A suspension device for improving the obstacle-crossing capability of a bridge-type crawler walking system

Abstract

The present application discloses a suspension device for improving the obstacle-crossing ability of a bridge-type crawler walking system, which is symmetrically installed on both sides of a vehicle body, and includes an elastic shock absorber, a B road wheel, a C road wheel and a rear bridge frame, wherein the rotation axes of the B road wheel and the C road wheel are respectively connected to the rear bridge frame, wherein the B road wheel is closer to the forward direction of the vehicle body than the C road wheel, wherein the rear bridge frame is hinged to the rear of the vehicle body, wherein the first end E of the elastic shock absorber is hinged to the vehicle body, and the second end F of the elastic shock absorber is hinged to the rear bridge frame; wherein a limiting device is installed on the elastic shock absorber, and when the vehicle body is performing vertical obstacle-crossing walking, the displacement of the axis center of the rotation axis of the B road wheel in the vertical direction is higher than the displacement of the axis center of the rotation axis of the C road wheel in the vertical direction. The present invention not only meets the functional requirements of daily support and buffering and shock absorption, but also improves the obstacle-crossing performance of the vehicle.

Description

Technical Field

[0001] The present application relates to the field of crawler walking equipment, and more specifically to a suspension device for improving the obstacle-crossing capability of a bridge-type crawler walking system. Background Art

[0002] In the crawler travel system of existing vehicles, when the bridge-frame wheel body is used as the road wheel of the suspension device, the bridge frame rotation center axis is installed on the shock-absorbing rocker arm and swings freely like a seesaw. The swing of the bridge frame and the wheel body is not constrained, resulting in that when the vehicle climbs over a vertical obstacle, after the front of the vehicle is raised, the rear bridge frame wheel body becomes the fulcrum for the pitch of the entire vehicle. The rear bridge frame reduces the height of the vehicle body because both wheels are on the ground, and the rear shock-absorbing rocker arm connected to it also shrinks due to the greater weight of the vehicle body, further increasing the elevation angle of the entire vehicle climbing, weakening the vehicle's obstacle-crossing ability. Summary of the invention

[0003] In order to solve the above technical problems, the present application provides a suspension device for improving the obstacle crossing ability of a bridge-type crawler walking system, which not only meets the functional needs of supporting the weight of the vehicle body and buffering and shock absorbing during daily driving, but also limits the free swing of the rear axle wheel body when the vehicle crosses obstacles vertically, thereby improving the vehicle's obstacle crossing performance.

[0004] The technical solutions provided by this application are as follows:

[0005] A suspension device for improving the obstacle-crossing capability of a bridge-type crawler walking system, symmetrically installed on both sides of a vehicle body, comprising an elastic shock absorber, a B-loaded road wheel, a C-loaded road wheel and a rear axle frame, wherein the rotation axes of the B-loaded road wheel and the C-loaded road wheel are respectively connected to the rear axle frame, the B-loaded road wheel is closer to the forward direction of the vehicle body than the C-loaded road wheel, the rear axle frame is hinged to the rear of the vehicle body, the first end E of the elastic shock absorber is hinged to the vehicle body, and the second end F of the elastic shock absorber is hinged to the rear axle frame;

[0006] A limiting device is installed on the elastic shock absorber. When the vehicle body is walking in a vertical obstacle-crossing operation, the vertical displacement of the axis center of the rotation axis of the B road wheel is higher than the vertical displacement of the axis center of the rotation axis of the C road wheel.

[0007] The rear axle frame is hinged to the vehicle body through a hinge G; the first end E of the elastic shock absorber is closer to the forward direction of the vehicle body than the hinge G;

[0008] The distance m between the axis of the rotation axis of the B road wheel and the projection of the second end F of the elastic shock absorber on the vertical plane passing through the forward direction of the vehicle body is smaller than the distance n between the axis of the rotation axis of the C road wheel and the projection of the second end F of the elastic shock absorber on the vertical plane passing through the forward direction of the vehicle body.

[0009] Wherein, the rear axle frame is hinged to the vehicle body through a hinge G;

[0010] The position where the second end F of the elastic shock absorber is hinged to the rear axle frame is located between the axis of the B road wheel 9 and the hinge G.

[0011] Among them, the elastic shock absorber includes a shock absorber shaft cylinder, a spring and a limiting cylinder, the shock absorber shaft cylinder includes a first shaft cylinder and a second shaft cylinder, the first shaft cylinder and the second shaft cylinder are respectively connected to the two ends of the spring, the spring is sleeved on the outside of the limiting cylinder, the bottom of the limiting cylinder is installed on the first shaft cylinder, and the movable end of the piston rod of the limiting cylinder is installed on the second shaft cylinder.

[0012] Among them, the rear axle is provided with a front support bridge and a rear support frame, the front support bridge forms an angle with the rear support frame, the hinge G is installed at the intersection of the front support bridge and the rear support frame, the axis of the rotation axis of the B road wheel is installed at the front end of the front support bridge, and the axis of the rotation axis of the C road wheel is installed at the rear end of the rear support bridge.

[0013] Wherein, the maximum displacement of the limit oil cylinder and the spring is L;

[0014] When the C road wheel rotates rearward and upward around the hinge G, when the distance between the first end E and the second end F of the elastic shock absorber moves from the minimum to the maximum, the swing angle of the rear axle frame, the B road wheel and the C road wheel around the hinge G is A, and the swing height of the bottom rim of the B road wheel decreases by H; when the second end F of the elastic shock absorber reaches the limit position, the horizontal line K tangent to the bottom of the rim of the C road wheel is located between the horizontal lines tangent to the bottom rim of the B road wheel before and after the swing.

[0015] Among them, the wheel radius of the C road wheel is greater than the wheel radius of the B road wheel.

[0016] The suspension device for improving the obstacle-crossing capability of the bridge-type crawler walking system further comprises a front shock-absorbing rocker arm, a front shock absorber, a front bridge frame, two A-load-bearing wheels, crawlers, driving wheels, and traction wheels;

[0017] The first end D of the front shock absorber is hinged to the front part of the vehicle body;

[0018] The rotation axes of the two A-loaded road wheels are respectively installed at the two ends of the front axle frame;

[0019] The first end A of the front shock absorbing rocker arm is hinged to the front part of the vehicle body, the second end A of the front shock absorbing rocker arm is hinged to the middle part of the front axle frame, and the middle part of the front shock absorbing rocker arm is hinged to the second end B of the front shock absorber;

[0020] The crawler track is sequentially sleeved on the driving wheel, the traction wheel, the C road wheel, the B road wheel, and the two A road wheels;

[0021] When the vehicle body is moving on flat ground, the C road wheel, the B road wheel and the two A road wheels press the crawler tracks and move on a horizontal plane.

[0022] Wherein, the spring is a pressure spring.

[0023] Wherein, the number of the towing wheels is more than two.

[0024] The suspension device for improving the obstacle-crossing capability of the bridge-type crawler walking system provided by the present invention is connected to the rear axle frame by arranging an elastic shock absorber with a limiting device and close to the front side of the rear axle frame. It can meet the needs of daily shock absorption and effectively control the swing amplitude of the rear axle frame, so that the optimal obstacle-crossing state is controlled, solving the problem of lowering the vehicle body height.

[0025] The rotation center axis of the rear axle frame of the present invention is directly connected to the vehicle body, which solves the problem that the shock-absorbing rocker arm shrinks when climbing over a vertical obstacle, causing the elevation angle of the whole vehicle to increase. At the same time, it solves the problem that after the front of the vehicle is raised, the rear axle frame lowers the center of gravity of the vehicle body because the two wheels touch the ground. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a structural schematic diagram of the suspension device of the present invention;

[0028] Figure 2 It is a state diagram of the prior art suspension device when crossing an obstacle;

[0029] Figure 3 It is a state diagram of the suspension device of the present invention when crossing an obstacle;

[0030] Figure 4 is a cross-sectional view of an elastic shock absorber;

[0031] Figure 5 A schematic diagram of the motion range of each component in the horizontal state suspension device of the present invention;

[0032] Figure 6 It is a schematic diagram of the motion range of each component in the obstacle-crossing suspension device of the present invention;

[0033] Track 1, driving wheel 2, front shock-absorbing rocker arm 3, front shock absorber 4, front axle frame 5, A road wheel 6, towing wheel 7, elastic shock absorber 8, B road wheel 9, C road wheel 11, rear axle frame 10, vehicle body 12, hinge G10-1, first end D4-1, first end A2-1, second end A2-3, second end B2-2, first end E8-1, second end F8-2, shock absorber shaft 8-3, spring 8-4, limit cylinder 8-5. DETAILED DESCRIPTION

[0034] In order to enable those skilled in the art to better understand the technical solutions in this application, the technical solutions in the embodiments of this application will be clearly and completely described below. Obviously, the described embodiments are only part of the embodiments of this application, not all of them. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0035] It should be noted that when an element is referred to as being "fixed on" or "set on" another element, it can be directly on the other element or indirectly set on the other element; when an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0036] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0037] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, "multiple" and "several" mean two or more, unless otherwise clearly and specifically defined.

[0038] It should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the conditions under which this application can be implemented. Therefore, they have no substantive technical significance. Any structural modification, change in proportional relationship or adjustment of size should still fall within the scope of the technical content disclosed in this application without affecting the effects and purposes that can be achieved by this application.

[0039] The embodiments of the present invention are written in a progressive manner.

[0040] Combination Figure 1 , Figure 3 , Figure 4 , Figure 5 and Figure 6 The present invention provides a suspension device for improving the obstacle-crossing capability of a bridge-type crawler walking system, which is symmetrically installed on both sides of a vehicle body 12, and is characterized in that: it comprises an elastic shock absorber 8, a B road wheel 9, a C road wheel 11 and a rear bridge frame 10, the rotation axes of the B road wheel 9 and the C road wheel 11 are respectively connected to the rear bridge frame 10, the B road wheel 9 is closer to the forward direction of the vehicle body 12 than the C road wheel 11, the rear bridge frame 10 is hinged to the rear part of the vehicle body 12, the first end E8-1 of the elastic shock absorber 8 is hinged to the vehicle body 12, and the second end F8-2 of the elastic shock absorber 8 is hinged to the rear bridge frame 10;

[0041] A limiting device is installed on the elastic shock absorber 8. When the vehicle body 12 is walking in a vertical obstacle-crossing operation, the vertical displacement of the axis of rotation of the B road wheel 9 is higher than the vertical displacement of the axis of rotation of the C road wheel 11.

[0042] like Figure 5 As shown, when the vehicle body 12 is moving on flat ground, the bottoms of the B road wheel 9 and the C road wheel 11 are simultaneously tangent to the horizontal plane of the ground;

[0043] When the vehicle body 12 is performing vertical obstacle crossing, the front end of the vehicle body 12 is lifted up, the rear axle frame 10 is lifted up, and the elastic shock absorber 8 is also lifted up with the vehicle body. Since a limiting device is installed on the elastic shock absorber 8, the rotation angle of the elastic shock absorber 8 and the rear axle frame 10 is limited to a certain extent. When the vertical displacement of the axis of the rotation axis of the B road wheel 9 is higher than the vertical displacement of the axis of the rotation axis of the C road wheel 11, the center of gravity of the vehicle body 12 moves upward. Figure 2 In the case where the elastic shock absorber 8 is not provided with a limiting device, the B road wheel 9 and the C road wheel 11 are both on the horizontal ground. Figure 1 The center of gravity of the vehicle body 12 is Figure 2The situation is higher, which is conducive to the vehicle body 12 to walk over obstacles.

[0044] from Figure 2 and Figure 6 As shown, the height difference between the hinge G10-1 of the rear axle frame 10 and the vehicle body 12 in the two states is h, and the elevation angles of the front of the vehicle are a and b respectively. Figure 3 The vehicle body elevation angle b is less than Figure 2 The vehicle body elevation angle a. Since the smaller the elevation angle of the vehicle, the better the climbing ability, so Figure 1 The suspension device of the present invention has better ability of climbing hills and overcoming obstacles.

[0045] Furthermore, the rear axle frame 10 is hinged to the vehicle body 12 through a hinge G10-1; the first end E8-1 of the elastic shock absorber 8 is closer to the forward direction of the vehicle body 12 than the hinge G10-1; the distance m between the axis of the rotation axis of the B road wheel 9 and the projection of the second end F8-2 of the elastic shock absorber 8 on a vertical plane passing through the forward direction of the vehicle body is smaller than the distance n between the axis of the rotation axis of the C road wheel 11 and the projection of the second end F8-2 of the elastic shock absorber 8 on a vertical plane passing through the forward direction of the vehicle body.

[0046] m is smaller than n. When the elastic shock absorber 8 and the rear axle frame 10 are lifted upward along with the vehicle body, the lifting height of the elastic shock absorber 8 is greater than the lifting height of the rear axle frame 10. The B road wheel 9 is pulled off the ground, and the center of gravity of the vehicle body 12 is raised.

[0047] Furthermore, the rear axle frame 10 is hinged to the vehicle body 12 via a hinge G10-1; the position where the second end F8-2 of the elastic shock absorber 8 is hinged to the rear axle frame 10 is located between the axis of the B road wheel 9 and the hinge G10-1, which is more conducive to the second end F8-2 of the elastic shock absorber 8 pulling the B road wheel 9 off the ground when the front part of the vehicle body 12 is overcoming obstacles.

[0048] Furthermore, the rear axle frame 10 is provided with a front support bridge and a rear support frame, the front support bridge forms an angle with the rear support frame, the hinge G10-1 is installed at the intersection of the front support bridge and the rear support frame, the axis of the rotation axis of the B road wheel 9 is installed at the front end of the front support bridge, and the axis of the rotation axis of the C road wheel 11 is installed at the rear end of the rear support bridge, so that the second end F8-2 of the elastic shock absorber 8 can pull the B road wheel 9 off the ground.

[0049] Furthermore, if Figure 4As shown, the elastic shock absorber 8 includes a shock absorber shaft cylinder 8-3, a spring 8-4 and a piston rod 8-5. The shock absorber shaft cylinder 8-3 includes a shaft cylinder and a flange arranged outside the shaft cylinder, and the piston rod 8-5 includes a piston, a push rod and a flange arranged outside the push rod; the flange of the shock absorber shaft cylinder 8-3 and the flange of the piston rod 8-5 are respectively connected to the two ends of the spring 8-4, the spring 8-4 is sleeved on the outside of the shaft cylinder of the shock absorber shaft cylinder 8-3, and the piston of the piston rod 8-5 is installed inside the shaft cylinder of the shock absorber shaft cylinder 8-3, and is connected to the flange arranged outside the push rod through the shaft cylinder of the shock absorber shaft cylinder 8-3 through the push rod.

[0050] The spring 8-4 can extend or shorten the length of the elastic shock absorber 8, and can adjust the distance between the first end E8-1 and the second end E8-2 of the elastic shock absorber 8, such as Figure 4 As shown, the A-1 state is the state of the minimum length of the elastic shock absorber 8, and the A-2 state is the state of the maximum length of the elastic shock absorber 8.

[0051] When the ground is uneven or downhill, the bottom rim of the B road wheel 9 is lower than the bottom rim of the C road wheel 11. At this time, the elastic shock absorber 8 is stretched to compensate for the uneven ground and achieve the purpose of shock absorption.

[0052] Furthermore, in order to make the elastic shock absorber 8 achieve the purpose of shock absorption while improving the obstacle crossing ability of the vehicle body, the elastic shock absorber 8 can be limited in the following manner;

[0053] The maximum displacement of the limit cylinder 8-5 and the spring 8-4 is L; Figure 5 As shown, when the B road wheel 9 is on a horizontal plane and the C road wheel 11 rotates rearward and upward around the hinge G10-1, when the distance between the first end E8-1 and the second end F8-2 of the elastic shock absorber 8 moves from the minimum to the maximum, the swing angle of the rear axle frame 10, the B road wheel 9 and the C road wheel 11 around the hinge G10-1 is A, the swing height of the bottom rim of the B road wheel 9 drops by H, and the bottom rim of the C road wheel 11 moves upward; when the second end F8-2 of the elastic shock absorber 8 reaches the extreme position, the horizontal line K tangent to the bottom of the rim of the C road wheel 11 is located between the horizontal lines tangent to the bottom rim of the B road wheel 9 before and after the swing.

[0054] When crossing an obstacle, the stroke S of the piston rod 8-5 under the elastic force of the spring 8-4 can reach a maximum value L, and has a limit function at the maximum stroke;

[0055] Since the rear end bearing support point of the vehicle body 12 is supported by the hinge G10-1 of the rear axle frame 10, when performing vertical obstacle crossing, the front end of the vehicle body 12 encounters an obstacle and begins to tilt up. The vehicle body 12 will rotate and tilt relative to the ground with the hinge G10-1 as a fulcrum, but the rear axle frame 10 and the B load-bearing wheels 9 and C load-bearing wheels 11 hinged thereto have to share the weight of the vehicle body 12, so they will not rotate and tilt together with the vehicle body 12. The distance between the first end E8-1 and the second end F8-2 of the elastic shock absorber 8 will be lengthened due to the rotation and tilting of the vehicle body 12 and the unchanged state of the rear axle frame 10, and the increased length is The extension of the piston rod 8-5 of the elastic shock absorber 8 is compensated. When the height of the obstacle at the front end of the vehicle body 12 causes the vehicle body 12 to tilt upward continuously, when the extension compensation of the piston rod 8-5 of the elastic shock absorber 8 reaches the elastic shock absorber stroke limit value L, the piston in the elastic shock absorber 8 is blocked by the inner arm of the shock absorber shaft cylinder 8-3 and no longer extends, thereby realizing the limiting function. The piston rod 8-5 drives the rear axle frame 10 and the front end B road wheel 9 to rotate and tilt together with the vehicle body 12 through the front end F hinge point 8-2, so that the B road wheel 9 is suspended off the ground, leaving only the C road wheel 11 in contact with the ground and bearing the weight of the vehicle body 12.

[0056] When crossing an obstacle, the rear axle frame 10 uses the limit function of the travel limit of the elastic shock absorber 8 to make the rear axle frame 10 no longer rotate and swing around the hinge G10-1 relative to the vehicle body 12, but the B load-bearing wheel 9 at the front end of the rear axle frame 10 is lifted up and suspended in the air together with the vehicle body 12; therefore, the support point for supporting the rotation and lifting of the vehicle body 12 is changed from the hinge G10-1 of the rear axle frame 10 to the axis of the rotation axis of the C load-bearing wheel 11, that is, Figure 6 As shown in the figure, when climbing over an obstacle of the same height Q, although the distance D between the hinge G10-1 of the vehicle body 12 and the obstacle remains unchanged, the support point of the vehicle body 12 rotates and moves back to the axis of the rotation axis of the C road wheel 11, and the height H of the hinge G10-1 of the vehicle body 12 from the ground is greater than Figure 2 The height h of the hinged part of the vehicle body without the elastic shock absorber limit function in the prior art is shown, so the angle b ( Figure 3 As shown in the figure, the angle a of the suspension device with the rear axle frame and the elastic shock absorber limiting function is smaller than the same angle a of the vehicle body without the elastic shock absorber limiting function. Under the same power, the slope climbed by the suspension device with the rear axle frame and the elastic shock absorber limiting function will be smaller, and it will be more conducive to providing the vehicle with climbing ability.

[0057] Since the distance between the hinge point of the first end E8-1 of the elastic shock absorber 8 on the vehicle body and the hinge point of the hinge G10-1 on the vehicle body is fixed, when the elastic shock absorber 8 is extended, the swing height of the bottom rim of the B road wheel 9 will drop by H, and the bottom rim of the C road wheel 11 will move upward.

[0058] Control the extension length of the elastic shock absorber 8. If L is too long, when the front end of the vehicle body passes over an obstacle, the center of gravity of the rear end of the vehicle body 12 will not be raised, or will not be raised enough. The technical solution described in the present invention further limits the length of the maximum stroke L of the elastic shock absorber 8.

[0059] That is, when the hinge point of the first end E8-1 of the elastic shock absorber 8 on the vehicle body is fixed in position with the hinge point of the hinge G10-1 on the vehicle body, the spring 8-4 of the elastic shock absorber 8 is extended, and the swing height of the bottom rim of the B road wheel 9 is reduced by H, and the bottom rim of the C road wheel 11 will move upward. When the height of the horizontal line K tangent to the bottom of the rim of the C road wheel 11 exceeds the horizontal height of the bottom rim of the B road wheel 9 before the spring 8-4 of the elastic shock absorber 8 is extended, the maximum stroke L of the elastic shock absorber 8 is too long. Although it can meet the functional requirements of buffering and shock absorption during driving, it cannot effectively limit the free swing amplitude of the rear axle frame when overcoming obstacles and climbing slopes.

[0060] Therefore, the present invention has been shown through research that when the second end E8-2 of the elastic shock absorber 8 is in the extreme position, the height of the horizontal line K line tangent to the bottom of the rim of the C road wheel 11 does not exceed the horizontal height of the bottom rim of the B road wheel 9 before the spring 8-4 of the elastic shock absorber 8 is extended, that is, when the horizontal line K line tangent to the bottom of the rim of the C road wheel 11 is located between the horizontal heights of the bottom rim of the B road wheel 9 before and after the elastic shock absorber 8 is extended, it is the preferred state for the vehicle to vertically overcome obstacles, which can meet the functional needs of daily supporting the weight of the vehicle body 12 and buffering and shock absorbing during driving, and limits the free swing amplitude of the rear axle frame 10 when the vehicle vertically overcomes obstacles.

[0061] Furthermore, the wheel radius of the C road wheel 11 is greater than the wheel radius of the B road wheel 9 .

[0062] Furthermore, the bridge frame suspension system for improving obstacle crossing capability of the present invention further includes a front shock absorbing rocker arm 3, a front shock absorber 4, a front bridge frame 5, two A-load wheels 6, a crawler track 1, a driving wheel 2, and a traction wheel 7;

[0063] The first end D4-1 of the front shock absorber 4 is hinged to the front part of the vehicle body;

[0064] The rotation axes of the two A-loaded road wheels 6 are respectively installed at the two ends of the front axle frame 5;

[0065] The first end A2-1 of the front shock absorbing rocker arm 3 is hinged to the front part of the vehicle body, the second end A2-3 of the front shock absorbing rocker arm 3 is hinged to the middle part of the front axle frame 5, and the middle part of the front shock absorbing rocker arm 3 is hinged to the second end B2-2 of the front shock absorber 4;

[0066] The crawler 1 is sequentially sleeved on the driving wheel 2, the traction wheel 7, the C road wheel 11, the B road wheel 9, and the two A road wheels 6;

[0067] When the vehicle body 12 is moving on flat ground, the C road wheel 11, the B road wheel 9, and the two A road wheels 6 press the crawler track 1 to move on a horizontal plane.

[0068] Furthermore, the spring 8 - 4 is preferably a pressure spring.

[0069] Furthermore, the number of the towing wheels 7 is more than two, and the number of the towing wheels 7 can be increased or decreased according to actual needs.

[0070] The above description of the disclosed embodiments enables one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A suspension device for improving the obstacle-crossing capability of a bridge-type crawler walking system, symmetrically mounted on both sides of a vehicle body (12), characterized in that: The vehicle comprises an elastic shock absorber (8), a B road wheel (9), a C road wheel (11) and a rear axle frame (10), wherein the rotation axes of the B road wheel (9) and the C road wheel (11) are respectively connected to the rear axle frame (10), the B road wheel (9) is closer to the forward direction of the vehicle body (12) than the C road wheel (11), the rear axle frame (10) is hinged to the rear part of the vehicle body (12), the first end E (8-1) of the elastic shock absorber (8) is hinged to the vehicle body (12), and the second end F (8-2) of the elastic shock absorber (8) is hinged to the rear axle frame (10); A limiting device is installed on the elastic shock absorber (8), so that when the vehicle body (12) is walking in a vertical obstacle-crossing operation, the vertical displacement of the axis center of the rotation axis of the B road wheel (9) is greater than the vertical displacement of the axis center of the rotation axis of the C road wheel (11); The elastic shock absorber (8) comprises a shock absorber shaft cylinder (8-3), a spring (8-4) and a piston rod (8-5); the shock absorber shaft cylinder (8-3) comprises a shaft cylinder and a flange arranged outside the shaft cylinder; the piston rod (8-5) comprises a piston, a push rod and a flange arranged outside the push rod; the flange of the shock absorber shaft cylinder (8-3) and the flange of the piston rod (8-5) are respectively connected to two ends of the spring (8-4); the spring (8-4) is sleeved on the outside of the shaft cylinder of the shock absorber shaft cylinder (8-3); the piston of the piston rod (8-5) is installed inside the shaft cylinder of the shock absorber shaft cylinder (8-3) and is connected to the flange arranged outside the push rod through the shaft cylinder of the shock absorber shaft cylinder (8-3); The maximum displacement of the piston rod (8-5) and the spring (8-4) is L; the spring (8-4) is a pressure spring; When the C road wheel (11) rotates rearward and upward around the hinge G (10-1), when the distance between the first end E (8-1) and the second end F (8-2) of the elastic shock absorber (8) moves from the minimum to the maximum, the swing angle of the rear axle frame (10), the B road wheel (9) and the C road wheel (11) around the hinge G (10-1) is A, and the swing height of the bottom wheel rim of the B road wheel (9) decreases by H; when the second end F (8-2) of the elastic shock absorber (8) reaches the limit position, the horizontal line K tangent to the bottom of the wheel rim of the C road wheel (11) is located between the horizontal lines tangent to the bottom wheel rim of the B road wheel (9) before and after the swing.

2. The suspension device for improving the obstacle-crossing capability of the bridge-type crawler walking system according to claim 1, characterized in that: The rear axle frame (10) is hinged to the vehicle body (12) via a hinge G (10-1); the first end E (8-1) of the elastic shock absorber (8) is closer to the forward direction of the vehicle body (12) than the hinge G (10-1); The distance m between the axis center of the rotation axis of the B road wheel (9) and the projection of the second end F (8-2) of the elastic shock absorber (8) on a vertical plane passing through the forward direction of the vehicle body is smaller than the distance n between the axis center of the rotation axis of the C road wheel (11) and the projection of the second end F (8-2) of the elastic shock absorber (8) on a vertical plane passing through the forward direction of the vehicle body.

3. The suspension device for improving the obstacle-crossing capability of the bridge-type crawler walking system according to claim 2, characterized in that: The rear axle frame (10) is hingedly connected to the vehicle body (12) via a hinge G (10-1); The position where the second end F (8-2) of the elastic shock absorber (8) is hinged to the rear axle frame (10) is located between the axis of the B road wheel (9) and the hinged member G (10-1).

4. The suspension device for improving the obstacle-crossing capability of a bridge-type crawler walking system as claimed in claim 3, characterized in that: The rear axle frame (10) is provided with a front support bridge and a rear support bridge, the front support bridge and the rear support bridge form an angle, the hinge G (10-1) is installed at the intersection of the front support bridge and the rear support bridge, the axis of the rotation axis of the B road wheel (9) is installed at the front end of the front support bridge, and the axis of the rotation axis of the C road wheel (11) is installed at the rear end of the rear support bridge.

5. The suspension device for improving the obstacle-crossing capability of the bridge-type crawler walking system according to claim 4, characterized in that: The wheel radius of the C road wheel (11) is greater than the wheel radius of the B road wheel (9).

6. The suspension device for improving the obstacle-crossing capability of the bridge-type crawler walking system as claimed in claim 5, characterized in that: It also includes a front shock-absorbing rocker arm (3), a front shock absorber (4), a front axle frame (5), two A-load-bearing wheels (6), a crawler track (1), a driving wheel (2), and a towing wheel (7); The first end D (4-1) of the front shock absorber (4) is hinged to the front part of the vehicle body; The rotation axes of the two A-loaded road wheels (6) are respectively mounted at two ends of the front axle frame (5); The first end A (2-1) of the front shock absorbing rocker arm (3) is hinged to the front part of the vehicle body, the second end A (2-3) of the front shock absorbing rocker arm (3) is hinged to the middle part of the front axle frame (5), and the middle part of the front shock absorbing rocker arm (3) is hinged to the second end B (2-2) of the front shock absorber (4); The crawler belt (1) is sleeved on the driving wheel (2), the traction wheel (7), the C road wheel (11), the B road wheel (9), and the two A road wheels (6) in sequence; When the vehicle body (12) moves on flat ground, the C road wheel (11), the B road wheel (9), and the two A road wheels (6) press the crawler track (1) to move on a horizontal plane.

7. The suspension device for improving the obstacle-crossing capability of the bridge-type crawler walking system according to claim 6, characterized in that: The number of the traction wheels (7) is more than two.

Images