A parallel composite suspension device with adjustable elastic characteristics, a walking system and a vehicle

Abstract

The application discloses a parallel composite suspension device with adjustable elastic characteristics, a walking system and a vehicle, and belongs to the technical field of frame suspension. The parallel composite suspension device with adjustable elastic characteristics comprises a plurality of groups of composite suspension assemblies, the composite suspension assemblies are arranged in a linear array on a chassis, and the composite suspension assemblies are independently arranged between the composite suspension assemblies. The composite suspension assembly comprises two composite suspension components symmetrically arranged on both sides of the chassis. The composite suspension component comprises a balance elbow, the middle part of the balance elbow is fixedly connected with a torsion bar, and the two ends of the balance elbow are respectively hinged with a first oil-gas spring and a second oil-gas spring. The first oil-gas spring and the second oil-gas spring are both hinged with the chassis, and a load wheel is arranged on the hinged point of the balance elbow and the second oil-gas spring. The parallel composite suspension device with adjustable elastic characteristics, the walking system and the vehicle can solve the problems of the existing suspension elastic characteristics, poor road adaptability and complex structure.

Description

Technical Field

[0001] This invention relates to the field of vehicle frame suspension technology, and in particular to a parallel composite suspension device with adjustable elastic characteristics, a running gear system, and a vehicle. Background Technology

[0002] High-speed heavy-duty all-terrain tracked vehicles are suitable for complex terrain environments such as snow, desert, mountains, and water. Due to the complex driving and operating conditions of all-terrain tracked vehicles, their tracked walking systems are often in high-speed and high-impact environments, which has an adverse effect on the equipment's working efficiency, environmental adaptability, protection of precision instruments, and the health and mental state of the drivers and passengers.

[0003] Currently, the commonly used suspension types on tracked vehicles are torsion bar suspension and hydropneumatic suspension. Torsion bar suspension has almost constant stiffness throughout the load wheel's travel, a high natural frequency, insufficient damping force for pitch angle vibrations, and limited suspension travel due to the limitations of torsion bar material properties. This results in insufficient adaptability to road surfaces, restricting the improvement of off-road speeds for tracked vehicles. Hydropneumatic suspension utilizes its nonlinear, variable stiffness characteristics to achieve functions such as vehicle posture adjustment and suspension locking, which can improve average off-road speed and ride comfort to some extent. However, issues such as sealing and reliability have hindered its widespread application in heavy-duty tracked vehicles.

[0004] Existing patent CN201610831256.6 discloses a composite tracked vehicle suspension system. The vehicle includes a body, twelve road wheels, and twelve balance elbows. One end of each balance elbow is hinged to the body, and the other end is hinged to one of the road wheels. The body has symmetrical structures on both sides, and from front to back, a first single-chamber pneumatic spring, a first double-chamber pneumatic spring, a second single-chamber pneumatic spring, a second double-chamber pneumatic spring, a third double-chamber pneumatic spring, and a third single-chamber pneumatic spring are sequentially installed between the balance elbows and the body. Compared with a single-type pneumatic suspension system, this composite suspension system can improve the ride comfort of the tank on off-road surfaces by more than 30% at a vehicle speed of 20 m / s. Although the aforementioned patent can improve ride comfort, the vehicle's elastic characteristics cannot be adjusted, resulting in poor adaptability to different road conditions. Furthermore, the suspension system structure in the aforementioned patent is relatively complex. Summary of the Invention

[0005] The purpose of this invention is to provide a parallel composite suspension device, a running system, and a vehicle with adjustable elastic characteristics, thereby solving the problems of existing suspensions having unadjustable elastic characteristics, poor road adaptability, and complex structures.

[0006] To achieve the above objectives, the present invention provides a parallel composite suspension device with adjustable elastic characteristics, comprising several composite suspension assemblies arranged in a linear array on a chassis, with each composite suspension assembly being independently configured. Each composite suspension assembly includes two composite suspension components symmetrically arranged on both sides of the chassis. Each composite suspension component includes a balance elbow, the middle of which is fixedly connected to a torsion bar. A first gas spring and a second gas spring are respectively hinged to both ends of the balance elbow. Both the first and second gas springs are hinged to the chassis. The load-bearing wheel is located at the hinge point between the balance elbow and the second gas spring.

[0007] Preferably, the balance elbow includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are an L-shaped integral structure, the end of the first connecting rod away from the second connecting rod is hinged to a first gas spring, and the end of the second connecting rod away from the first connecting rod is hinged to a second gas spring.

[0008] Preferably, a mounting bracket is fixedly provided on the balance elbow, and the mounting bracket is provided with mounting holes for mounting brake calipers.

[0009] Preferably, the balance elbow is provided with a keyway in the middle, and the end of the torsion bar is provided with a spline that matches the keyway. The torsion bar and the balance elbow are fixedly connected by the keyway and the spline.

[0010] Preferably, the distance between the hinge point of the first gas spring and the chassis and the torsion bar is b, and the distance between the hinge point of the second gas spring and the chassis and the torsion bar is a, where b is greater than a.

[0011] Preferably, the angle between the axis of the first gas spring and the horizontal plane is α, and the angle between the axis of the second gas spring and the vertical plane is β; when the first gas spring is located in the fourth quadrant of the coordinate system at the hinge point between the first gas spring and the chassis, α>0; when the first gas spring is located in the third quadrant of the coordinate system at the hinge point between the first gas spring and the chassis, α<0; when the second gas spring is located in the third quadrant of the coordinate system at the hinge point between the second gas spring and the chassis, β>0; when the second gas spring is located in the fourth quadrant of the coordinate system at the hinge point between the second gas spring and the chassis, β<0; when α>0 and β>0, the composite suspension system exhibits quasi-zero stiffness characteristics; when α<0 and β<0, the composite suspension system exhibits gradually increasing stiffness characteristics.

[0012] Preferably, the vertical static load of the torsion bar is:

[0013] F Nnj =λF Nj

[0014] The vertical static load of the first gas spring is:

[0015] F N1j =(1-λ)ηFNj

[0016] The vertical static load of the second gas spring is:

[0017] F N2j =(1-λ)(1-η)F Nj

[0018] Among them, F Nj λ is the load-bearing capacity at the static equilibrium position of a single load wheel, λ is the static load distribution coefficient of the torsion bar, and η is the static load distribution coefficient of the first gas spring.

[0019] A walking system includes the aforementioned parallel composite suspension device with adjustable elastic characteristics. A drive wheel assembly and a guide wheel assembly are respectively provided at both ends of the parallel composite suspension device. The drive wheel assembly is located at the front end of the chassis, and the guide wheel assembly is located at the rear end of the chassis. A track assembly is provided outside the drive wheel assembly, the guide wheel assembly, and the road wheels. A carrier roller assembly supporting the track assembly is provided on the chassis.

[0020] A vehicle comprising the aforementioned walking system.

[0021] The advantages and positive effects of the parallel composite suspension device, running gear system, and vehicle with adjustable elastic characteristics described in this invention are as follows:

[0022] 1. The composite suspension assembly of the present invention includes a first oil-gas spring, a second oil-gas spring, and a balance elbow. The balance elbow is fixedly connected to a torsion bar, the counterweight wheel is mounted on the balance elbow, and the brake caliper is mounted on the balance elbow. The structure is simple.

[0023] 2. The angle between the axis of the first gas spring and the horizontal plane is α, and the angle between the axis of the second gas spring and the vertical plane is β. By setting the angles α and β, the composite suspension assembly can achieve either quasi-zero stiffness or gradually increasing stiffness. A composite suspension assembly with quasi-zero stiffness provides better comfort under high-speed and impact load conditions, while a composite suspension assembly with gradually increasing stiffness can better withstand high-speed and impact loads. By utilizing the two different nonlinear mechanical characteristics of the composite suspension to cope with different road conditions, a suitable composite suspension matching scheme can better improve off-road capability while maintaining ride comfort.

[0024] 3. λ is the static load distribution coefficient of the torsion bar, and η is the static load distribution coefficient of the first gas spring. By adjusting the values ​​of λ and η, the stiffness curve trend under the stiffness increase characteristic and quasi-zero stiffness characteristic can be adjusted to meet the different road surface environments of tracked vehicles.

[0025] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the walking system structure according to an embodiment of the present invention;

[0027] Figure 2 This is a schematic diagram of the composite suspension assembly structure according to an embodiment of the present invention;

[0028] Figure 3 This is a schematic diagram of the composite suspension assembly structure according to an embodiment of the present invention.

[0029] Figure Labels

[0030] 1. Drive wheel assembly; 2. Composite suspension assembly; 3. Track roller assembly; 4. Track assembly; 5. Guide wheel assembly; 6. Chassis; 7. Torsion bar; 21. Road wheel; 22. First gas spring; 23. Second gas spring; 24. Balance elbow; 25. Mounting bracket; 26. First connecting rod; 27. Second connecting rod; 28. Keyway. Detailed Implementation

[0031] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0032] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0033] Example

[0034] like Figure 1 As shown, a parallel composite suspension device with adjustable elastic characteristics includes several sets of composite suspension assemblies arranged in a linear array on the chassis. The composite suspension assemblies are independently configured. In this embodiment, six sets of composite suspension assemblies are provided, and the six sets of composite suspension assemblies operate independently.

[0035] like Figure 2 , Figure 3As shown, the composite suspension assembly includes two composite suspension components symmetrically arranged on both sides of the chassis. Each composite suspension component includes a balance elbow, the middle of which is fixedly connected to a torsion bar. The torsion bar connects the two composite suspension components via the balance elbow. The balance elbow includes a first connecting rod and a second connecting rod, which are L-shaped integral structures. The end of the first connecting rod away from the second connecting rod is hinged to a first gas spring, and the end of the second connecting rod away from the first connecting rod is hinged to a second gas spring. Both the first and second gas springs are hinged to the chassis. The load-bearing wheel is rotatably positioned at the hinge point between the balance elbow and the second gas spring. Both the first and second gas springs are selected from existing structures to meet the cushioning requirements of the load-bearing wheel.

[0036] A mounting bracket with a triangular structure is fixedly mounted on the balance elbow and is fixedly connected to the second connecting rod. The mounting bracket has mounting holes for installing brake calipers. The brake calipers are integrated into the composite suspension assembly.

[0037] A keyway is provided in the middle of the balance elbow, that is, the keyway is located at the connection between the first connecting rod and the second connecting rod. The end of the torsion bar is provided with a spline that matches the keyway, and the torsion bar and the balance elbow are fixedly connected by the keyway and the spline.

[0038] The distance between the hinge point of the first gas spring and the chassis and the torsion bar is b, and the distance between the hinge point of the second gas spring and the chassis and the torsion bar is a, where b is greater than a.

[0039] The angle between the axis of the first gas spring and the horizontal plane is α, and the angle between the axis of the second gas spring and the vertical plane is β. When the first gas spring is located in the fourth quadrant of the coordinate system at the hinge point between the first gas spring and the chassis, α > 0; when the first gas spring is located in the third quadrant of the coordinate system at the hinge point between the first gas spring and the chassis, α < 0. When the second gas spring is located in the third quadrant of the coordinate system at the hinge point between the second gas spring and the chassis, β > 0; when the second gas spring is located in the fourth quadrant of the coordinate system at the hinge point between the second gas spring and the chassis, β < 0. When both α > 0 and β > 0, the composite suspension system exhibits quasi-zero stiffness characteristics. Figure 3 With quasi-zero stiffness characteristics, composite suspension assemblies exhibit better comfort under high-speed and impact load conditions. When α < 0 and β < 0, the composite suspension assembly exhibits gradually increasing stiffness characteristics. Composite suspension assemblies with gradually increasing stiffness characteristics can better withstand high-speed and impact loads.

[0040] This embodiment of the composite suspension assembly includes three elastic damping elements: a first air spring, a second air spring, and a torsion bar. If the load-bearing capacity of a single load-bearing wheel at its static equilibrium position is F... Nj The vertical static load distributed by the torsion bar suspension is F. Nnj =λF Njλ is the static load distribution coefficient of the torsion bar. The vertical static load distributed between the first and second gas springs is (1-λ)F. Nj The vertical static load of the first gas spring is F. N1j =(1-λ)ηF Nj η is the static load distribution coefficient of the first gas spring. The vertical static load of the second gas spring is F. N2j =(1-λ)(1-η)F Nj By adjusting the values ​​of λ and η, the stiffness curve trend under the gradual stiffness increase characteristic and the quasi-zero stiffness characteristic can be adjusted to meet the different road surface environments of tracked vehicles.

[0041] A walking system includes a parallel composite suspension device with adjustable elastic characteristics, wherein a drive wheel assembly and a guide wheel assembly are respectively disposed at both ends of the parallel composite suspension device. The drive wheel assembly is located at the front end of the chassis, and the guide wheel assembly is located at the rear end of the chassis. The drive wheel assembly provides the power for walking. A track assembly is disposed outside the drive wheel assembly, the guide wheel assembly, and the road wheels, and a carrier roller assembly supporting the track assembly is disposed on the chassis. The drive wheel assembly, carrier roller assembly, track assembly, guide wheel assembly, and chassis all adopt existing structures as needed.

[0042] A vehicle comprising the aforementioned walking system.

[0043] Different road conditions will have varying impacts on the acceleration response of the six pairs of road wheels on the running gear. The aforementioned composite suspension system provides a flexible configuration option for the running gear. In actual design, composite suspension assemblies with different performance characteristics can be installed on the road wheels of the running gear according to the actual road environment. Applying a suitable composite suspension matching scheme can better improve off-road capability while taking into account ride comfort, and has great application potential and engineering application value.

[0044] Therefore, the parallel composite suspension device, walking system and vehicle with adjustable elastic characteristics described in this invention can solve the problems of existing suspensions having unadjustable elastic characteristics, poor road adaptability and complex structure.

[0045] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A parallel composite suspension device with adjustable elastic properties, characterized in that: The system includes several composite suspension assemblies arranged in a linear array on the chassis, with each composite suspension assembly being independently configured. Each composite suspension assembly includes two composite suspension components symmetrically arranged on both sides of the chassis. Each composite suspension component includes a balance elbow, with its middle portion fixedly connected to a torsion bar. A first gas spring and a second gas spring are respectively hinged to both ends of the balance elbow. Both the first and second gas springs are hinged to the chassis. The load-bearing wheel is located at the hinge point between the balance elbow and the second gas spring. The balance elbow includes a first connecting rod and a second connecting rod. The first connecting rod and the second connecting rod are an L-shaped integral structure. The end of the first connecting rod away from the second connecting rod is hinged to a first gas spring, and the end of the second connecting rod away from the first connecting rod is hinged to a second gas spring. The angle between the axis of the first gas spring and the horizontal plane is α, and the angle between the axis of the second gas spring and the vertical plane is β. When the first gas spring is located in the fourth quadrant of the coordinate system at the hinge point between the first gas spring and the chassis, α>0; when the first gas spring is located in the third quadrant of the coordinate system at the hinge point between the first gas spring and the chassis, α<0. When the second gas spring is located in the third quadrant of the coordinate system at the hinge point between the second gas spring and the chassis, β>0; when the second gas spring is located in the fourth quadrant of the coordinate system at the hinge point between the second gas spring and the chassis, β<0. When α>0 and β>0, the composite suspension system exhibits quasi-zero stiffness characteristics; when α<0 and β<0, the composite suspension system exhibits gradually increasing stiffness characteristics.

2. The parallel composite suspension device with adjustable elastic properties according to claim 1, characterized in that: A mounting bracket is fixedly installed on the balance elbow, and the mounting bracket is provided with mounting holes for installing brake calipers.

3. The parallel composite suspension device with adjustable elastic properties according to claim 1, characterized in that: The balance elbow is provided with a keyway in the middle, and the end of the torsion bar is provided with a spline that matches the keyway. The torsion bar and the balance elbow are fixedly connected by the keyway and the spline.

4. The parallel composite suspension device with adjustable elastic properties according to claim 1, characterized in that: The distance between the hinge point of the first gas spring and the chassis and the torsion bar is b, and the distance between the hinge point of the second gas spring and the chassis and the torsion bar is a, where b is greater than a.

5. The parallel composite suspension device with adjustable elastic properties according to claim 1, characterized in that: The vertical static load of the torsion bar is: The vertical static load of the first gas spring is: The vertical static load of the second gas spring is: in, The load-bearing capacity at the static equilibrium position of a single load-bearing wheel. This is the static load distribution factor for the torsion bar. This is the static load distribution coefficient for the first gas spring.

6. A walking system, characterized in that: The invention includes a parallel composite suspension device with adjustable elastic characteristics as described in any one of claims 1-5. The parallel composite suspension device has a drive wheel assembly and a guide wheel assembly at both ends, the drive wheel assembly is located at the front end of the chassis, the guide wheel assembly is located at the rear end of the chassis, a track assembly is located outside the drive wheel assembly, the guide wheel assembly and the road wheel, and a track roller assembly supporting the track assembly is located on the chassis.

7. A vehicle, characterized in that: Includes the walking system described in claim 6.

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