CN110065543B - Independent suspension system of vehicle, wheel-track conversion vehicle and running mode conversion method - Google Patents
Independent suspension system of vehicle, wheel-track conversion vehicle and running mode conversion method Download PDFInfo
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- CN110065543B CN110065543B CN201910367509.2A CN201910367509A CN110065543B CN 110065543 B CN110065543 B CN 110065543B CN 201910367509 A CN201910367509 A CN 201910367509A CN 110065543 B CN110065543 B CN 110065543B
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- 239000000725 suspension Substances 0.000 title claims abstract description 110
- 238000006243 chemical reaction Methods 0.000 title claims abstract description 32
- 238000000034 method Methods 0.000 title abstract description 5
- 238000013016 damping Methods 0.000 claims description 29
- 238000010586 diagram Methods 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 230000010485 coping Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000007665 sagging Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/104—Suspension devices for wheels, rollers, bogies or frames
- B62D55/112—Suspension devices for wheels, rollers, bogies or frames with fluid springs, e.g. hydraulic pneumatic
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention relates to a vehicle independent suspension system, a wheel-track conversion vehicle and a wheel-track conversion method for vehicle running, belonging to the technical field of automobile suspension control. The independent suspension system of the vehicle consists of independent suspensions connected to a frame (1) and wheels (5), wherein the wheels are eight wheels divided into four groups, the independent suspensions of the front and rear groups of wheels are identical in structure and are in linkage, the independent suspensions of the middle two groups of wheels are connected and are in linkage, and the wheels on the same side of the middle two groups of wheels are respectively covered with a crawler belt (9) to form a middle crawler belt type wheel. The invention can realize the conversion of wheels and tracks, can realize the conversion of running modes of 4 multiplied by 4 and 8 multiplied by 8, is suitable for more complex road conditions, improves the trafficability of vehicles, and is particularly suitable for being applied to military vehicles and armored vehicles.
Description
Technical Field
The invention belongs to the technical field of automobile suspension control, relates to a wheel-track conversion independent suspension system, in particular to a system capable of controlling lifting and lowering of tires and realizing mutual conversion between wheeled and crawler-type running of a military automobile, and a vehicle provided with the independent suspension system and capable of realizing wheel-track conversion.
Background
Due to the complex driving road conditions of military vehicles, independent suspensions are adopted in the suspension structure, and wheel structures are adopted in the wheels. The disadvantages of wheeled vehicles are as follows: because the wheeled vehicle needs to take the problem of ground pressure into account, the weight of the military wheeled vehicle cannot be too heavy, otherwise in soft terrain, the wheels are prone to sagging; armor of a wheeled vehicle cannot be too thick due to the influence of weight, so that the protective performance of the military vehicle is weaker; the turning radius of the wheeled military vehicle is larger than that of the crawler type. The military vehicles also have tank-type tracked military vehicles, which have the following disadvantages: the crawler is low in running speed and high in energy consumption, and the crawler part is easy to damage; the mobility of the tracked vehicle is lower than the wheeled vehicle; once the crawler belt of the crawler is broken, the whole vehicle cannot be sprung.
Disclosure of Invention
The invention provides a vehicle with wide environmental adaptability and various functions for wheel-track conversion and a vehicle independent suspension system for realizing the wheel-track conversion, which overcome the defects of the prior art of military vehicles.
The independent suspension system of the vehicle is composed of independent suspensions connected with a frame (1) and wheels (5), and is characterized in that the wheels are eight wheels which are divided into four groups, wherein the independent suspensions of the front and rear groups of wheels are identical in structure and are in linkage, and the independent suspensions of the middle two groups of wheels are connected and are in linkage.
One preferable scheme is that the two same-side wheels of the middle two groups are respectively covered with a crawler belt (9) to form a middle crawler belt wheel.
The vehicle independent suspension system is characterized in that the independent suspension is of a torsion bar spring suspension structure, the torsion bar spring suspensions of the front and rear wheels comprise a lower arm support (2), a lower control arm (3), an upper control arm (4), a torsion bar (6), a connecting sleeve (7) and a driving motor (8), one end of the lower control arm is connected with the lower arm support through a rotating shaft so as to be connected with a frame, and the other end of the lower control arm is hinged with the wheels; one end of the upper control arm is connected with the frame through a pin shaft, and the other end of the upper control arm is hinged with the wheels; the rotating shaft of the lower control arm is hollow, one end of the rotating shaft is provided with a spline, one end of the torsion bar is connected with the lower control arm through the spline, the other end of the torsion bar is connected with the driving motor through the connecting sleeve, and the driving motor is fixed on the frame. The torsion bar spring suspensions of the middle two groups of wheels comprise respective lower arm supports (2), lower control arms (3) and upper control arms (4), one ends of the lower control arms are connected with the lower arm supports through rotating shafts so as to be connected with the frame (1), and the other ends of the lower control arms are hinged with the wheels (5); one end of the upper control arm is connected with the frame through a pin shaft, and the other end of the upper control arm is hinged with the wheels; the rotating shaft of the lower control arm is hollow, and one end of the rotating shaft is provided with a spline; the two groups of torsion bar spring suspensions share one torsion bar spring (10), a connecting sleeve (7) and a driving motor (8), one end of the torsion bar spring (10) is connected with a lower control arm positioned at the middle two groups of ends (such as the front ends) through a spline, the other end of the torsion bar spring is connected with the driving motor through a connecting sleeve positioned at the middle two groups of the other ends (such as the rear ends), and the driving motor is fixed on the frame.
The vehicle independent suspension system can also be a semi-active hydro-pneumatic spring suspension structure, and comprises a lower arm support (2), a lower control arm (3), an upper control arm (4), an oil cylinder (16), an energy accumulator (17) and a damping valve (19); one end of the lower control arm is connected with two lower arm supports through a rotating shaft and is fixed on the frame, and the other end of the lower control arm is hinged with the wheels (5); one end of the upper control arm is connected with the frame, and the other end is hinged with the wheels; the oil cylinder is arranged on the frame, a piston rod of the oil cylinder is connected with the lower control arm, the oil cylinder is connected with the damping valve, and the damping valve is connected with the energy accumulator through a pipeline. The oil paths in the independent suspensions of the middle two groups of wheels are connected in parallel, and the oil paths in the independent suspensions of the front and rear two groups of wheels are connected in parallel. The vehicle independent suspension system is additionally provided with a wheel-side valve plate (18) arranged on a frame, wherein an electromagnetic valve c, an electromagnetic valve d and an electromagnetic valve e which are arranged in an oil way are integrated on the wheel-side valve plate, the electromagnetic valve e is arranged in an oil pipe at the end (upper end) of a cylinder body of an oil cylinder (16) and is connected with a damping valve (19), and an electromagnetic valve b and an electromagnetic valve k are arranged on two oil pipes at the ends (lower ends) of the oil cylinder (16) and a piston rod; by closing the electromagnetic valves c, e and k and opening the electromagnetic valves b and d, the oil cylinder is enabled to feed oil through the electromagnetic valve b, the electromagnetic valve d discharges oil, and the oil cylinder is in a compressed state so as to drive the lower control arm to lift the wheels upwards; on the contrary, the electromagnetic valves b, d and e are closed, the electromagnetic valves c and k are opened, and the oil cylinder is in a lifting state to drive wheels to descend. The damping valve (19) is a fixed damping valve or a variable damping valve.
The invention also provides a wheel-track conversion vehicle, which comprises a frame (1) and wheels (5), and is characterized in that: the wheels are eight wheels which are divided into four groups, the same-side wheels of the middle two groups are respectively covered with a crawler belt (9) to form middle crawler wheels, the front and rear two groups are wheel type wheels, each wheel is connected with a frame through an independent suspension, and the vehicle independent suspension system is used for realizing the conversion between the front and rear two groups of wheel type wheels and the middle two groups of crawler type wheels.
The invention further provides a method for converting the wheel track of the vehicle running mode, which comprises the steps of controlling the independent suspension system of the vehicle, lifting the middle two groups of wheels, lowering the front and rear two groups of wheels to realize a 4X 4 wheel running mode, lifting the middle two groups of wheels, lifting the front and rear two groups of wheels to realize a crawler running mode, and dismantling the crawler and lowering all the wheels to realize an 8X 8 wheel running mode. The control is realized by a driving motor of a torsion bar spring suspension structure or an electromagnetic valve of a semi-active hydro-pneumatic spring suspension structure.
By adopting the design, the independent suspension system groups the wheels, and the independent suspensions of different groups can be respectively controlled and linked, so that the wheel type and crawler type conversion can be realized, the capability of the vehicle for coping with complex road conditions is improved, and the conversion of 4 multiplied by 4 wheel type, 8 multiplied by 8 wheel type and crawler type can also be realized.
Drawings
FIG. 1 is a block diagram of a torsion bar spring suspension in a wheel track conversion independent suspension system of the present invention;
FIG. 2 is a view in the direction A of FIG. 1 of the present invention;
FIG. 3 is a schematic view of a 4×4 wheel drive;
FIG. 4 is an 8×8 wheel drive schematic;
FIG. 5 is a schematic view of track wheel drive travel;
FIG. 6 is a block diagram of a semi-active hydro-pneumatic spring suspension in a wheel track conversion independent suspension system of the present invention;
FIG. 7 is a view of the left view of FIG. 6 rotated 90 counterclockwise;
FIG. 8 is an axial view of FIG. 6;
fig. 9 is a hydraulic schematic diagram of a semi-active hydro-pneumatic spring suspension in a wheel track conversion independent suspension system of the present invention.
The reference numerals in fig. 1 and 2 are expressed as: the vehicle comprises a vehicle frame 1, a lower arm support 2, an upper control arm 3, a lower control arm 4, wheels 5, torsion bars 6, connecting sleeves 7, a driving motor 8, tracks 9 and torsion bar springs 10.
The reference numerals in fig. 6 and 7 are expressed as: the vehicle comprises a vehicle frame 1, a lower arm support 2, an upper control arm 3, a lower control arm 4, wheels 5, an oil cylinder 16, an energy accumulator 17, a wheel rim valve plate 18, a crawler belt 9 and a fixed damping valve 19.
The reference numerals in fig. 8 are: the vehicle comprises a frame 1, wheels 5, tracks 9 and independent suspensions 20.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and examples.
The existing military vehicles are either wheeled or crawler-type, and have limitations on respective use environments and relatively single functions. In order to meet the use requirement of comprehensive combat readiness, the invention firstly provides a design idea of wheel-track conversion in a military vehicle, and provides a wheel-track conversion vehicle and a wheel-track conversion method for vehicle running.
The wheel-track conversion vehicle mainly improves an independent suspension system of the original military vehicle, and the independent suspension system is used for controlling the lifting of wheels to realize the conversion of the wheels and the track of the vehicle and the conversion of 4 multiplied by 4 and 8 multiplied by 8 of the wheels. The structural design of the wheel-track conversion vehicle is shown as an example in fig. 8, and comprises a frame 1 and eight wheels 5 (four wheels on each side) which are fixed on two sides of the frame in a distributed manner, wherein each wheel 5 is connected with the frame through a respective independent suspension 20, and the lifting of each wheel is controlled through the independent suspension; all independent suspensions 20 constitute a vehicle independent suspension system by which the grouped elevation of wheels is controlled. Further, two wheels 5 fixed in the middle of the frame are covered with a crawler belt 9 (bulges which are matched with the surface patterns of the wheel tires are arranged on the inner surfaces of the crawler belt 9, the crawler belt is arranged on the surfaces of the tires after the tires are deflated, then the tires are inflated, and the tensioning of the crawler belt is controlled), and the two middle wheels are assembled into a belt type to form two middle crawler wheels.
The military vehicle designed above can adapt to different use conditions to select different running modes: when the vehicle is running on a road, the middle two sets of wheels (covered with the crawler belt) can be lifted, so that the vehicle can run at a high speed, which is equivalent to a 4×4-driven automobile (see fig. 3). When a larger load capacity is required for the vehicle, the tracks on the middle two sets of wheels can be detached, and the middle two sets of wheels (the tracks are detached) can be lowered, so that the vehicle is equivalent to an 8×8 driven vehicle (see fig. 4). On off-road surfaces where caterpillar travel is required, the middle two sets of caterpillar wheels can be lowered and the first and fourth sets of wheels at both ends of the frame can be raised so that caterpillar travel is possible (see fig. 5).
The vehicle independent suspension system is used for controlling wheels to orderly lift. The independent suspension constituting the independent suspension system of the vehicle can be a torsion bar spring suspension structure or a semi-active hydro-pneumatic spring suspension structure. The details are as follows:
the independent suspension system for a vehicle of the torsion bar spring suspension structure of the present invention is shown with reference to fig. 1 and 2, and includes a lower arm support 2 fixed to a vehicle frame 1, a lower control arm 3, an upper control arm 4, a torsion bar 6, a connection sleeve 7, a driving motor 8, and a torsion bar spring 10. Each wheel 5 is provided with a set of torsion bar spring suspensions, the embodiment shown in fig. 1 being provided with four sets of eight wheels, defined sequentially as a first set of wheels, a second set of wheels, a third set of wheels and a fourth set of wheels, the second set and the third set of wheels 5 being provided with a track 9 on each of the left and right outer ends thereof. Wherein:
the lower control arm 3 is V-shaped, the two ends of the V-shaped opening are provided with rotating shafts connected with lower arm supports, the rotating shafts are connected with two lower arm supports 2 through the rotating shafts so as to be connected with the frame 1, and the V-shaped sealing end of the lower control arm 3 is hinged with the wheels 5; one end of the upper control arm 4 is connected with the frame 1 by a pin shaft, and the other end is hinged with the wheels 5. The rotary shaft of the lower control arm 3 is hollow and has a spline at one end, the torsion bar 6 penetrates the rotary shaft of the lower control arm 3, one end of the torsion bar 6 is connected with one lower control arm 3 (shown as a left end in fig. 1) through the spline, and the other end is connected with the driving motor 8 through the connecting sleeve 7, see fig. 2. The driving motor 8 is fixed on the frame 1, can drive the torsion bar 6 to rotate, and can be self-locked, so that an output shaft of the driving motor 8 is locked, and the driving motor 8 can be used as a support of the torsion bar 6 for fixing the torsion bar 6.
In the torsion bar spring suspensions installed in the second group and the third group of wheels, the lower arm support 2, the lower control arm 3 and the upper control arm 4 are arranged completely the same as the first group and the fourth group, but the two groups share one driving motor 8, and the two groups share one torsion bar spring 10, and in the example shown in fig. 1, the driving motor 8 is installed outside the suspension of the third group of wheels, and the torsion bar connected with the driving motor 8 (through the connecting sleeve 7) extends to the suspension of the second group of wheels, namely, the two groups share one torsion bar, namely, the torsion bar spring 10, and likewise, the driving motor 8 can drive the torsion bar 6 (the torsion bar spring 10) to rotate, and the driving motor 8 can be used as the support of the torsion bar spring 10 for fixing the torsion bar spring 10 during self-locking.
When the independent suspension system of the wheel-track conversion vehicle with the torsion bar spring suspension structure works, the driving motor 8 is connected with the torsion bar 6 through the connecting sleeve 7, so that the driving motor 8 rotates to drive the torsion bar 6 to rotate, the torsion bar 6 is connected with the lower control arm 3 through a spline, the lower control arm 3 is hinged with the wheel 5, and the driving motor 8 rotates to indirectly drive the wheel 5 to lift. The angle of rotation of the drive motor 8 can be limited so that the elevation of the wheels 5 can be controlled. The driving motor 8 has a self-locking function, namely, the driving motor 8 can be self-locked at any angle within the rotation angle range, so that the output shaft is locked, the driving motor 8 is equivalent to a fixed support of the torsion bar 6, and the torsion bar 6 can realize the effect of damping vibration. The driving motors of the same group on the left side and the right side of the frame 1 work simultaneously to ensure that the two wheels of the same group synchronously lift. Likewise, the two middle wheel suspensions share a driving motor 8 and a torsion bar spring 10, the driving motor 8 drives the torsion bar spring 10 to drive the two middle wheels to lift simultaneously, and the driving motors on the left side and the right side of the frame 1 work simultaneously to ensure that the wheels on the two sides lift synchronously.
The independent suspension system of the wheel-track conversion vehicle with the torsion bar spring suspension structure can realize the switching of lowering (4X 4 running) the front and rear two groups of wheels and lowering (8X 8 running) all the wheels by controlling the driving motor 8; when the middle two groups of wheels are covered with the crawler belt, the switching of lowering the front and rear two groups of wheels (wheeled running) when the middle two groups of wheels are lifted and lifting the front and rear two groups of wheels when the middle two groups of wheels are lowered (crawler belt running) can be realized.
The wheel track switching vehicle independent suspension system with the semi-active hydro-pneumatic spring suspension structure disclosed by the invention is shown in fig. 6-9, and comprises a lower arm support 2, a lower control arm 3, an upper control arm 4, an oil cylinder 16, an energy accumulator 17, a wheel edge valve plate 8 and a damping valve 19, wherein the lower arm support 2, the lower control arm 3, the upper control arm 4, the oil cylinder 16, the energy accumulator 17 and the wheel edge valve plate 8 are fixed on a frame 1. Each wheel 5 is provided with a set of semi-active hydro-pneumatic spring suspensions, the embodiment shown in fig. 6 and 8 is provided with four sets of eight wheels, sequentially defined as a first set of wheels, a second set of wheels, a third set of wheels and a fourth set of wheels, and the outer ends of the wheels 5 of the second set and the third set are respectively provided with a crawler belt 9. Wherein:
the lower control arm 3 is V-shaped, two ends of a V-shaped opening of the lower control arm are connected with two lower arm supports 2 through rotating shafts and fixed on the frame 1, one end of the upper control arm 4 is directly connected with the frame 1 through a pin shaft, and the other end of the upper control arm 4 and the V-shaped sealing end of the lower control arm 3 are respectively hinged with the wheels 5 through ball pins. The oil cylinder 16 is arranged on the frame 1, a piston rod of the oil cylinder 16 is connected with the lower control arm 3 through a pin shaft, the oil cylinder 16 is connected with the energy accumulator 17 and the damping valve 19, the energy accumulator 17 is fixed at the top of the outer side of the oil cylinder 16 and is connected with the damping valve 19 through a pipeline, and the damping valve 19 is connected with the electromagnetic valve e on the wheel side valve plate. The accumulator 17 can realize short-term large-scale oil supply, system pressure maintaining, emergency energy source and impact pressure alleviation. The damping valve 19 is used to adjust the damping of the accumulator oil in and out.
Referring to fig. 9, the second and third sets of wheel oil passages are connected in parallel, and the first and fourth sets of wheel oil passages are connected in parallel. Wherein the cylinder damping valves 19 of the second set of wheel independent suspensions are used to adjust the damping of the accumulator inlet and outlet oil. The wheel-side valve plate is integrated with an electromagnetic valve c, an electromagnetic valve d and an electromagnetic valve e which are arranged on the oil way. The lower end (the end of the piston rod is defined as the lower end) of the oil cylinder 16, namely the end connected with the lower control arm, is defined as the lower end), the electromagnetic valve b and the electromagnetic valve k are connected to two oil pipes, and the upper end (the end of the cylinder body of the oil cylinder is defined as the upper end) is connected with the electromagnetic valve e on the wheel side valve plate 18, and the electromagnetic valve e is connected with the damping valve 19. When the vehicle independent suspension system with the semi-active hydro-pneumatic spring suspension structure works, when the two groups of crawler wheels in the middle need to ascend, electromagnetic valves c, e and k in the second group of wheels and the third group of wheel suspensions are closed, electromagnetic valves b and d are opened, the oil cylinder 16 is filled with oil through the electromagnetic valve b, and the electromagnetic valve d is discharged, so that the oil cylinder 16 is in a compressed state. Because the cylinder body of the oil cylinder 16 is fixed on the frame, the piston rod is fixed on the lower control arm 3, and after the oil cylinder 16 is compressed, the lower control arm 3 is driven to rise upwards, so that the wheel can be controlled to rise. On the contrary, the solenoid valves b, d and e are closed, and the solenoid valves c and k are opened, so that the cylinder 6 is in a state of ascending length and the wheel 5 can descend.
Similarly, the first group of wheels and the fourth group of wheels are controlled by the same principle to realize simultaneous ascending or descending. The damping valve 19 is a fixed damping valve, and during normal running, the solenoid valves b and k are closed, thus being a semi-active hydro-pneumatic spring suspension. The damping valve 19 is replaced by a variable damping valve, namely an active hydro-pneumatic suspension system, and the hydraulic control principle of wheel lifting is the same.
The wheel-track conversion vehicle independent suspension system with the semi-active hydro-pneumatic spring suspension structure can realize the switching of lowering (4X 4 running) the front and rear two groups of wheels and lowering (8X 8 running) all the wheels by controlling the electromagnetic valve; when the middle two groups of wheels are covered with the crawler belt, the switching of lowering the front and rear two groups of wheels (wheeled running) when the middle two groups of wheels are lifted and lifting the front and rear two groups of wheels when the middle two groups of wheels are lowered (crawler belt running) can be realized.
It will be appreciated by those skilled in the art that these examples are intended to illustrate the invention and not to limit the scope of the invention, and that various equivalent variations and modifications to the invention are within the scope of the present disclosure.
Claims (8)
1. The vehicle independent suspension system is composed of independent suspensions connected with a frame (1) and wheels (5), and is characterized in that the wheels are eight wheels divided into four groups, wherein the independent suspensions of the front and rear groups of wheels form the same linkage, and the independent suspensions of the middle two groups of wheels are connected and linked;
wherein, the wheels on the same side of the two groups in the middle are respectively covered with a crawler belt (9) to form a middle crawler belt wheel; and
the vehicle independent suspension system is controlled to lift the middle two groups of wheels and lower the front and rear groups of wheels to realize a 4X 4 wheel running mode, lift the middle two groups of wheels and lower the front and rear groups of wheels to realize a crawler running mode, and remove the crawler and lower all the wheels to realize an 8X 8 wheel running mode;
the two middle wheel suspensions share a driving motor and a torsion bar spring, the driving motor drives the torsion bar spring to drive the two middle wheels to lift simultaneously, the driving motors are respectively arranged at the left side and the right side of the vehicle independent suspension system, and the driving motors at the left side and the right side of the vehicle independent suspension system work simultaneously to enable the wheels at the left side and the right side of the vehicle independent suspension system to lift synchronously.
2. The vehicle independent suspension system according to claim 1, wherein the independent suspension is a torsion bar spring suspension structure, the torsion bar spring suspension of the front and rear sets of wheels comprises a lower arm support (2), a lower control arm (3), an upper control arm (4), a torsion bar (6), a connecting sleeve (7) and a driving motor (8), one end of the lower control arm is connected with the lower arm support through a rotating shaft so as to be connected with a vehicle frame, and the other end is hinged with the wheels; one end of the upper control arm is connected with the frame through a pin shaft, and the other end of the upper control arm is hinged with the wheels; the rotating shaft of the lower control arm is hollow, one end of the rotating shaft is provided with a spline, one end of the torsion bar is connected with the lower control arm through the spline, the other end of the torsion bar is connected with the driving motor through the connecting sleeve, and the driving motor is fixed on the frame.
3. The vehicle independent suspension system according to claim 1 or 2, wherein the independent suspension is a torsion bar spring suspension structure, the torsion bar spring suspensions of the two middle groups of wheels comprise respective lower arm supports (2), lower control arms (3) and upper control arms (4), one ends of the lower control arms are connected with the lower arm supports through rotating shafts so as to be connected with a vehicle frame (1), and the other ends of the lower control arms are hinged with wheels (5); one end of the upper control arm is connected with the frame through a pin shaft, and the other end of the upper control arm is hinged with the wheels; the rotating shaft of the lower control arm is hollow, and one end of the rotating shaft is provided with a spline; the two groups of torsion bar spring suspensions share one torsion bar spring (10), a connecting sleeve (7) and a driving motor (8), one end of the torsion bar spring (10) is connected with a lower control arm positioned at the middle two groups of ends (such as the front ends) through a spline, the other end of the torsion bar spring is connected with the driving motor through a connecting sleeve positioned at the middle two groups of the other ends (such as the rear ends), and the driving motor is fixed on the frame.
4. The vehicle independent suspension system of claim 1, wherein the independent suspension is: the semi-active hydro-pneumatic spring suspension structure comprises a lower arm support (2), a lower control arm (3), an upper control arm (4), an oil cylinder (16), an energy accumulator (17) and a damping valve (19); one end of the lower control arm is connected with two lower arm supports through a rotating shaft and is fixed on the frame, and the other end of the lower control arm is hinged with the wheels (5); one end of the upper control arm is connected with the frame, and the other end is hinged with the wheels; the oil cylinder is arranged on the frame, a piston rod of the oil cylinder is connected with the lower control arm, the oil cylinder is connected with the damping valve, and the damping valve is connected with the energy accumulator through a pipeline.
5. The vehicle independent suspension system of claim 4, wherein the oil paths in the independent suspensions of the middle two sets of wheels are connected in parallel and the oil paths in the independent suspensions of the front and rear two sets of wheels are connected in parallel.
6. The independent suspension system of the vehicle according to claim 5, wherein a wheel-side valve plate (18) is additionally arranged on the frame, a solenoid valve c, a solenoid valve d and a solenoid valve e which are arranged in an oil path are integrated on the wheel-side valve plate, the solenoid valve e is arranged in an oil pipe at the end (upper end) of a cylinder body of the oil cylinder (16) and is connected with a damping valve (19), the damping valve (19) is a fixed damping valve or a variable damping valve, and a solenoid valve b and a solenoid valve k are arranged on two oil pipes at the ends (lower ends) of the oil cylinder (16) and a piston rod; by closing the electromagnetic valves c, e and k and opening the electromagnetic valves b and d, the oil cylinder is enabled to feed oil through the electromagnetic valve b, the electromagnetic valve d discharges oil, and the oil cylinder is in a compressed state so as to drive the lower control arm to lift the wheels upwards; on the contrary, the electromagnetic valves b, d and e are closed, the electromagnetic valves c and k are opened, and the oil cylinder is in a lifting state to drive wheels to descend.
7. A wheel-track conversion vehicle comprising a frame (1) and wheels (5), wherein the wheels are eight wheels divided into four groups, the wheels on the same side of the two middle groups are respectively covered with a crawler belt (9) to form middle crawler wheels, the two front groups and the rear groups are wheel-type wheels, each wheel is connected with the frame through an independent suspension, and the vehicle independent suspension system of any one of claims 1 to 6 is used for realizing the conversion between the two front groups and the rear groups of wheel-type wheels and the two middle groups of crawler-type wheels;
wherein, through controlling the independent suspension system of the vehicle, the middle two groups of wheels are lifted and the front and rear two groups of wheels are lowered to realize a 4X 4 wheel running mode, the middle two groups of wheels are lowered and the front and rear two groups of wheels are lifted to realize a crawler running mode, and the crawler is removed and all wheels are lowered to realize an 8X 8 wheel running mode
The two middle wheel suspensions share a driving motor and a torsion bar spring, the driving motor drives the torsion bar spring to drive the two middle wheels to lift simultaneously, the driving motors are respectively arranged at the left side and the right side of the vehicle independent suspension system, and the driving motors at the left side and the right side of the vehicle independent suspension system work simultaneously to enable the wheels at the left side and the right side of the vehicle independent suspension system to lift synchronously.
8. The wheel track switch vehicle of claim 7, wherein said control is effected by a drive motor of a torsion bar spring suspension arrangement or a solenoid valve of a semi-active hydro-pneumatic spring suspension arrangement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910367509.2A CN110065543B (en) | 2019-05-05 | 2019-05-05 | Independent suspension system of vehicle, wheel-track conversion vehicle and running mode conversion method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910367509.2A CN110065543B (en) | 2019-05-05 | 2019-05-05 | Independent suspension system of vehicle, wheel-track conversion vehicle and running mode conversion method |
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| CN110065543A CN110065543A (en) | 2019-07-30 |
| CN110065543B true CN110065543B (en) | 2024-03-08 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112572374B (en) * | 2019-09-30 | 2022-12-30 | 新疆大道防务装备有限公司 | Hub reduction gear assembly and wheel assembly |
| CN111993850A (en) * | 2020-09-08 | 2020-11-27 | 中国人民解放军国防科技大学 | Crawler auxiliary walking system |
| CN112776908A (en) * | 2021-01-07 | 2021-05-11 | 北京建筑大学 | Detachable deformation moving mechanism of track |
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