A single trailing arm suspension device

Abstract

This invention belongs to the field of suspension technology and relates to a single-trailing-arm suspension device. This device incorporates elastic force, damping force, and inertial force into the single-trailing-arm suspension system, broadening the suspension system's control range and calculating the suspension system's inertia coefficient. By controlling the suspension system's elastic force, damping force, and inertial force, the device improves vehicle stability. Furthermore, by varying the angle of the rotating arm relative to the vehicle body, the invention controls the single-trailing-arm suspension's chassis ground clearance and vehicle body posture, enhancing the vehicle's ability to navigate and maintain stability over extreme road conditions, such as ravines and bumps.

Description

Technical Field

[0001] The present invention relates to the technical field of suspension, in particular to a single trailing arm suspension device. Background Art

[0002] Single trailing-arm suspension is suitable for mobile platforms such as tracked vehicle road wheels and wheel-legged robots. Tracked vehicles and wheel-legged robots have strong obstacle-crossing capabilities, high maneuverability, and high passability, enabling them to navigate harsh off-road environments. They are often used in military equipment and specialized equipment.

[0003] Tracked vehicles, with their large contact patch and wide approach and departure angles, are able to traverse obstacles like gullies and bumps. However, their maneuverability is still limited by their chassis' ground clearance. Wheel-legged robots, lacking a suspension system, rely solely on tire stiffness to mitigate the effects of road excitation on the chassis. This makes them unable to travel quickly on uneven surfaces, limiting their maneuverability. Summary of the Invention

[0004] The purpose of the present invention is to solve the problem that the fixed ground clearance of a tracked vehicle chassis restricts the vehicle's passability, and to reduce the influence of road surface excitation on the driving stability of a wheel-legged robot chassis.

[0005] To achieve the above object of the invention, the technical solution adopted by the present invention is: a single trailing arm suspension device, comprising: a wheel 1, a swing arm 2, a vehicle body 3, a rotating frame 4, a spring damper 5, a planetary gear mechanism, an adjustment mechanism, and an actuating mechanism; wherein one end of the swing arm 2 is connected to the wheel 1, and the wheel 1 has the freedom to rotate around the axis; the other end of the swing arm 2 is mounted on the vehicle body 3 through a bearing, and the swing arm 2 has the freedom to rotate relative to the vehicle body 3; wherein the swing arm 2 includes a swing arm inner ring 2A, on which are provided a plurality of swing arm hanging ears 2.1, a swing arm outer gear ring 2.2 and a swing arm inner gear ring 2.3; the rotating frame 4 is mounted on the vehicle body 3 through a bearing, and has the freedom to rotate around the axis; wherein the swing frame 4 includes a swing frame outer gear ring 4.1 and a swing frame inner gear ring 4.2; and the ends of the plurality of spring dampers 5 are respectively connected to the plurality of swing arm hanging ears 2 on the swing arm 2. 1 and the rotating frame 4 are hinged by bolts; wherein, the adjustment mechanism can selectively lock the rotating frame 4; wherein, the rotating frame 4 is also provided with a planetary gear mechanism, including planetary gears 6 and a planetary gear carrier 7, the planetary gears 6 are meshed with the outer ring gear 2.2 of the rotating arm and the inner ring gear 4.2 of the rotating frame, the planetary gears 6 are mounted on the planetary gear carrier 7, the planetary gear carrier 7 limits the freedom of the planetary gears 6 other than planar motion on the end face, and the planetary gear carrier 7 is mounted on the housing of the reducer 12 through bearings and has the freedom to rotate around the axis; wherein, the actuating mechanism includes a motor 11, a reducer 12 and a driving gear 13, the motor 11 is fixed to the vehicle body 3, the input shaft of the reducer 12 is connected to the output shaft of the motor 11, the driving gear 13 is fixed to the output shaft of the reducer 12, and the driving gear 13 is meshed with the inner ring gear 2.3 of the rotating arm 2.

[0006] Furthermore, the adjustment mechanism includes a first claw 8a and a second claw 8b, and a hydraulic rod 10, which are arranged symmetrically on both sides;

[0007] Among them, the lower ends of the first claw 8a and the second claw 8b are hinged to the car body 3 by bolts, and the upper ends of the first claw 8a and the second claw 8b are connected by a hydraulic rod 10; the first claw 8a and the second claw 8b are both provided with claw internal teeth 8.1, and the first claw 8a and the second claw 8b are engaged with the outer gear ring 4.1 of the turntable 4 through the claw internal teeth 8.1.

[0008] Furthermore, the adjustment mechanism further includes a tension spring 9; a tension spring 9 is further provided between the upper ends of the first clamping claw 8a and the second clamping claw 8b.

[0009] Furthermore, the hydraulic rod 10 can control the length of the hydraulic rod by changing the oil pressure, thereby controlling the engagement or separation of the inner teeth 8.1 of the claw and the outer gear ring 4.1 of the rotating frame.

[0010] Furthermore, there are three swing arm lifting ears 2.1, which are evenly distributed along the circumference of the swing arm inner ring 2A, that is, spaced 120 degrees apart from each other.

[0011] Furthermore, the number of the spring dampers 5 is three.

[0012] Furthermore, when the outer ring gear 4.1 of the turret is engaged with the inner teeth 8.1 of the claw, the turret 4 is fixed to the vehicle body 3 through the first claw 8a and the second claw 8b. The input end of the torsional inertia container is the outer ring gear 2.2 of the turret arm, the planetary gear 6 is the inertia generating element, and the output end is the inner ring gear 4.2 of the turret.

[0013] The beneficial effects of the present invention are as follows: with existing technologies, tracked vehicles using a single trailing arm suspension have the problem of being unable to adjust the ground clearance and body posture of the chassis, which limits the vehicle's ability to pass under extreme road conditions; wheel-legged robots, due to the lack of a suspension system, rely solely on tire stiffness to reduce the impact of road excitation on chassis stability, and are unable to travel quickly on uneven roads. The present invention introduces elastic force, damping force, and inertial force into the single trailing arm suspension system, broadening the control range of the suspension system and calculating the inertia coefficient of the suspension system. By controlling the elastic force, damping force, and inertial force of the suspension system, the vehicle's driving stability can be improved. In addition, the present invention achieves control of the ground clearance and body posture of the single trailing arm suspension by changing the angle of the rotating arm relative to the vehicle body, improving the vehicle's ability to pass through and maintain stability in extreme road conditions such as gullies and bosses. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The present invention will be further described below with reference to the accompanying drawings and examples.

[0015] Figure 1 It is a structural stereogram of the present invention.

[0016] Figure 2 It is a front view of the structure of the present invention.

[0017] Figure 3 It is a side view of the structure of the present invention.

[0018] Figure 4 It is the structural decomposition diagram a of the present invention.

[0019] Figure 5 It is the structural decomposition diagram b of the present invention.

[0020] Figure 6 This is the structural decomposition diagram c of the present invention.

[0021] Figure 7 This is the structural decomposition diagram d of the present invention.

[0022] Figure 8 It is the structural decomposition diagram e of the present invention.

[0023] Figure 9 It is the structural decomposition diagram f of the present invention.

[0024] Figure 10 It is a three-dimensional diagram of the motor of the present invention.

[0025] Explanation of the reference numerals: 1-wheel, 2-swing arm, 2A-swing arm inner ring, 2.1-swing arm lifting ear, 2.2-swing arm outer ring gear, 2.3-swing arm inner ring gear, 3-car body, 4-turntable, 4.1-swing frame outer ring gear, 4.2-swing frame inner ring gear, 5-spring damper, 6-planetary gear, 7-planetary gear carrier, 8-claw, 8a-first claw, 8b-second claw, 8.1-claw inner tooth, 9-tension spring, 10-hydraulic rod, 11-motor, 12-reducer, 13-drive gear. DETAILED DESCRIPTION

[0026] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0027] In this document, the related terms such as first and second, top and bottom etc. can only be used to distinguish an entity or action from another entity or action, and do not need or imply any actual such relationship or order between such entity or action.Term " comprising " or its any other modification are intended to cover non-exclusive inclusion, make the process, method, article or device comprising a series of elements not only comprise those elements, but can comprise other elements that are not clearly listed or inherent for such process, method, article or device.The element obtained by " comprising ... " does not exclude the existence of other identical elements in the process, method, article or device comprising such element when not having more restrictions.

[0028] On the other hand, the terms used in this specification are intended to illustrate embodiments and are not intended to limit the present invention. In this specification, unless otherwise specified, the singular includes the plural. The terms "comprises" and / or "comprising" as used in this specification mean that the referenced constituent elements, steps, actions, and / or components do not exclude the presence or addition of one or more other constituent elements, steps, actions, and / or components. The following describes embodiments of the present invention in detail with reference to the accompanying drawings.

[0029] In the following description, terms such as “front,” “rear,” “upper,” and “lower” are used, and these terms correspond to the front and rear, and the upper and lower parts of a vehicle (car).

[0030] The core concept of this invention is that it incorporates elastic force, damping force, and inertial force into a single-arm suspension system and calculates the suspension system's mass inertia. By controlling these forces, the vehicle's driving stability can be improved. Furthermore, by varying the angle of the pivot arm relative to the vehicle body, the invention controls the single-arm suspension's chassis ground clearance and vehicle posture, improving the vehicle's ability to navigate and maintain stability over extreme road conditions, such as ravines and bumps.

[0031] like Figure 1-8 As shown, a single trailing arm suspension device of the present invention includes: a wheel 1, a rotating arm 2, a vehicle body 3, a rotating frame 4, a spring damper 5, a planetary gear mechanism, an adjusting mechanism, and an actuating mechanism.

[0032] One end of the arm 2 is connected to the wheel 1, and the wheel 1 has the freedom to rotate around the axis; the other end of the arm 2 is mounted on the vehicle body 3 through a bearing (such as Figure 8 As shown, the pivot arm 2 has the freedom to rotate relative to the vehicle body 3. The pivot arm 2 includes an inner ring 2A, which is equipped with a plurality of pivot arm lifting lugs 2.1, an outer ring gear 2.2, and an inner ring gear 2.3. In this embodiment, the number of pivot arm lifting lugs 2.1 is preferably three, evenly distributed along the circumference of the inner ring 2A, i.e., spaced 120° apart.

[0033] like Figure 8 、 9 As shown, the rotating frame 4 is mounted on the vehicle body 3 via bearings and has the freedom to rotate around the axis. The rotating frame 4 includes an outer rotating frame gear ring 4.1 and an inner rotating frame gear ring 4.2.

[0034] The two ends of the plurality of spring dampers 5 are respectively hinged to the plurality of swing arm hanging ears 2.1 on the swing arm 2 and the swing frame 4 through bolts. The number of the spring dampers 5 is preferably three.

[0035] During specific implementation, the adjustment mechanism includes a first claw 8a and a second claw 8b, a tension spring 9, and a hydraulic rod 10, which are arranged symmetrically on both sides. The lower ends of the first claw 8a and the second claw 8b are hinged to the vehicle body 3 via bolts, and the upper ends of the first claw 8a and the second claw 8b are connected via a hydraulic rod 10. The first claw 8a and the second claw 8b are both provided with claw internal teeth 8.1, and the first claw 8a and the second claw 8b are engaged with the outer gear ring 4.1 of the rotating frame 4 via the claw internal teeth 8.1. A tension spring 9 is also provided between the upper ends of the first claw 8a and the second claw 8b. To prevent failure of the suspension system, the tension spring 9 is a protective device that ensures that the claw internal teeth 8.1 are engaged with the outer gear ring 4.1 of the rotating frame after the hydraulic rod 10 fails.

[0036] During specific implementation, the hydraulic rod 10 can control the length of the hydraulic rod by changing the oil pressure, thereby controlling the engagement or separation of the inner teeth 8.1 of the claw and the outer gear ring 4.1 of the rotating frame.

[0037] In specific implementations, the rotating frame 4 is also equipped with a planetary gear mechanism, including planetary gears 6 and a planetary gear carrier 7. The planetary gears 6 mesh with the outer ring gear 2.2 of the rotating arm and the inner ring gear 4.2 of the rotating frame. The planetary gears 6 are mounted on the planetary gear carrier 7, which restricts the planetary gears 6 from any degree of freedom other than planar motion on their end faces. The planetary gear carrier 7 is mounted on the reducer 12 housing via bearings, allowing it to rotate about its axis.

[0038] In specific implementations, the actuating mechanism includes a motor 11, a reducer 12, and a drive gear 13. The motor 11 is fixed to the vehicle body 3, the input shaft of the reducer 12 is connected to the output shaft of the motor 11, and the drive gear 13 is fixed to the output shaft of the reducer 12. The drive gear 13 meshes with the inner ring gear 2 and 3 of the rotating arm 2.

[0039] During implementation, when the outer ring gear 4.1 of the rotating frame engages with the inner teeth 8.1 of the claws, the rotating frame 4 is secured to the vehicle body 3 via the first and second claws 8a, 8b. The input of the torsional inertia accumulator is the outer ring gear 2.2 of the rotating arm, the planetary gears 6 serve as the inertia generating element, and the output is the inner ring gear 4.2 of the rotating frame. The planetary gear carrier 7 serves only as a stop for the planetary gears 6 and has a much smaller moment of inertia than the planetary gears 6. Therefore, ignoring the influence of the planetary gear carrier 7's moment of inertia on the system, the following relationship can be obtained:

[0040] τ1ω1=nm2υ2υ′2+nI2ω2ω′2 (1)

[0041] Among them, τ1 is the input torque of the outer ring gear 2.2 of the swing arm, ω1 is the rotational angular velocity of the outer ring gear 2.2 of the swing arm, n is the number of planetary gears 6, m2 is the mass of planetary gear 6, I2 is the moment of inertia of planetary gear 6, υ2 is the speed of the center of mass of planetary gear 6, υ′2 is the acceleration of the center of mass of planetary gear 6, ω2 is the rotational angular velocity of planetary gear 6, and ω′2 is the rotational angular acceleration of planetary gear 6.

[0042] The speed relationship between the outer ring gear 2.2 of the rotating arm and the planetary gear 6 is as follows:

[0043] ω1r1=2ω2r2=2υ2 (2)

[0044] Among them, r1 is the pitch circle radius of the outer ring gear 2.2 of the arm, and r2 is the pitch circle radius of the planetary gear 6.

[0045] Combining formula (2) and (3) we can get:

[0046]

[0047] Wherein, ω′1 is the rotational angular acceleration of the outer gear ring 2.2 of the swing arm.

[0048] The ideal torsional inertia container model is:

[0049]

[0050] Where τ is the input torque of the torsional inertia container, b θ is the inertia coefficient of the torsional inertia container, and Δω is the angular velocity difference between the input and output ends.

[0051] Referring to the ideal torsional inertia container model of formula (4), the inertia coefficient b can be obtained: θ for:

[0052]

[0053] In the specific implementation process, Figure 5-6 As shown, hydraulic rod 10 is shortened to engage the inner teeth of the pawl 8.1 with the outer ring gear 4.1 of the swivel frame, securing the swivel frame 4 to the vehicle body 3 via the first pawl 8a and the second pawl 8b. When wheel 1 is excited by the road surface, it vibrates vertically, driving the swivel arm 2 to rotate. The swivel arm eye 2.1 on the swivel arm 2 compresses or stretches the spring damper 5, generating elastic and damping forces. The outer ring gear 2.2 on the swivel arm 2 drives the planetary gear 6 in planar motion, generating inertial forces. Thus, the elastic, damping, and inertial forces in the suspension system mitigate the effects of road excitation on vehicle stability.

[0054] In the specific implementation process, Figure 7 As shown, hydraulic rod 10 extends, causing first and second claws 8a, 8b to rotate about the axis of their lower hinge joints. The internal claw teeth 8.1 separate from the outer gear ring 4.1 of the turret, allowing turret 4 to rotate freely about its axis. The driving torque generated by motor 13 is amplified by reducer 12 and output to turret arm 2 via drive gear 13, rotating turret arm 2. This in turn drives wheel 1 relative to vehicle body 3 about its axis of rotation. Simultaneously, the spring damper 5, turret 4, planetary gears 6, and planetary gear carrier 7 rotate via turret arm lug 2.1 and outer gear ring 2.2, thereby controlling the vehicle's ground clearance and vehicle posture.

[0055] The embodiments described are preferred implementations of the present invention, but the present invention is not limited to the above implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essence of the present invention are within the scope of protection of the present invention.

Claims

1. A single trailing arm suspension device, characterized in that: include: A wheel (1), a rotating arm (2), a vehicle body (3), a rotating frame (4), a spring damper (5), a planetary gear mechanism, an adjusting mechanism, and an actuating mechanism; wherein one end of the rotating arm (2) is connected to the wheel (1), and the wheel (1) has a degree of freedom to rotate around an axis; the other end of the rotating arm (2) is mounted on the vehicle body (3) via a bearing, and the rotating arm (2) has a degree of freedom to rotate relative to the vehicle body (3); The rotating arm (2) comprises an inner ring (2A) of the rotating arm, and a plurality of rotating arm lifting ears (2.1), an outer ring gear (2.2) of the rotating arm and an inner ring gear (2.3) of the rotating arm are provided on the inner ring gear (2A); The rotating frame (4) is mounted on the vehicle body (3) via a bearing and has the freedom to rotate around an axis; wherein the rotating frame (4) comprises an outer rotating frame gear ring (4.1) and an inner rotating frame gear ring (4.2); Two ends of the plurality of spring dampers (5) are respectively hinged to the plurality of rotating arm hanging ears (2.1) on the rotating arm (2) and the rotating frame (4) through bolts; The adjusting mechanism can selectively lock the rotating frame (4); The rotating frame (4) is further provided with a planetary gear mechanism, including a planetary gear (6) and a planetary gear carrier (7). The planetary gear (6) is meshed with the outer gear ring (2.2) of the rotating arm and the inner gear ring (4.2) of the rotating frame. The planetary gear (6) is mounted on the planetary gear carrier (7). The planetary gear carrier (7) limits the freedom of the planetary gear (6) other than the plane movement on the end face. The planetary gear carrier (7) is mounted on the housing of the reducer (12) through a bearing and has the freedom to rotate around the axis. The actuating mechanism comprises a motor (11), a reducer (12) and a driving gear (13); the motor (11) is fixed on the vehicle body (3); the input shaft of the reducer (12) is connected to the output shaft of the motor (11); the driving gear (13) is fixed to the output shaft of the reducer (12); and the driving gear (13) is meshed with the inner gear ring (2.3) of the rotating arm (2); The adjusting mechanism comprises a first clamping claw (8a) and a second clamping claw (8b) and a hydraulic rod (10) which are arranged symmetrically on the left and right; wherein the lower ends of the first clamping claw (8a) and the second clamping claw (8b) are hinged to the vehicle body 3 by bolts, and the upper ends of the first clamping claw (8a) and the second clamping claw (8b) are connected by the hydraulic rod (10); the first clamping claw (8a) and the second clamping claw (8b) are both provided with clamping claw inner teeth (8.1), and the first clamping claw (8a) and the second clamping claw (8b) are mutually engaged with the outer gear ring (4.1) of the rotating frame (4) through the clamping claw inner teeth (8.1); The adjustment mechanism further includes a tension spring (9); a tension spring (9) is further provided between the upper ends of the first clamping claw (8a) and the second clamping claw (8b); The hydraulic rod (10) can control the length of the hydraulic rod by changing the oil pressure, thereby controlling the engagement or separation of the inner teeth (8.1) of the clamping claw and the outer gear ring (4.1) of the rotating frame.

2. The single trailing arm suspension device according to claim 1, characterized in that: in, The number of the arm lifting lugs (2.1) is 3 and they are evenly distributed along the circumference of the arm inner ring (2A), that is, they are spaced 120 degrees apart from each other.

3. The single trailing arm suspension device according to claim 2, characterized in that: The number of spring dampers (5) is 3.

4. The single trailing arm suspension device according to claim 1, characterized in that: When the outer gear ring (4.1) of the rotating frame and the inner gear of the claw (8.1) are engaged with each other, the rotating frame (4) is fixed to the vehicle body (3) through the first claw (8a) and the second claw (8b), the input end of the torsional inertia container is the outer gear ring (2.2) of the rotating arm, the planetary gear (6) is the inertia generating element, and the output end is the inner gear ring (4.2) of the rotating frame.

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