CN108032927A - Torsion beam supports the walking machine platform of semi-independent suspension after a kind of bogie turns to - Google Patents
Torsion beam supports the walking machine platform of semi-independent suspension after a kind of bogie turns to Download PDFInfo
- Publication number
- CN108032927A CN108032927A CN201810014184.5A CN201810014184A CN108032927A CN 108032927 A CN108032927 A CN 108032927A CN 201810014184 A CN201810014184 A CN 201810014184A CN 108032927 A CN108032927 A CN 108032927A
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- CN
- China
- Prior art keywords
- bogie
- turns
- semi
- car body
- independent suspension
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000725 suspension Substances 0.000 title claims abstract description 17
- 238000009987 spinning Methods 0.000 claims abstract description 11
- 230000004888 barrier function Effects 0.000 abstract description 7
- 239000007788 liquid Substances 0.000 abstract description 6
- 230000005484 gravity Effects 0.000 abstract description 3
- 239000011435 rock Substances 0.000 abstract description 2
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D7/00—Steering linkage; Stub axles or their mountings
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2300/00—Indexing codes relating to the type of vehicle
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
Torsion beam supports the walking machine platform of semi-independent suspension after being turned to the present invention provides a kind of bogie, including：Front end walking turns to platform, the front end walking, which turns to platform, includes bogie, car body, connected between the bogie and car body by rotational structure, the rotational structure does spinning movement for bogie, the walking machine platform of the present invention, it is simple in structure, with good flexibility, there is obvious advantage with terrain compensation direction turning to, it can make it that course changing control is more steady controllable, machine automatic dynamic in natural straight line moving is also enabled actively to look at the same time straight, and well landed in rough ground four-wheel by the semi-independent suspension vehicle of horizontal rotating shaft, share the power that lifts that single-wheel is crossed needed for barrier and make it that the lighter cross-country ability of barrier was stronger；Also so that cross hinder when middle car body angle of inclination be reduced, mitigate liquid in load and rock, weaken influence of the liquid sloshing to vehicle entirety position of centre of gravity.
Description
Technical field
The present invention relates to machinery field, and in particular to torsion beam supports the walking of semi-independent suspension after a kind of bogie turns to
Mechanical platform.
Background technology
For current steering structure in steering, operating characteristics is poor, dumb.
The content of the invention
The defects of in order to solve above-mentioned deficiency, torsion beam support is semi-independent outstanding after being turned to the present invention provides a kind of bogie
The walking machine platform of extension, it is simple in structure, there is good flexibility, turning to terrain compensation direction with obvious excellent
Gesture.
Torsion beam supports the walking machine platform of semi-independent suspension after being turned to the present invention provides a kind of bogie, including：
Front end walking turns to platform, and the front end walking, which turns to platform, includes bogie, car body, passes through between the bogie and car body
Rotational structure connects, and the rotational structure does spinning movement for bogie.
Above-mentioned walking machine platform, wherein, the rotational structure includes vertical tiltedly shaft, the first axle sleeve, described vertical
Oblique shaft and the first axle sleeve form free hinge, and spinning movement is done with vertical tiltedly shaft for bogie.
Above-mentioned walking machine platform, wherein, the rotational structure includes cross axle or 7 word axis, and the bogie is with ten
Word axis or 7 word axis do spinning movement and terrain compensation action, and the cross axle or 7 word axial planes are along the vertical of vehicle traveling direction
Horizontal layout.
Above-mentioned walking machine platform, wherein, further include rear end terrain compensation structure, the rear end terrain compensation structure bag
After-frame is included, the after-frame is connected with the car body by horizontal rotating shaft and the second axle sleeve, the horizontal rotating shaft and the second axle sleeve shape
Into free hinge, spinning movement is done with horizontal rotating shaft for after-frame, the compensation for landform.
Above-mentioned walking machine platform, wherein, if vertical tiltedly shaft is arranged on the bogie, first axle set is set
On the car body；If vertical tiltedly shaft is arranged on the car body, first axle is set on the bogie.
Above-mentioned walking machine platform, wherein, if horizontal rotating shaft is arranged on the car body, the second axle sleeve is arranged on institute
State on after-frame；If horizontal rotating shaft is arranged on the after-frame, the second axle sleeve is arranged on the horizontal rotating shaft.
Above-mentioned walking machine platform, wherein, the angle of inclination of the vertical tiltedly shaft is according to wet and slippery muddy ground and hardstand
Using different incline direction and angle, turn to negative-feedback so as to be formed and look for naturally straight.
The present invention has the following advantages：1st, walking machine platform of the invention, it is simple in structure, there is good flexibility,
There is obvious advantage with terrain compensation direction turning to, can make it that course changing control is more steady controllable, while also so that machine
Device energy automatic dynamic in natural straight line moving is actively looked for directly, and by the semi-independent suspension vehicle of horizontal rotating shaft rugged
Road surface four-wheel well lands, and shares the power that lifts that single-wheel is crossed needed for barrier and make it that the lighter cross-country ability of barrier was stronger；Also so that
Cross hinder when middle car body angle of inclination be reduced, mitigate liquid in load and rock, it is to vehicle whole to weaken liquid sloshing
The influence of body position of centre of gravity.
Brief description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, the present invention and its feature, outer
Shape and advantage will become more apparent upon.Identical mark indicates identical part in whole attached drawings.Not deliberately proportionally
Draw attached drawing, it is preferred that emphasis is the purport of the present invention is shown.
Fig. 1 is that torsion beam supports the walking machine platform of semi-independent suspension wherein after a kind of bogie steering in the present invention
A kind of embodiment.
Fig. 2 is that torsion beam supports the another of the walking machine platform of semi-independent suspension after a kind of bogie steering in the present invention
Kind embodiment.
Fig. 3 is the coordinate system schematic diagram arrived involved in the present invention.
Fig. 4 is the partial structural diagram of Fig. 1 in the present invention.
Embodiment
In the following description, a large amount of concrete details are given in order to provide more thorough understanding of the invention.So
And it is obvious to the skilled person that the present invention may not need one or more of these details and be able to
Implement.In other examples, in order to avoid with the present invention obscure, for some technical characteristics well known in the art not into
Row description.
In order to thoroughly understand the present invention, detailed step and detailed structure will be proposed in following description, so as to
Explain technical scheme.Presently preferred embodiments of the present invention is described in detail as follows, but in addition to these detailed descriptions, this
Invention can also have other embodiment.
With reference to shown in Fig. 1-Fig. 3, torsion beam supports the row of semi-independent suspension after being turned to the present invention provides a kind of bogie
Mechanical platform is walked, including：
Front end walking turns to platform 1, and front end walking, which turns to platform 1, includes bogie 2, car body 3, bogie 2 and car body 3 it
Between connected by rotational structure, wherein rotational structure does spinning movement for bogie 2.
The present invention one is preferably and in non-limiting embodiment, and with reference to shown in Fig. 1, Fig. 4, rotational structure includes tiltedly turning vertically
Axis 4, the first axle sleeve 5, vertical tiltedly 4 and first axle sleeve 5 of shaft form free hinge, are done and rotated with vertical tiltedly shaft for bogie
Action.With reference to shown in Fig. 3, the vertical tiltedly shaft 4 in the present invention forms small angle with Z axis, when active steering, due to this
The presence of angle, can cause backward wheel earth-grasping force to strengthen, and self-assembling formation turns to negative-feedback, so that course changing control is more
It is steady controllable, while it is straight also to enable machine automatic dynamic in natural straight line moving actively to look for.
The present invention one is preferably and in non-limiting embodiment, with reference to shown in Fig. 2, for another embodiment party of the present invention
Formula, rotational structure include cross axle or 7 word axis, are preferably 7 word axis 6, it is possible to achieve bogie is done and rotated with cross axle or 7 word axis
Action and terrain compensation action, with reference to shown in Fig. 3, cross axle or 7 word axial planes are arranged along the perpendicular of vehicle traveling direction.
The present invention one further includes rear end terrain compensation structure, rear end terrain compensation preferably and in non-limiting embodiment
Structure includes after-frame 7, and after-frame 7 is connected with car body 3 by 8 and second axle sleeve 9 of horizontal rotating shaft, 8 and second axle sleeve of horizontal rotating shaft, 9 shape
Into free hinge, spinning movement is done with horizontal rotating shaft for after-frame, the compensation for landform.With reference to shown in Fig. 1, rear end landform is mended
Compensation structure causes vehicle well to land in rough ground four-wheel, shares the power that lifts that single-wheel is crossed needed for barrier and make it that barrier was lighter
Cross-country ability is stronger, and structurally simple, economical, easy to maintain；This structure also causes the inclination angle of the middle car body when crossing barrier
Degree is reduced, and if applied in robot, is particularly applied in aproll robot, can be mitigated the rolling of liquid in water tank
It is dynamic, weaken influence of the liquid sloshing to vehicle entirety position of centre of gravity.
The present invention one is preferably and in non-limiting embodiment, with reference to shown in Fig. 1, if vertical tiltedly shaft is arranged on described turn
To on frame, then first axle is set on the car body；If vertical tiltedly shaft is arranged on the car body, first axle set is set
On the bogie, further by the technique effect that can also realize the present invention of bearing, similarly also in the guarantor of the present invention
In the range of shield.
The present invention one is preferably and in non-limiting embodiment, if horizontal rotating shaft is arranged on the car body, the second axis
It is set on the after-frame；If horizontal rotating shaft is arranged on the after-frame, the second axle sleeve is arranged on the horizontal rotating shaft.
The present invention one is preferably and in non-limiting embodiment, if rotational structure is 7 word axis, further, the plane of 7 word axis
Arrange that in the majority relative to ZX planes in existing application, X/Y plane is accidental along the perpendicular (YZ planes) of vehicle traveling direction,
The present invention arranges 7 word axis along the perpendicular (YZ planes) of vehicle traveling direction, it is possible to achieve terrain compensation is to pass through front-wheel
Realize, i.e., bogie can not only meet to turn to but also can play the role of to compensate landform.
The present invention one is preferably and in non-limiting embodiment, and the angle of inclination of vertical tiltedly shaft is according to wet and slippery muddy ground and hard
Ground uses different incline direction and angle, turns to negative-feedback so as to be formed and looks for naturally directly, is adapted to different landform.
Presently preferred embodiments of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, wherein the equipment and structure be not described in detail to the greatest extent are construed as giving reality with the common mode in this area
Apply；Any those skilled in the art, without departing from the scope of the technical proposal of the invention, all using the disclosure above
Methods and technical content many possible changes and modifications are made to technical solution of the present invention, or be revised as equivalent variations etc.
Embodiment is imitated, this has no effect on the substantive content of the present invention.Therefore, every content without departing from technical solution of the present invention, foundation
The technical spirit of the present invention still falls within the present invention to any simple modifications, equivalents, and modifications made for any of the above embodiments
In the range of technical solution protection.
Claims (7)
- Torsion beam supports the walking machine platform of semi-independent suspension after 1. a kind of bogie turns to, it is characterised in that including：Front end Walking turns to platform, and the front end walking, which turns to platform, includes bogie, car body, passes through rotation between the bogie and car body Structure connects, and the rotational structure does spinning movement for bogie.
- Torsion beam supports the walking machine platform of semi-independent suspension after 2. a kind of bogie as claimed in claim 1 turns to, its It is characterized in that, the rotational structure includes vertical tiltedly shaft, the first axle sleeve, and vertical tiltedly shaft and first axle sleeve form freedom Hinge, spinning movement is done for bogie with vertical tiltedly shaft.
- Torsion beam supports the walking machine platform of semi-independent suspension after 3. a kind of bogie as claimed in claim 1 turns to, its Be characterized in that, the rotational structure includes cross axle or 7 word axis, the bogie with cross axle or 7 word axis do spinning movement and Terrain compensation acts, and the cross axle or 7 word axial planes are arranged along the perpendicular of vehicle traveling direction.
- 4. torsion beam supports the walking machine of semi-independent suspension after being turned to such as a kind of bogie of claim 1-3 any one of them Platform, it is characterised in that further include rear end terrain compensation structure, the rear end terrain compensation structure includes after-frame, the after-frame It is connected with the car body by horizontal rotating shaft and the second axle sleeve, the horizontal rotating shaft and the second axle sleeve form free hinge, are used for After-frame does spinning movement with horizontal rotating shaft, the compensation for landform.
- Torsion beam supports the walking machine platform of semi-independent suspension after 5. a kind of bogie as claimed in claim 2 turns to, its It is characterized in that, if vertical tiltedly shaft is arranged on the bogie, first axle is set on the car body；If vertical tiltedly turn Axis is arranged on the car body, then first axle is set on the bogie.
- Torsion beam supports the walking machine platform of semi-independent suspension after 6. a kind of bogie as claimed in claim 4 turns to, its It is characterized in that, if horizontal rotating shaft is arranged on the car body, the second axle sleeve is arranged on the after-frame；If horizontal rotating shaft is set In the rear on frame, then the second axle sleeve is arranged on the horizontal rotating shaft.
- Torsion beam supports the walking machine platform of semi-independent suspension after 7. a kind of bogie as claimed in claim 5 turns to, its It is characterized in that, the angle of inclination of the vertical tiltedly shaft uses different incline directions and angle according to wet and slippery muddy ground and hardstand Degree, turns to negative-feedback and looks for naturally straight so as to be formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810014184.5A CN108032927A (en) | 2018-01-08 | 2018-01-08 | Torsion beam supports the walking machine platform of semi-independent suspension after a kind of bogie turns to |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810014184.5A CN108032927A (en) | 2018-01-08 | 2018-01-08 | Torsion beam supports the walking machine platform of semi-independent suspension after a kind of bogie turns to |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108032927A true CN108032927A (en) | 2018-05-15 |
Family
ID=62099280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810014184.5A Pending CN108032927A (en) | 2018-01-08 | 2018-01-08 | Torsion beam supports the walking machine platform of semi-independent suspension after a kind of bogie turns to |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032927A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1754741A (en) * | 2004-07-20 | 2006-04-05 | 布里格斯-斯特拉顿动力产品集团公司 | Four-wheel steering assembly |
| CN101161535A (en) * | 2007-10-22 | 2008-04-16 | 河南科技大学 | A hinged type self-discharging automobile chassis |
| CN204055216U (en) * | 2014-10-21 | 2014-12-31 | 三明学院 | The two-way swing arm suspension fork mechanism of band that pastoral transportation management machine provided back axle is special |
| CN204279626U (en) * | 2014-12-19 | 2015-04-22 | 贾克 | Novel obstacle detouring articulator frame connecting device |
| CN205837004U (en) * | 2016-07-29 | 2016-12-28 | 深圳市大疆创新科技有限公司 | Remote control chassis and ground mobile robot |
| CN206841114U (en) * | 2017-06-14 | 2018-01-05 | 林东星 | A kind of wheel type barrier-crossing excavator |
| CN207809573U (en) * | 2018-01-08 | 2018-09-04 | 丰耒（上海）智能科技有限公司 | Torsion beam supports the walking machine platform of semi-independent suspension after a kind of bogie turns to |
-
2018
- 2018-01-08 CN CN201810014184.5A patent/CN108032927A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1754741A (en) * | 2004-07-20 | 2006-04-05 | 布里格斯-斯特拉顿动力产品集团公司 | Four-wheel steering assembly |
| CN101161535A (en) * | 2007-10-22 | 2008-04-16 | 河南科技大学 | A hinged type self-discharging automobile chassis |
| CN204055216U (en) * | 2014-10-21 | 2014-12-31 | 三明学院 | The two-way swing arm suspension fork mechanism of band that pastoral transportation management machine provided back axle is special |
| CN204279626U (en) * | 2014-12-19 | 2015-04-22 | 贾克 | Novel obstacle detouring articulator frame connecting device |
| CN205837004U (en) * | 2016-07-29 | 2016-12-28 | 深圳市大疆创新科技有限公司 | Remote control chassis and ground mobile robot |
| CN206841114U (en) * | 2017-06-14 | 2018-01-05 | 林东星 | A kind of wheel type barrier-crossing excavator |
| CN207809573U (en) * | 2018-01-08 | 2018-09-04 | 丰耒（上海）智能科技有限公司 | Torsion beam supports the walking machine platform of semi-independent suspension after a kind of bogie turns to |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180515 |