Wheel leg type suspension device for vehicle

Abstract

The invention discloses a wheel leg type suspension device for a vehicle, and belongs to the technical field of vehicle chassis suspension. The upper end of a vertical swing arm is hinged to a bogie, the lower end of the vertical swing arm is hinged to one end of a longitudinal swing arm, and the other end of the longitudinal swing arm is hinged to a connecting seat; the vertical swing arm can swing back and forth, and the longitudinal swing arm can swing up and down; the two ends of the connecting rod are hinged to the vertical swing arm and the connecting base respectively, so that the vertical swing arm, the connecting rod, the longitudinal swing arm and the connecting base jointly form a four-connecting-rod mechanism, and up-down movement and front-back movement of the wheels are decoupled. The two ends of the hydro-pneumatic spring are hinged to the bogie and the longitudinal swing arm correspondingly and used for driving the wheels to move up and down and reducing vibration. The two ends of the driving cylinder are hinged to the bogie and the vertical swing arm correspondingly and used for driving the wheels to move front and back. The requirements of high-speed running and high trafficability of vehicles can be met, the basic requirements of the vehicles on the suspension device are met, and the suspension device can be applied to suspension of steering axles and non-steering axles.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle chassis suspension, and particularly relates to a wheel-leg type suspension device for a vehicle. Background Art

[0002] A suspension is a connecting device between an automobile body and wheels, and its functions are to transmit and bear the forces and torques acting between the wheels and the body, buffer the impact force transmitted from an uneven road surface to the body, attenuate the vibration generated thereby, ensure the ride comfort and handling stability of the vehicle, and ensure that the wheels have ideal motion characteristics when running on the road surface.

[0003] Traditional full-wheel drive independent suspension fuel heavy vehicles generally adopt double-wishbone suspension, MacPherson suspension or single trailing arm suspension, and the wheel drive adopts a mechanical transmission method. The mechanical transmission is limited by the structural parameters of the in-wheel half shaft, and the wheel bounce stroke is limited. The traditional suspension device only allows the wheels to move up and down and turn around the kingpin to achieve shock absorption and steering. When the vehicle is driving off-road and passing through obstacles, it can only be driven by the wheels, and the passing ability is limited by the friction between the tires and the ground. Summary of the Invention

[0004] In view of this, the present invention provides a wheel-leg type suspension device for a vehicle, which has high passability and good handling stability and ride comfort during high-speed driving.

[0005] The present invention adopts the following technical solutions:

[0006] A wheel-leg type suspension device for a vehicle, comprising an oil-gas spring, a vertical swing arm, a connecting rod, a drive cylinder, a longitudinal swing arm, and a connecting seat;

[0007] The upper end of the vertical swing arm is hinged to the bogie, the lower end of the vertical swing arm is hinged to one end of the longitudinal swing arm, and the other end of the longitudinal swing arm is hinged to the connecting seat; the vertical swing arm can swing back and forth, and the longitudinal swing arm can swing up and down;

[0008] Both ends of the connecting rod are respectively hinged to the vertical swing arm and the connecting seat, so that the vertical swing arm, the connecting rod, the longitudinal swing arm, and the connecting seat together form a four-bar linkage mechanism to decouple the up-and-down movement and the front-and-back movement of the wheels;

[0009] Both ends of the oil-gas spring are respectively hinged to the bogie and the longitudinal swing arm, and are used to drive the up-and-down movement of the wheels and damp vibration;

[0010] Both ends of the drive cylinder are respectively hinged to the bogie and the vertical swing arm, and are used to drive the front-and-back movement of the wheels;

[0011] The in-wheel motor can be fixed on the connecting seat.

[0012] Furthermore, a high-pressure gas chamber and a damping device are provided inside the oil-gas spring, and when the high-pressure gas chamber is closed, the up-and-down swing of the longitudinal swing arm can be driven by charging and discharging oil.

[0013] Furthermore, the drive cylinder is a hydraulic cylinder or an electric cylinder, and the front-and-back swing angle of the vertical swing arm is changed by charging and discharging oil or electric drive.

[0014] Furthermore, the bogie is hinged to the vehicle body through a pin shaft, and when the bogie rotates around the pin shaft, the wheels are driven to turn.

[0015] Furthermore, a limit block is also provided on the bogie;

[0016] The limit block is used to limit the position by contacting the limit block when the oil-gas spring is compressed to the limit position, so as to prevent damage caused by exceeding the compression stroke.

[0017] Furthermore, the suspension device is applicable to heavy vehicles driven by electric wheels and can be configured on a steering axle or a non-steering axle.

[0018] Beneficial effects:

[0019] 1. The wheel-leg type suspension device can drive the wheels to move up and down and back and forth, has a similar function to a wheel-leg type robot, has good obstacle passing ability, can achieve passive vibration reduction and reasonable wheel alignment parameters at the same time, has good ride comfort and handling stability, can meet the requirements of high-speed driving and high passability of the vehicle, meet the basic requirements of the vehicle for the suspension device, and can be applied to the suspension of the steering axle and the non-steering axle.

[0020] 2. Through the linkage design of the vertical swing arm and the longitudinal swing arm to simulate the walking posture of quadruped animals, combined with the active control of the front and rear positions of the wheels by the drive cylinder, the vehicle is equipped with the ability to lift its legs and cross obstacles, breaking through the obstacle crossing limit of traditional suspensions that rely solely on tire friction, and is especially suitable for the off-road conditions of heavy engineering vehicles.

[0021] 3. The design of the bogie hinged to the vehicle body through a double pin shaft, on the basis of realizing the traditional steering function, allows the whole suspension to rotate around the axis, and forms a composite motion degree of freedom in cooperation with the in-wheel motor drive, taking into account the high-speed driving stability and the adaptability to complex terrains. Moreover, connecting with a double pin shaft can share the force transmitted by the bogie and avoid excessive force on a single pin shaft.

[0022] 4. Through modular design, actuation units such as drive cylinders and oil-gas springs are integrated into the bogie structure. The overall structure has strong rigidity and a compact space layout, is especially suitable for the installation of the steering axle / non-steering axle of heavy vehicles driven by electric wheels, and has excellent engineering scalability.

[0023] 5. The oil-gas spring is adopted to simultaneously undertake the functions of a shock absorber and active driving in the up and down directions. The dynamic adjustment of the oil pressure is realized by enclosing a high-pressure air chamber, which simplifies the suspension structure while realizing the coordinated control of passive shock absorption and active lifting, and greatly reduces the system complexity.

[0024] 6. Through the design of a four-bar linkage mechanism, the vertical movement and longitudinal movement of the wheel are effectively decoupled, enabling the oil-gas spring and the drive cylinder to independently control the up and down shock absorption and the front and rear position adjustment of the wheel. While ensuring the ride comfort of the vehicle at high speeds, the motion control accuracy under complex road conditions is significantly improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 An isometric view of the wheel-leg type suspension device provided by the present invention;

[0026] Figure 2 A side view of the wheel-leg type suspension device provided by the present invention;

[0027] Wherein: 1 - bogie; 2 - oil-gas spring; 3 - vertical swing arm; 4 - connecting rod; 5 - drive cylinder; 6 - longitudinal swing arm; 7 - hub motor; 8 - connecting seat; 9 - limit block; 10 - pin shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0028] The present invention will be described in detail below with reference to the accompanying drawings and by way of examples.

[0029] Based on the technical status of automotive suspensions in the background art, the applicant noticed that in the field of robotics, the moving methods of robots are mostly wheeled robots and legged robots. Wheeled robots move fast and consume less energy, but have poor passability on complex terrains. Legged robots have good passability, but low moving speeds. Wheeled-legged robots combine the fast moving characteristics of wheeled robots and the high passability of legged robots. Wheeled-legged robots are generally small in size and light in weight and cannot be used as means of transportation for carrying people and goods. The applicant came up with the idea of combining the structure of wheeled-legged robots with the structure of automotive suspensions to solve the technical problems mentioned in the background art.

[0030] Refer to Figure 1 And Figure 2 , this embodiment provides a wheel-leg type suspension device for a vehicle, including an oil-gas spring 2, a vertical swing arm 3, a connecting rod 4, a drive cylinder 5, a longitudinal swing arm 6, and a connecting seat 8, wherein:

[0031] The upper end of the vertical swing arm 3 is hinged to the bogie 1, the lower end of the vertical swing arm 3 is hinged to one end of the longitudinal swing arm 6, and the other end of the longitudinal swing arm 6 is hinged to the connecting seat 8; the vertical swing arm 3 can swing back and forth, and the longitudinal swing arm 6 can swing up and down (the Z-axis direction is the up and down direction); both ends of the connecting rod 4 are respectively hinged to the vertical swing arm 3 and the connecting seat 8, so that the vertical swing arm 3, the connecting rod 4, the longitudinal swing arm 6, and the connecting seat 8 together form a four-bar linkage mechanism to decouple the up and down movement and the back and forth movement of the wheel (the X-axis direction is the back and forth direction); both ends of the oil-gas spring 2 are respectively hinged to the bogie 1 and the longitudinal swing arm 6, which is used to drive the up and down movement of the wheel and damp vibration; both ends of the drive cylinder 5 are respectively hinged to the bogie 1 and the vertical swing arm 3, which is used to drive the back and forth movement of the wheel; the in-wheel motor 7 can be fixed on the connecting seat 8.

[0032] In this way, the wheel-leg type suspension device can drive the wheel to move up and down and back and forth, has similar functions to a wheel-leg type robot, has good obstacle passing ability, can realize passive vibration damping and reasonable wheel positioning parameters at the same time, has good ride comfort and handling stability, can meet the requirements of high-speed vehicle driving and high passing ability, meet the basic requirements of the vehicle for the suspension device, and can be applied to the suspension of the steering axle and the non-steering axle.

[0033] Specifically, the oil-gas spring 2 is internally provided with a high-pressure gas chamber and a damping device, which has both the functions of a spring and a shock absorber, and can drive the up and down swing of the longitudinal swing arm 6 by charging and discharging oil when the high-pressure gas chamber is closed. When the high-pressure gas chamber is closed, the oil-gas spring 2 has the function of a hydraulic cylinder and drives the wheel to move up and down by charging and discharging oil. The drive cylinder 5 can be a hydraulic cylinder or an electric cylinder, and changes the front and back swing angle of the vertical swing arm 3 by charging and discharging oil or electric drive. Moreover, the bogie 1 is hinged to the vehicle body through two pin shafts 10. When the bogie 1 rotates around the pin shafts 10, it drives the wheel to turn. The design of the double-pin shaft hinge between the bogie 1 and the vehicle body allows the whole suspension to rotate around the axis of the pin shafts 10 on the basis of realizing the traditional steering function, cooperates with the in-wheel motor drive to form a composite motion degree of freedom, takes into account the high-speed driving stability and the adaptability to complex terrains. Moreover, connecting with double pin shafts can share the force transmitted by the bogie and avoid excessive force on a single pin shaft. More specifically, the central axis of the pin shaft 10 inclines inward (the positive half-axis direction of the Y-axis) and backward (the negative half-axis direction of the X-axis), forming a kingpin inclination and a caster angle, which can generate a steering return characteristic and make the vehicle have good handling stability. In addition, it also includes a limit block arranged on the bogie 1. The limit block 9 is used to limit the position when the oil-gas spring 2 is compressed to the limit position through the contact of the limit block 9 to prevent damage caused by exceeding the compression stroke.

[0034] The suspension device provided by this embodiment is applicable to heavy vehicles driven by in-wheel motors and can be configured on the steering axle or the non-steering axle.

[0035] In summary, the above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A wheel-leg type suspension device for a vehicle, characterized in that, It includes an oil-gas spring (2), a vertical swing arm (3), a connecting rod (4), a drive cylinder (5), a longitudinal swing arm (6), and a connecting seat (8); The upper end of the vertical swing arm (3) is hinged to the bogie (1), the lower end of the vertical swing arm (3) is hinged to one end of the longitudinal swing arm (6), and the other end of the longitudinal swing arm (6) is hinged to the connecting seat (8); the vertical swing arm (3) can swing back and forth, and the longitudinal swing arm (6) can swing up and down; Both ends of the connecting rod (4) are respectively hinged to the vertical swing arm (3) and the connecting seat (8), so that the vertical swing arm (3), the connecting rod (4), the longitudinal swing arm (6), and the connecting seat (8) together form a four-bar linkage mechanism to decouple the up-and-down movement and the front-and-back movement of the wheel; Both ends of the oil-gas spring (2) are respectively hinged to the bogie (1) and the longitudinal swing arm (6), and are used to drive the up-and-down movement of the wheel and damp vibration; Both ends of the drive cylinder (5) are respectively hinged to the bogie (1) and the vertical swing arm (3), and are used to drive the front-and-back movement of the wheel; The in-wheel motor (7) can be fixed on the connecting seat (8).

2. The wheel-leg type suspension device for a vehicle according to claim 1, wherein The oil-gas spring (2) is internally provided with a high-pressure gas chamber and a damping device, and can drive the up-and-down swing of the longitudinal swing arm (6) through oil filling and discharging when the high-pressure gas chamber is closed.

3. A wheel-leg type suspension device for a vehicle according to claim 1, characterized in that, The drive cylinder (5) is a hydraulic cylinder or an electric cylinder, and changes the front-and-back swing angle of the vertical swing arm (3) by oil filling and discharging or electric drive.

4. A wheel-leg type suspension device for a vehicle according to claim 1, characterized in that, The bogie (1) is hinged to the vehicle body through a pin shaft (10), and the bogie (1) drives the wheel to turn when rotating around the pin shaft (10).

5. A wheel-leg type suspension device for a vehicle according to any one of claims 1-4, characterized in that, It also includes a limiting block arranged on the bogie (1); The limiting block (9) is used for limiting when the oil-gas spring (2) is compressed to the limit position through the contact of the limiting block, so as to prevent damage caused by exceeding the compression stroke.

6. A wheel-leg type suspension device for a vehicle according to any one of claims 1-4, characterized in that, The suspension device is applicable to heavy vehicles driven by in-wheel motors and can be configured on a steering axle or a non-steering axle.

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