7;
FIG. 9 is a cross-sectional view B-B of FIG. 7;
FIG. 10 is a cross-sectional view C-C of FIG. 7;
FIG. 11 is a cross-sectional view D-D of FIG. 7;
fig. 12 is a left side view of the second suspension device.
In the figure: 1. chassis, 2, cover plate, 3, first sloping plate, 4, second sloping plate, 5, connecting sloping plate, 6, driving module, 7, universal wheel, 8, GPS signal receiving antenna, 9, shock mount, 10, floating beam, 11, connecting plate, 12, upper top plate, 13, lower base plate, 14, guide shaft, 15, spring mount, 16, spring, 17, linear bearing, 18, mount, 19, motor, 20, swing arm, 21, shock absorber, 22, driving wheel, 23, primary synchronous pulley, 24, secondary synchronous pulley, 25, synchronous belt, 26, first through groove, 27, second through groove, 28, first rotating shaft, 29, shaft extension, 30, second rotating shaft, 31, first through hole, 32, third rotating shaft, 33, first rolling bearing, 34, third through groove, 35, tensioning wheel, 36, adjusting arm, 37, adjusting tensioning wheel, 38, mounting block, 39, pull rod adjusting nut, 40, A shield 41, a notch 42, a second rolling bearing.
Detailed Description
The technical solution of the present invention is further specifically described below by way of examples and with reference to the accompanying drawings.
Example (b): the automatic driving test vehicle of the embodiment, as shown in fig. 1 and fig. 2, comprises a chassis 1, a cover plate 2 is arranged on the top of the chassis 1, first inclined plates 3 inclined downward are symmetrically arranged on the front and back sides of the cover plate 2, second inclined plates 4 inclined downward are symmetrically arranged on the left and right sides of the cover plate 2, the adjacent first inclined plates 3 and the adjacent second inclined plates 4 are connected by a connecting inclined plate 5, two driving modules 6 are arranged on the front side of the lower surface of the chassis 1, each driving module 6 comprises a driving wheel 22 and a motor 19 for driving the driving wheel 22 to rotate, universal wheels 7 are arranged in the middle of the rear side of the lower surface of the chassis 1, a controller and a wireless, the GPS signal receiver is characterized in that a GPS signal receiving antenna 8 is arranged on the first inclined plate 3, the controller is electrically connected with the motor 19, the wireless communication module and the GPS signal receiver respectively, and the GPS signal receiving antenna 8 is electrically connected with the GPS signal receiver.
The first inclined plate 3 and the second inclined plate 4 are inclined at the same angle. The first inclined plate 3 and the second inclined plate 4 are both rectangular, the connecting inclined plate 5 is triangular, and the outer edges of the first inclined plate 3, the second inclined plate 4 and the connecting inclined plate 5 are encircled to form an octagon.
In this scheme, the motor drives the drive wheel and rotates the drive autopilot test car and remove, realizes turning through the rotation differential of two drive wheels. The controller controls the automatic driving test vehicle to work, the wireless communication module receives and transmits wireless signals, the intelligent terminal receives remote control, and the GPS signal receiver acquires GPS signals to realize self positioning. The wireless communication module is a 3G module, a WIFI module or a Zigbee module.
During testing, the dummy model, the automobile model and the like are fixed on the cover plate, and the automatic driving test vehicle carries the dummy model, the automobile model and the like to advance at high speed along a set route, so that the various models can advance at the set speed according to the set route. The vehicle body is octagonal, and the periphery of the outer side of the vehicle body is provided with slopes, so that wheels of the tested unmanned vehicle can roll onto the top of the vehicle body without being damaged, and collision damage of the automatic driving test vehicle and the tested unmanned vehicle is reduced.
As shown in fig. 3, 4 and 5, the universal wheel 7 is connected with the chassis 1 through a first suspension device, the first suspension device includes a shock absorption support 9 and a floating beam 10, the shock absorption support 10 includes a connecting plate 11 arranged longitudinally and guide mechanisms symmetrically arranged on the left and right sides of the connecting plate 11, the guide mechanisms include an upper top plate 12, a lower bottom plate 13, a guide shaft 14 and a spring support 15, the guide shaft 14 is arranged vertically, two ends of the guide shaft 14 are respectively connected with the upper top plate 12 and the lower bottom plate 13, a spring 16 is sleeved on the outer side of the guide shaft 14, the spring support 15 is sleeved on the outer side of the guide shaft 14 and can move up and down along the guide shaft 14, the lower part of the spring 16 is located in the spring support 15, the floating beam 10 is located between the two spring supports 15, two ends of the floating beam 10 are respectively fixedly connected with the spring support 15 on the corresponding side, the universal wheel 7 is located below the middle part of the, the damping support 9 is fixedly connected with the chassis 1, the linear bearing 17 is further sleeved on the outer side of the guide shaft 14, and the linear bearing 17 is fixedly connected with the spring support 15.
Two ends of the floating beam are connected with two guide shafts of the damping support through spring supports, and the springs have a damping effect. The first suspension device is arranged in the middle of the front end of the test vehicle, when the test vehicle bears external large load, the universal wheels are stressed to push the floating cross beam to move upwards, and the spring supports on the two sides upwards compress the springs to play a role in shock absorption. The two springs are symmetrically arranged relative to the universal wheel, and have no side turning moment, so that the test vehicle is more stable in the process of advancing. When the floating beam moves upwards to the highest position, the lowest horizontal position of the universal wheel is higher than the lowest horizontal position of the lower bottom plate. When the test car bears outside heavy load, the universal wheel can both retract into the inside of the car body completely for the bottom of the car body contacts with the ground, and therefore the suspension is prevented from being damaged.
As shown in fig. 6, 7, 8, 9, 10, 11, and 12, the driving module 6 further includes a second suspension device, the second suspension device includes a support 18, a swing arm 20, a shock absorber 21, a primary synchronous pulley 23, a secondary synchronous pulley 24, a synchronous belt 25, a tension pulley 35, and a tension pulley adjusting mechanism for adjusting the height of the tension pulley 35, the support 18 is provided with a first through slot 26 and a second through slot 27, the first through slot 26 and the second through slot 27 are vertically arranged side by side, the top end of the swing arm 20 is located in the first through slot 26 and hinged to the support 18 through a first rotating shaft 28, the motor 19 is horizontally arranged outside the support 18, the second through slot 27 is located between the first through slot 26 and the motor 19, the shaft extension 29 of the motor 19 horizontally passes through the side wall of the support 18 and extends into the second through slot 27, the primary synchronous pulley 23 is sleeved on the shaft extension 29 of the motor 19, the shaft extension 29 of the motor 19 is coaxial with the first shaft 28, the bottom end of the, the driving wheel 22 is located in the third through groove 34, the driving wheel 22 is hinged to the swing arm 20 through the second rotating shaft 30, the second rotating shaft 30 horizontally penetrates through two side walls of the third through groove 34, the secondary synchronous pulley 24 is sleeved on the second rotating shaft 30, the secondary synchronous pulley 24 is located on the outer side of the swing arm 20, the primary synchronous pulley 23 and the secondary synchronous pulley 24 are located on the same plane, the primary synchronous pulley 23 is connected with the secondary synchronous pulley 24 through a synchronous belt 25, a first through hole 31 is formed in the middle of the swing arm 20, the bottom end of the shock absorber 21 extends into the first through hole 31 and is fixedly connected with the lower portion of the inner wall of the first through hole 31, and the top end of the shock absorber 21 extends into the first through groove 9.
The tension pulley 35 is arranged on the synchronous belt 25 and tensions the synchronous belt 25, the tension pulley adjusting mechanism is positioned between the swing arm 20 and the synchronous belt 25, the tension pulley adjusting mechanism comprises an adjusting arm 36 and an adjusting pull rod 37, mounting block 38 and adjusting nut 39, the adjusting arm 36 bottom is articulated with swing arm 20, the adjusting arm 36 top is articulated with take-up pulley 35, mounting block 38 sets up on swing arm 20, be equipped with the second through-hole that supplies adjustment pull rod 37 to pass in the mounting block 38, adjusting nut 39 sets up on mounting block 38 and can rotate around the axis of second through-hole (mounting block top surface is equipped with the circular orbit coaxial with the second through-hole and can follow the gliding slider of circular orbit, adjusting nut and slider fixed connection), adjusting nut 39's screw hole is coaxial with the second through-hole, adjustment pull rod 37 upper portion is equipped with the screw thread section, the screw thread section passes the second through-hole and with adjusting nut 39 threaded connection, adjustment pull rod 37 bottom is articulated with adjusting arm 36 middle part.
The driving suspension device of the automatic driving test vehicle further comprises a protective cover 40 covering the secondary synchronous pulley 24 and the synchronous belt 25, the protective cover 40 is fixedly connected with the swing arm 20, and a notch 41 for the tension wheel 35 to pass through is arranged on the protective cover 40.
The swing arm 20 is connected to the first shaft 28 via a first rolling bearing 33. The side wall of the third through groove 34 is connected to the second rotating shaft 30 through a second rolling bearing 42. The first rotating shaft 28 is detachably connected with the support 18, the third rotating shaft 32 is detachably connected with the support 18, and the second rolling bearing 42 is detachably connected with the side wall of the third through groove 34 where the second rolling bearing is located, so that the disassembly and maintenance are convenient.
The support is the E font, and first logical groove is used for holding the swing arm rotation center end, and the second logical groove is used for holding the axle extension of main synchronous pulley and motor. The swing arm can rotate around the first rotating shaft on the support, and because the shaft of the motor extends to be coaxial with the first rotating shaft, when the swing arm rotates, the main synchronous belt wheel, the auxiliary synchronous belt wheel and the synchronous belt can synchronously rotate along with the swing arm, so that the transmission function is not influenced.
When the driving wheel moves upwards, the spring of the shock absorber is compressed, the swing arm rotates around the first rotating shaft, the shock absorber rotates around the third rotating shaft, and the weight of the vehicle body is transmitted to the wheel through the support, the swing arm and the shock absorber. The motor rotates and drives the primary synchronous pulley to rotate, the primary synchronous pulley drives the secondary synchronous pulley to rotate, the secondary synchronous pulley drives the driving wheel to rotate, the scheme is designed into primary synchronous belt transmission, the transmission efficiency is high, the structure is simple, and the synchronous pulley is not easy to loosen and fall off.
The take-up pulley is used for tensioning the hold-in range, guarantees transmission efficiency. The tensioning wheel adjusting mechanism can adjust the position of the tensioning wheel in real time when the swing arm swings, so that the tensioning wheel can always tension the synchronous belt. The user accessible adjusting nut adjusts the relative position of take-up pulley and hold-in range, makes the take-up pulley tensioning hold-in range.
Claims (10)
1. The automatic driving test vehicle is characterized by comprising a chassis (1), wherein a cover plate (2) is arranged at the top of the chassis (1), first inclined plates (3) which incline downwards are symmetrically arranged on the front side and the rear side of the cover plate (2), second inclined plates (4) which incline downwards are symmetrically arranged on the left side and the right side of the cover plate (2), the adjacent first inclined plates (3) and the adjacent second inclined plates (4) are connected through connecting inclined plates (5), two driving modules (6) are arranged on the front side of the lower surface of the chassis (1), each driving module (6) comprises a driving wheel (22) and a motor (19) for driving the driving wheel (22) to rotate, universal wheels (7) are arranged in the middle of the rear side of the lower surface of the chassis (1), a controller, a wireless communication module and a GPS signal receiver are arranged on the chassis (1), a GPS signal receiving antenna (8) is arranged on the first, the controller is respectively and electrically connected with the motor, the wireless communication module and the GPS signal receiver, and the GPS signal receiving antenna (8) is electrically connected with the GPS signal receiver.
2. The automated driving test vehicle according to claim 1, wherein the first sloping plate (3) and the second sloping plate (4) are inclined at the same angle.
3. The automatic driving test vehicle according to claim 1, wherein the first inclined plate (3) and the second inclined plate (4) are rectangular, the connecting inclined plate (5) is triangular, and the outer edges of the first inclined plate (3), the second inclined plate (4) and the connecting inclined plate (5) form an octagon.
4. The automatic driving test vehicle according to claim 1, wherein the universal wheels (7) are connected with the chassis (1) through a first suspension device, the first suspension device comprises a shock absorption support (9) and a floating cross beam (10), the shock absorption support (9) comprises a connecting plate (11) which is longitudinally arranged and guide mechanisms which are symmetrically arranged at the left side and the right side of the connecting plate (11), the guide mechanisms comprise an upper top plate (12), a lower bottom plate (13), a guide shaft (14) and a spring support (15), the guide shaft (14) is vertically arranged, two ends of the guide shaft (14) are respectively connected with the upper top plate (12) and the lower bottom plate (13), a spring (16) is sleeved at the outer side of the guide shaft (14), and the spring support (15) is sleeved at the outer side of the guide shaft (14) and can move up and down along the guide shaft (14), the spring (16) lower part is located spring support (15), the crossbeam (10) that floats is located between two spring support (15), the crossbeam (10) both ends that float respectively with spring support (15) fixed connection who corresponds one side, universal wheel (7) are located the middle part below of crossbeam (10) that floats and with crossbeam (10) fixed connection that floats, shock mount (9) and chassis (1) fixed connection.
5. The automatic driving test vehicle according to claim 4, characterized in that a linear bearing (17) is further sleeved outside the guide shaft (14), and the linear bearing (17) is fixedly connected with the spring support (15).
6. The automatic driving test vehicle according to claim 1, wherein the driving module (6) further comprises a second suspension device, the second suspension device comprises a support (18), a swing arm (20), a shock absorber (21), a primary synchronous pulley (23), a secondary synchronous pulley (24) and a synchronous belt (25), the support (18) is provided with a first through groove (26) and a second through groove (27) which are vertically arranged side by side, the top end of the swing arm (20) is positioned in the first through groove (26) and is hinged with the support (18) through a first rotating shaft (28), the motor (19) is horizontally arranged outside the support (18), the second through groove (27) is positioned between the first through groove (26) and the motor (19), the shaft extension (29) of the motor (19) horizontally penetrates through the side wall of the support (18) and extends into the second through groove (27), and the primary synchronous pulley (23) is sleeved on the shaft extension (29) of the motor (19), the axle of motor (19) is stretched (29) and is coaxial with first pivot (28), drive wheel (22) are articulated through second pivot (30) and swing arm (20) bottom, establish on second pivot (30) from synchronous pulley (24) cover, primary synchronous pulley (23) and follow synchronous pulley (24) and be located the coplanar, primary synchronous pulley (23) with follow synchronous pulley (24) and be connected through hold-in range (25), swing arm (20) middle part is equipped with first through-hole (31), shock absorber (21) bottom stretch into first through-hole (31) and with first through-hole (31) inner wall lower part fixed connection, shock absorber (21) top stretches into first logical groove (26) and articulates with support (18) through third pivot (32).
7. An autopilot test vehicle according to claim 6, characterized in that the swing arm (20) is connected to the first spindle (28) by means of a first rolling bearing (33).
8. The automatic driving test vehicle according to claim 6, wherein a third through groove (34) penetrating through the swing arm (20) from top to bottom is formed in the bottom end of the swing arm (20), the driving wheel (22) is located in the third through groove (34), the second rotating shaft (30) horizontally penetrates through two side walls of the third through groove (34), and the secondary synchronous pulley (24) is located on the outer side of the swing arm (20).
9. An autonomous driving test vehicle according to claim 8, characterised in that the lateral walls of the third through slot (34) are connected to the second shaft (30) by means of a second rolling bearing (42).
10. The automated driving test vehicle of claim 6, wherein the second suspension device further comprises a tension pulley (35) and a tension pulley adjusting mechanism for adjusting the height of the tension pulley (35), the tension pulley (35) is disposed on the synchronous belt (25) and tensions the synchronous belt (25).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921757365.3U CN210774717U (en) | 2019-10-19 | 2019-10-19 | Automatic driving test vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921757365.3U CN210774717U (en) | 2019-10-19 | 2019-10-19 | Automatic driving test vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN210774717U true CN210774717U (en) | 2020-06-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201921757365.3U Active CN210774717U (en) | 2019-10-19 | 2019-10-19 | Automatic driving test vehicle |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112109806A (en) * | 2020-09-08 | 2020-12-22 | 北京三快在线科技有限公司 | Movable target vehicle |
| CN112414726A (en) * | 2020-12-10 | 2021-02-26 | 上汽通用汽车有限公司 | Human body model for automatic emergency braking test |
| CN112776919A (en) * | 2021-01-29 | 2021-05-11 | 武汉理工大学 | Intelligent platform car based on scalable suspension |
-
2019
- 2019-10-19 CN CN201921757365.3U patent/CN210774717U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112109806A (en) * | 2020-09-08 | 2020-12-22 | 北京三快在线科技有限公司 | Movable target vehicle |
| CN112414726A (en) * | 2020-12-10 | 2021-02-26 | 上汽通用汽车有限公司 | Human body model for automatic emergency braking test |
| CN112776919A (en) * | 2021-01-29 | 2021-05-11 | 武汉理工大学 | Intelligent platform car based on scalable suspension |
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