Four-foot wheel leg type bionic large-stroke adjustable cross-country suspension mechanism and control method

Abstract

The invention belongs to the technical field of mechanical engineering, and discloses a four-foot wheel leg type bionic large-stroke adjustable cross-country suspension mechanism and a control method. The four-foot wheel leg type bionic large-stroke adjustable cross-country suspension mechanism is characterized in that a hub connecting joint is connected with a connecting rod structure, and the connecting rod structure is provided with a first connecting rod and a second connecting rod; the first connecting rod is connected with the second connecting rod through the first rotating pair structure which is connected with a third connecting rod, and the third connecting rod is connected with a first vehicle body connecting joint. The second connecting rod is connected with a telescopic rod through a second rotating pair structure, the telescopic rod is connected with a third vehicle body connecting joint, the second rotating pair structure is connected with a fourth connecting rod, and the fourth connecting rod is connected with a second vehicle body connecting joint. The bionics thinking is used for designing the vehicle platform, the vertical dynamic stroke provided for the vehicle body by the suspension mechanism is effectively improved, each wheel is independently adjustable and controllable, and the passing capacity of the vehicle platform in coping with a special environment is greatly improved.

Description

technical field [0001] The invention belongs to the technical field of mechanical engineering, and in particular relates to a four-legged wheel-leg bionic large-stroke adjustable off-road suspension mechanism and a control method. Background technique [0002] At present, with the development and progress of society, human beings' requirements for vehicle platforms are no longer limited to daily transportation, but are gradually facing more diversified use environments, especially in some special environments. A good functional Vehicles can often achieve twice the result with half the effort. It can greatly reduce the transportation workload of relevant staff, thereby effectively improving the task completion rate and success rate. [0003] The biggest problem faced by vehicle platforms for special environments is the complexity of the driving environment. This type of environment requires the vehicle platform to have sufficient passability, and the structural design of the ...

AI Technical Summary

Problems solved by technology

[0007] Through the above analysis, the problems and defects of the existing technology are: the traditional suspension structure is always constrained by its own structure and the layout of the vehicle body, and cannot achieve a strong passing capacity

[0008] The difficulty in solving the above problems and defects is: the traditional vehicle suspension structure can only be arranged inside the vehicle body due to the influence of the transmission part, which is manifested as a package. Considering the design of the vehicle body frame and the layout of the transmission system, the suspension Some parts can only achieve a small range of vertical travel to solve the body bumps and swings caused by ordinary road undulations.

Moreover, due to space constraints, only a small number of high-end vehicles can be equipped with active suspension adjustment, and its adjustment stroke is far from meeting the needs of special working environments.

[0009] The significance of solving the above problems and defects is: working vehicles in special environments are often no longer facing ordinary roads, but need to pass more complex and harsh roads, so new suspension forms are required, but generally existing suspensions None of the forms can achieve a qualitative leap, and the vertical adjustment capability can only be increased as much as possible in the traditional mode, which obviously cannot meet the requirements. Therefore, a new form of large-travel adjustable suspension combined with a transmission system is urgently needed

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