CN101486382A - Expandable and actively adjusting balanced suspension system - Google Patents
Expandable and actively adjusting balanced suspension system Download PDFInfo
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- CN101486382A CN101486382A CNA2008100011693A CN200810001169A CN101486382A CN 101486382 A CN101486382 A CN 101486382A CN A2008100011693 A CNA2008100011693 A CN A2008100011693A CN 200810001169 A CN200810001169 A CN 200810001169A CN 101486382 A CN101486382 A CN 101486382A
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Abstract
The invention belongs to a reactive suspension system, and more particularly relates to a reactive suspension system which can be folded and unfolded and actively adjusted and solves the technical problems of having complex structure, poor stability and not being extensible of the reactive suspension system. The reactive suspension system comprises a front bodywork, a rear bodywork, a bodywork folding and unfolding mechanism, two lateral reactive suspension groups and a transverse reactive suspension group. The two lateral reactive suspension groups are respectively articulated at the left side and the right side of the front bodywork, and can freely rotate in a certain range at the side of the bodywork; and the rear bodywork is articulated with the front bodywork at the transverse surface by the bodywork folding and unfolding mechanism, and can freely rotate in a certain range in the transverse direction of the bodywork to form a transverse reactive suspension. Two upright rods of the two lateral reactive suspension groups are always vertical to the horizontal plane of the bodywork and face upwards in any circumstances, thus ensuring the steering axis of wheels is superpositioned with the earthing contact of the wheels, and reducing the steering resistance while ensuring the steering accuracy; simultaneously, the normal line of ground bracing force borne by the two wheels passes through the center of a hinge, thus avoiding a bar system from bearing additional torque, and being capable of greatly reducing the weight of the parts.
Description
Technical field
The invention belongs to the vehicle suspension system technical field, the taking down the exhibits and the active adjustment equalizing suspension system of specifically a kind of six-wheeled vehicle walking scheme arrangement mode.
Background technology
Along with the development of electrically operated individual drive and independent steering wheel technology, six take turns and six take turns on the various extraterrestrial detection vehicle and ground autonomous vehicle that above arrangement more and more is applied to.The alerting ability that wheel is arranged and the increase of wheel quantity all provide more freedom and alerting ability for the suspension arrangement scheme.At present, the main configurations that adopt many wheels rocker arm suspension mechanism arranged side by side as running gear of the extraterrestrial detection vehicle known to more.8 wheel constructions arranged side by side that are one-sided double wishbone suspension that " No. 1, the lunar rover vehicle " and " No. 2, the lunar rover vehicle " launched as the Soviet Union adopts; The Marsokhod " Suo Jiena " of U.S. emission and " Opportunity Rover " then adopt be single-sided arrangement by 2 take turns that rocker arm suspension develops and 3 structures of taking turns rocker arm suspension.
It is with secondary-rocker the middle two-wheeled of both sides to be hinged together on the basis of former Soviet Union's " No. 1, lunar rover vehicle " and " No. 2, the lunar rover vehicle " and to make the servo-actuated of one-sided front and back wheel group that China Patent No. CN 1597416A disclosed a kind of eight takes turns symmetrical suspension frame type vehicular mechanism, to strengthen the adaptive capacity of vehicle to uneven ground.Lift the ability of one group of wheel but this suspension does not possess the active adjustment car body, so its carrying capacity is limited.
The disclosed moon craft six of China Patent No. CN1718509A is taken turns symmetrical active suspension mechanism and by two groups of suspensions six wheels is symmetrically distributed in the car body both sides, is provided with the car body equalizing gear in the car body.This suspension possesses certain ability of taking down the exhibits owing to there is a wheel energy elastic to change its wheelbase with respect to other wheel of homonymy.But this suspension is established the car body equalizing gear in needing, complex structure, and the ability of taking down the exhibits is also limited.
Facts have proved, the suspension fork mechanism of these configurations for no road environment particularly the through performance of extraterrestrial circumstances not known be far from being enough.U.S.'s " Opportunity Rover " Marsokhod is cannot moved owing to having opened 1 30 centimetres of high sand drift, and is stranded for 1 month.Soviet Union's " No. 2, lunar rover vehicle " drives into to take a lot of trouble behind the crater and just climbs out of meticulously.These mainly cause because these suspension systems lack the active adjustment ability.In addition, these suspension systems are because the restriction of structure can only be accomplished the gathering and the expansion of very limited vehicle chassis, and the stability when being not easy to further improve vehicle operating is particularly transported utilization of space when extraterrestrial emission when also being not easy to improve transportation.
Summary of the invention
The object of the present invention is to provide a kind of taking down the exhibits and the active adjustment equalizing suspension system, improve six and take turns and six take turns the adaptive capacity of above vehicle, improve the gathering and the extended capability of vehicle, significantly improve the ability of vehicle by obstacle for circumstances not known.
Realize the technical scheme of the object of the invention: a kind of taking down the exhibits and the active adjustment equalizing suspension system, the middle part of crossbeam is connected with an end of the mechanism that takes down the exhibits, the other end of mechanism of taking down the exhibits is connected with a balance in roll suspension group, and the two ends of crossbeam are connected with side direction balance suspension group respectively.
The described mechanism that takes down the exhibits, the output shaft of its driver train links to each other with screw mandrel, and leading screw is connected with nut thread, and nut is provided with sleeve.
Described balance in roll suspension group, its transversal suspension trammel beam two ends are connected with an end of vertical rod respectively, the other end of vertical rod is connected with wheel respectively.
Described side direction balance suspension group, its bearing are connected with an end of pilot bar by means of hinge respectively, and the other end of pilot bar is connected with an end of vertical rod respectively; Initiatively the upper part of adjustable hinge is connected with bearing respectively, and initiatively the end portion of adjustable hinge is connected with side direction suspension trammel beam respectively, and the two ends of side direction suspension trammel beam are connected with an end of vertical rod respectively, and the other end of vertical rod is connected with wheel respectively.
Effect of the present invention: (1) adopts the car body mechanism that takes down the exhibits the front and back car body can be drawn in relatively and launch, and draws in during transportation, and transportation volume is dwindled; Extend during operation, make whole chassis stablize area and increase, stability increases.(2) two side direction balance suspension groups are hinged on the front vehicle body left and right sides respectively, can freely rotate in the vehicle body side certain limit, and aftercarriage is connected with the balance in roll suspension by the car body mechanism that takes down the exhibits, and can freely rotate in the cross-car certain limit.The suspension system layouts mode can realize distribution of load can changed on two parts of distance, can in big relatively scope, the distance by car body before and after changing realize the redistribution of car load barycenter, thereby be more conducive to other operation (needing constantly to adjust the vehicle barycenter when grasping object) of leaping over obstacles and vehicle-mounted functional module to keep balance as vehicle-mounted mechanical arm.Three balance suspension groups can adapt to complicated landform, can guarantee load is evenly distributed to each wheel, make wheel produce equal-sized tractive force.Three balance suspension groups can guarantee: in the time of the arbitrarily a pair of symmetrical wheel lift of front vehicle body, other remaining four wheels of car load can be tried one's best uniform ground connection and be produced try one's best identical bearing force and tractive force.(3) described side direction balance suspension group comprises bearing, side direction suspension trammel beam, vertical rod, pilot bar, adjustable active hinge, wheel, and the common hinge that connects each lanar four rod mechanism.Described bearing links to each other with two wheels by the vertical rod on two lanar four rod mechanisms, and two parallel plane four-bar linkages are realized the both sides interlock by side direction suspension trammel beam.Described adjustable active hinge can be realized release and the locking active adjustment function of side direction suspension trammel beam with respect to bearing.Two adjustable active hinges of side balance suspension group can realize the front vehicle body active rotation, thereby make the pair of right and left wheel lift that is symmetrical in car body arbitrarily, can realize the mode of leaping over obstacles flexibly, strengthen the through performance of vehicle greatly.Two side direction balance suspension groups no matter when two vertical all the time car body horizontal surfaces of vertical rod upwards, thereby guarantee overlapping of wheel steering axis and ground contact point, in the time of accuracy that assurance turns to, reduced cornering resistance; Simultaneously, the ground supports force method line that two-wheeled bore avoids leverage to be subjected to extra torque by the hinge center, can significantly alleviate the weight of parts.
Description of drawings
Fig. 1 is a kind of construction machine principle schematic of taking down the exhibits with the active adjustment equalizing suspension system of the present invention;
Fig. 2 is a kind of three-dimensional structure diagram of taking down the exhibits with the active adjustment equalizing suspension system of the present invention;
Fig. 3 is a kind of structural representation of taking down the exhibits with the mechanism that takes down the exhibits of active adjustment equalizing suspension system of the present invention;
Fig. 4 is a kind of front view of taking down the exhibits with the side direction suspension trammel beam of active adjustment equalizing suspension system of the present invention;
Fig. 5 is a kind of birds-eye view of taking down the exhibits with the side direction suspension trammel beam of active adjustment equalizing suspension system of the present invention;
Fig. 6 is a kind of A-A view of taking down the exhibits with the side direction suspension trammel beam of active adjustment equalizing suspension system of the present invention;
Fig. 7 is a kind of B-B view of taking down the exhibits with the side direction suspension trammel beam of active adjustment equalizing suspension system of the present invention.
Among the figure: 1. crossbeam; 2,8,20,24. pilot bars; 3,9,12,16,19,25. vertical rods; 4,10,11,15,18,26. wheels; 5,23. bearings; 6,22. active adjustable hinge; 7,21. side direction suspension trammel beams; 13. transversal suspension trammel beam; 14. transversal suspension group hinge; The mechanism 17. take down the exhibits; 28. actuating device output shaft; 29. feed screw nut; 30. guide rail; 31. leading screw; 32. sleeve; 33,34. non-metal plain bearings; 35. non-metal slide block; 36. back-up ring; 37. preceding platform; 38. non-metal plain bearing 39 stop nuts; 40. internal axle sleeve; 41. the outer shaft of band connecting rod; 42. end cap.
The specific embodiment
The present invention is described in more detail below in conjunction with accompanying drawing.
As shown in Figure 1, 2, a kind of taking down the exhibits and the active adjustment equalizing suspension system comprises crossbeam 1, the mechanism 17 of taking down the exhibits, two side direction balance suspension groups, a balance in roll suspension group.Take down the exhibits be connected in the middle of front end and the crossbeam 1 of mechanism 17, the rear end is connected with a balance in roll suspension group, the two ends of crossbeam 1 are connected with side direction balance suspension group respectively.
As shown in Figure 3, mechanism 17 takes down the exhibits, comprise actuating device 28, feed screw nut 29, guide rail 30, leading screw 31, sleeve 32, non-metal plain bearing 33,34, non-metal slide block 35, back-up ring 36, preceding platform 37, the output shaft of driver train 28 is connected with leading screw 31 by means of pin, the leading screw 31 rear ends feed screw nut 29 that is threaded, feed screw nut 29 is provided with the peviform structure that screw thread axis hole, outer are offered circumferential groove and circular hole for middle, installing sleeve 32 in the circumferential groove that feed screw nut 29 outers are offered, and be welded to connect; By means of back-up ring 36 non-metal slide block 35 is installed on the top axle of leading screw 31.Preceding platform 37 front ends are that flat framework, rear end are cylinder welding structure together, and non-metal plain bearing 33,34 is installed at the axis hole two ends of its rear end cylinder respectively.Screw mandrel driver train after the assembling is installed in the preceding platform 37, preceding platform 37 is extended in the rear end of sleeve 32, the sleeve 32 of the cylinder of platform 37 contacts with non-metal plain bearing 33,34 before being positioned at, guide rail 30 inserts in the circular hole of offering feed screw nut 29 outers, and guide rail 30 and driver train 28 are fixed in the preceding platform 37 by means of bolt, nut.
Working process: the output shaft of driver train 28 links to each other with screw mandrel 31, can drive leading screw 31 and rotate, and leading screw 31 is formed feed screw nut with nut 29 and driven, and leading screw is changed into the straight-line motion of nut.Sleeve 32 is fixed together with nut 29, and nut 29 moves along the guide rails 30 that are located in the preceding platform 37; The non-metal plain bearing 33,34 that the outer wall of sleeve 32 can be provided with in the preceding platform 37 is free to slide, the inwall of sleeve 32 can be free to slide along the slide block 35 that is located on the leading screw 31.Therefore, but driver train 28 drive sleeve 32 along the sleeve axis straight-line motion.
When transportation, longitudinal separation may compress into the shortest by the mechanism that takes down the exhibits, to reduce transport space; When vehicle operating, longitudinal separation can be enlarged, to increase the stability of vehicle; When leaping over obstacles or when carrying out other operation of vehicle-mounted functional module, can realize the redistribution of car load barycenter by the distance of car body before and after changing.Need constantly to adjust the vehicle barycenter when grasping object with balance as vehicle-mounted mechanical arm.
Described balance in roll suspension group comprises that transversal suspension trammel beam 13, vertical rod 12,16 and wheel 11,15 constitute.The stepped shaft of sleeve 32 rear ends is by means of being installed on the transversal suspension trammel beam 13 around non-metal plain bearing 38 and the stop nut 39 that sleeve rotates, and transversal suspension trammel beam 13 two ends are welded to connect with an end of vertical rod 12,16 respectively, the other end of vertical rod 12,16 is connected with wheel 11,15 respectively.
Other remaining four wheels of car load were tried one's best uniform ground connection and are produced try one's best uniform tractive force and bearing force when balance in roll suspension group can guarantee the arbitrarily a pair of symmetrical wheel lift of front vehicle body.
Shown in Fig. 4,5,6,7, described side direction balance suspension group, two bearings 5,23 are welded at the two ends of its crossbeam 1 respectively.Initiatively adjustable hinge mechanism is made by China Northern Motor Vehicle Research Ins., and details can be inquired about the patent of its application same period.Initiatively the upper part of adjustable hinge 6,22 is connected with bearing 5,23 by means of screw respectively.Bearing 5 is connected by means of the end of hinge with pilot bar 2,8 respectively, and the other end of pilot bar 2,8 is connected by means of the end of pin with vertical rod 3,9 respectively; Bearing 23 is connected by means of the end of hinge with pilot bar 20,24 respectively, and the other end of pilot bar 20,24 is connected by means of the end of pin with vertical rod 19,25 respectively.Initiatively the end portion of adjustable hinge 6,22 is connected with side direction suspension trammel beam 7,21 by means of screw respectively, and the two ends of side direction suspension trammel beam 7 are connected by means of the end of pin with vertical rod 3,9 respectively; The two ends of side direction suspension trammel beam 21 are connected by means of the end of pin with vertical rod 19,25 respectively.The other end of vertical rod 3,9 is connected with wheel 4,6 respectively; The other end of vertical rod 19,25 is connected with wheel 18,26 respectively.Side direction suspension trammel beam 7,21 comprises the outer shaft 41 and the end cap 42 of internal axle sleeve 40, band connecting rod, and its internal axle sleeve 40 is connected with bearing 5,23 by means of bolt, the outer shaft 41 of being with connecting rod by means of bearing installation on internal axle sleeve 40.One end of outer shaft 41 extends to the outside of bearing 5,23 and internal axle sleeve 40, and leaves the gap; Spill end cap 42 is installed in the other end of exterior and interior axle sleeves, and by means of bolt respectively with the connecting of active adjustable hinge 6,22 and outer shaft 41.
Two lanar four rod mechanisms of side direction balance suspension group can guarantee the vertical all the time car body horizontal surface of two vertical rods upwards, thereby guarantee overlapping of wheel steering axis and ground contact point, in the time of the accuracy that guaranteed to turn to, have reduced cornering resistance.
Transversal suspension trammel beam 13 is connected by means of non-metal plain bearing 38 with the sleeve of the mechanism 17 that takes down the exhibits, and can rotate freely within the specific limits around the x axle, plays the effect of balance in roll when vehicle operating.Two wheels 11,15 are connected to transversal suspension trammel beam 13 both sides by two vertical rods 12,16, constitute balance in roll suspension group.Two side direction balance suspension groups can freely be rotated within the specific limits around the y axle, play balance suspension, the suspension system that they and balance in roll suspension group constitute can guarantee that the wheel of six individual drive and independent steering tries one's best uniform ground connection and produce try one's best uniform tractive force and bearing force.
Claims (8)
1. can take down the exhibits and the active adjustment equalizing suspension system for one kind, comprise crossbeam, it is characterized in that: the middle part of crossbeam is connected with an end of the mechanism that takes down the exhibits, and the other end of the mechanism that takes down the exhibits is connected with a balance in roll suspension group, and the two ends of crossbeam are connected with side direction balance suspension group respectively.
2. a kind of taking down the exhibits and the active adjustment equalizing suspension system as claimed in claim 1 is characterized in that: the described mechanism that takes down the exhibits, and the output shaft of its driver train links to each other with screw mandrel, and leading screw is connected with nut thread, and nut is provided with sleeve.
3. a kind of taking down the exhibits and the active adjustment equalizing suspension system as claimed in claim 2, it is characterized in that: the top axle of leading screw is provided with the non-metal slide block, non-metal slide block and sleeve lining moving contact.
4. as claim 2 or 3 described a kind of taking down the exhibits and the active adjustment equalizing suspension system, it is characterized in that: the described mechanism that takes down the exhibits is located in the preceding platform, its driver train is located on the preceding platform, nut guide rail in the platform before be located at moves, and the non-metal plain bearing that sleeve can be provided with in the preceding platform moves.
5. a kind of taking down the exhibits and the active adjustment equalizing suspension system as claimed in claim 1,, it is characterized in that: described balance in roll suspension group, its transversal suspension trammel beam two ends are connected with an end of vertical rod respectively, the other end of vertical rod is connected with wheel respectively.
6. a kind of taking down the exhibits and the active adjustment equalizing suspension system as claimed in claim 1, it is characterized in that: described side direction balance suspension group, its bearing are connected with an end of pilot bar by means of hinge respectively, and the other end of pilot bar is connected with an end of vertical rod respectively; Initiatively the upper part of adjustable hinge is connected with bearing respectively, and initiatively the end portion of adjustable hinge is connected with side direction suspension trammel beam respectively, and the two ends of side direction suspension trammel beam are connected with an end of vertical rod respectively, and the other end of vertical rod is connected with wheel respectively.
7. a kind of taking down the exhibits and the active adjustment equalizing suspension system as claimed in claim 6,, it is characterized in that: described side direction suspension trammel beam, its internal axle sleeve with the band connecting rod outer shaft between be connected by means of bearing, the coupling end of inside and outside axle sleeve is provided with end cap.
8. a kind of taking down the exhibits and the active adjustment equalizing suspension system as claimed in claim 1, it is characterized in that: the middle part of crossbeam is connected with the preceding platform of the mechanism that takes down the exhibits, the preceding flat-bed sleeve of extending of mechanism of taking down the exhibits is connected with the transversal suspension trammel beam middle part of balance in roll suspension group by means of the non-metal plain bearing, and the two ends of crossbeam are connected with the bearing of side direction balance suspension group respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100011693A CN101486382B (en) | 2008-01-18 | 2008-01-18 | Expandable and actively adjusting balanced suspension system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008100011693A CN101486382B (en) | 2008-01-18 | 2008-01-18 | Expandable and actively adjusting balanced suspension system |
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| CN101486382A true CN101486382A (en) | 2009-07-22 |
| CN101486382B CN101486382B (en) | 2011-06-15 |
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| CN2008100011693A Expired - Fee Related CN101486382B (en) | 2008-01-18 | 2008-01-18 | Expandable and actively adjusting balanced suspension system |
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|---|---|
| CN101486382B (en) | 2011-06-15 |
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Inventor after: Cai Wenbin Inventor after: Long Zhenxin Inventor after: Yin Shunliang Inventor after: Shi Rui Inventor after: Duan Guozhu Inventor after: Shi Haiming Inventor after: Li Chunming Inventor after: Wei Laisheng Inventor after: Su Bo Inventor before: Cai Wenbin Inventor before: Long Zhenxin Inventor before: Yin Shunliang Inventor before: Shi Rui Inventor before: Duan Guozhu Inventor before: Shi Haiming Inventor before: Wei Laisheng Inventor before: Su Bo |
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Free format text: CORRECT: INVENTOR; FROM: CAI WENBIN LONG ZHENXIN YIN SHUNLIANG SHI RUI DUAN GUOZHU SHI HAIMING WEI LAISHENG SU BO TO: CAI WENBIN LONG ZHENXIN YIN SHUNLIANG SHI RUI DUAN GUOZHU SHI HAIMING LI CHUNMING WEI LAISHENG SU BO |
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