Parallel active suspension applied to industrial park transportation

Abstract

The invention relates to the technical field of vehicle suspensions, in particular to a parallel active suspension applied to industrial park transportation. The suspension mechanism comprises a vehicle body platform, a linear driving module, a first electric push rod, a connecting support, a wheel assembly, a spring shock absorber assembly and a second electric push rod. A linear driving module is horizontally installed on a vehicle body platform, a mover is connected with a first electric push rod through a hooke joint assembly, the output end of the first electric push rod is hinged to a connecting support, and a wheel assembly is installed on one side of the connecting support; the vehicle body platform is connected with the spring shock absorber assembly through the hooke joint assembly, and the free end is connected with the upper portion of the first electric push rod shell. The two ends of the two second electric push rods are connected with the vehicle body platform and the connecting support through hooke joint assemblies correspondingly. A parallel driving structure is adopted, multi-degree-of-freedom posture precise control over the wheel assembly is achieved, motion interference is avoided, output force can be adjusted in real time, and the problem of posture instability in the precise instrument transportation process is effectively solved.

Description

Technical Field

[0001] This invention relates to the field of vehicle suspension technology, and in particular to a parallel active suspension for use in industrial park transportation. Background Technology

[0002] With the rapid development of high-end manufacturing, semiconductors, biomedicine, and other precision industries, the demand for transporting precision instruments and high-value equipment within and between industrial parks is increasing daily. These transported items are often extremely sensitive to vibration and impact, have low allowable acceleration thresholds, and require strict adherence to transport posture. Traditional vehicle passive suspension systems, due to their inherently fixed spring and damping element parameters, are primarily designed based on linear or simple nonlinear models, and their vibration isolation performance has inherent limitations under complex and variable road surface excitations.

[0003] To overcome the shortcomings of passive suspension, active and semi-active suspension technologies have been developed. Among them, active suspension based on parallel mechanisms has advantages such as high structural stiffness, strong load-bearing capacity, and fast response speed. However, existing parallel mechanism active suspensions still have some shortcomings: many systems use constant force or simple pre-programmed control laws, which cannot fully adapt to the complex and transient road excitations in industrial parks, resulting in unsatisfactory control accuracy and vibration reduction effects. Integrating drive, steering, and damping functions into a compact parallel mechanism while ensuring the freedom and reliability of each kinematic pair, existing designs often lack in structural optimization and deep integration of intelligent damping. Dynamic coupling exists between drive, steering, and vertical damping functions, making it difficult for traditional designs to achieve completely independent and precise control, thus affecting the overall handling stability of the vehicle. Summary of the Invention

[0004] In view of this, the present invention provides a parallel active suspension for use in industrial park transportation.

[0005] Therefore, the present invention provides the following technical solution:

[0006] A parallel active suspension for industrial park transportation includes a vehicle platform. A linear drive module is horizontally mounted on the vehicle platform. The mover of the linear drive module is connected to a first electric push rod via a Hooke hinge assembly. The output end of the first electric push rod is hinged to a bracket. A wheel assembly is mounted on the side of the bracket away from the first electric push rod. A spring damper assembly is connected to the vehicle platform via the Hooke hinge assembly. The spring damper assembly is located above the first electric push rod. The free end of the spring damper assembly is connected to the upper part of the housing of the first electric push rod via the Hooke hinge assembly. On the vehicle platform, one end of each of the two second electric push rods is connected via two Hooke hinge assemblies; the output ends of the two second electric push rods are connected to the connecting brackets via the Hooke hinge assemblies.

[0007] Furthermore, the connecting bracket has a Z-shaped structure, with a high middle section and low side sections. A double-ear seat is installed in the middle section of the connecting bracket, and the output end of the first electric push rod is connected to a single-ear seat. The single-ear seat and the double-ear seat are hinged by a pin. The Hooke hinge assemblies of the output ends of the two second electric push rods are symmetrically installed on the side sections of the connecting bracket.

[0008] Furthermore, the wheel assembly includes a steering knuckle, a hub motor, and a wheel. The steering knuckle is mounted on the bottom of the connecting bracket, the hub motor is mounted on the free end of the steering knuckle, and the wheel is mounted on the output end of the hub motor via an axle.

[0009] Furthermore, the spring damper assembly includes a hydraulic damper and a coil spring sleeved on the outside of the hydraulic damper. The upper ends of the hydraulic damper and the coil spring are connected to the vehicle platform through the same Hooke hinge assembly, and the lower ends of the hydraulic damper and the coil spring are connected to the upper part of the housing of the first electric push rod through the same Hooke hinge assembly.

[0010] Furthermore, the Hooke hinge assembly at the upper end of the second electric actuator and spring damper assembly is located at the same height.

[0011] Furthermore, the line connecting the Hooke hinge assemblies at the upper ends of the two second electric push rods is parallel to the moving direction of the linear drive module.

[0012] Furthermore, each of the Hooke hinge components has a first connector and a second connector at both ends, and the first connector and the second connector are fixedly connected to the corresponding components.

[0013] Advantages and positive effects of the present invention: By adopting a parallel drive structure consisting of a linear drive module, a first electric actuator, and two second electric actuators, the wheel assembly achieves precise multi-degree-of-freedom attitude control, avoids motion interference, improves attitude control accuracy, and can adjust the output force in real time according to road conditions, instrument weight, etc., effectively solving the problem of attitude instability during the transportation of precision instruments. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This invention provides a structural diagram of a parallel active suspension system for use in industrial park transportation.

[0016] Figure 2 This invention provides a structural diagram of the cooperation between the first and second electric push rods of a parallel active suspension system applied to transportation in industrial parks.

[0017] In the diagram: 1. Vehicle platform; 2. Linear drive module; 201. Mover; 202. Magnetic track; 203. Motor; 3. Hooke hinge assembly; 4. First electric actuator; 5. Connecting bracket; 6. Second electric actuator; 7. Double-ear seat; 8. Single-ear seat; 9. Spring damper assembly; 901. Hydraulic damper; 902. Coil spring; 10. First connector; 11. Second connector; 12. Wheel assembly; 1201. Steering knuckle; 1202. Hub motor; 1203. Wheel. Detailed Implementation

[0018] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0019] This invention provides a parallel active suspension system for use in industrial park transportation, such as... Figure 1-2 As shown, the system includes a vehicle platform 1, on which a linear drive module 2 is horizontally mounted. The linear drive module 2 includes a motor 203, a mover 201, and a magnetic track 202. A first electric push rod 4 is connected to the mover 201 of the linear drive module 2 via a Hooke hinge assembly 3. The output end of the first electric push rod 4 is hinged to a connecting bracket 5. A wheel assembly 12 is mounted on the side of the connecting bracket 5 away from the first electric push rod 4. A spring damper assembly 9 is connected to the vehicle platform 1 via the Hooke hinge assembly 3. The spring damper assembly 9 is located above the first electric push rod 4, and its free end is connected to the upper part of the housing of the first electric push rod 4 via the Hooke hinge assembly 3. Two second electric push rods 6 are respectively connected to one end of each other via two Hooke hinge assemblies 3 on the vehicle platform 1. The output ends of the two second electric push rods 6 are respectively connected to the connecting bracket 5 via the Hooke hinge assembly 3.

[0020] The connecting bracket 5 has a Z-shaped structure, with a high middle section and low side sections. The middle section of the connecting bracket 5 is equipped with a double ear seat 7. The output end of the first electric push rod 4 is connected to a single ear seat 8. The single ear seat 8 and the double ear seat 7 are hinged by a pin. The Hooke hinge assemblies 3 at the output ends of the two second electric push rods 6 are symmetrically installed on the side sections of the connecting bracket 5.

[0021] The wheel assembly 12 includes a steering knuckle 1201, a hub motor 1202, and a wheel 1203. The steering knuckle 1201 is mounted on the bottom of the connecting bracket 5, the hub motor 1202 is mounted on the free end of the steering knuckle 1201, and the wheel 1203 is mounted on the output end of the hub motor 1202 via a wheel axle.

[0022] The spring damper assembly 9 includes a hydraulic damper 901 and a coil spring 902 sleeved on the outside of the hydraulic damper 901. The upper ends of the hydraulic damper 901 and the coil spring 902 are connected to the vehicle platform 1 through the same Hooke hinge assembly 3, and the lower ends of the hydraulic damper 901 and the coil spring 902 are connected to the upper part of the housing of the first electric push rod 4 through the same Hooke hinge assembly 3.

[0023] The second electric actuator 6 and the Hooke hinge assembly 3 at the upper end of the spring damper assembly 9 are located at the same height. The line connecting the two Hooke hinge assemblies 3 at the upper ends of the two second electric actuators 6 is parallel to the direction of movement of the mover 201 of the linear drive module 2. Each Hooke hinge assembly 3 has a first connector 10 and a second connector 11 at both ends, and the first connector 10 and the second connector 11 are fixedly connected to the corresponding components.

[0024] Working principle: During operation, the linear drive module 2 starts and provides lateral driving force, which drives the first electric push rod 4 to move laterally in sync. The rotational characteristics of the Hooke hinge assembly 3 avoid motion interference and ensure smooth transmission of lateral driving force.

[0025] The first electric push rod 4 receives lateral driving force and, in conjunction with its own telescopic movement, drives the connecting bracket 5 to achieve vertical or lateral attitude adjustment; at the same time, the two second electric push rods 6 extend and retract independently or synchronously according to control requirements, and drive the connecting bracket 5 to achieve yaw and tilt adjustment through differential driving force, thereby linking the wheel assembly 12 to complete steering, ensuring the accuracy of attitude control.

[0026] After the hub motor 1202 starts, it drives the wheel 1203 to rotate, realizing the overall movement of the suspension system; the steering knuckle 1201, in conjunction with the attitude adjustment of the connecting bracket 5, ensures that the wheel 1203 always keeps in contact with the ground, avoids slippage and deviation, and ensures the stability of movement under different road conditions in the industrial park.

[0027] When encountering road undulations, the coil spring 902 first undergoes elastic deformation to buffer the road impact and reduce the bumps of the vehicle platform 1, bear the vertical load of the vehicle platform 1 and provide elastic support; at the same time, the hydraulic shock absorber 901 plays a damping role, attenuating vibration energy, suppressing resonance of the vehicle platform 1, and preventing vibration impact from being transmitted to precision instruments, thus achieving a stable shock absorption effect.

[0028] 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 the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A parallel active suspension system for transportation in industrial parks, characterized in that, The system includes a vehicle platform (1), on which a linear drive module (2) is horizontally mounted. The mover (201) of the linear drive module (2) is connected to a first electric push rod (4) via a Hooke hinge assembly (3). The output end of the first electric push rod (4) is hinged to a connecting bracket (5). A wheel assembly (12) is mounted on the side of the connecting bracket (5) away from the first electric push rod (4). A spring shock absorber assembly (9) is connected to the vehicle platform (1) via the Hooke hinge assembly (3). The spring shock absorber assembly (9) is located above the first electric push rod (4). The free end of the spring shock absorber assembly (9) is connected to the upper part of the housing of the first electric push rod (4) via the Hooke hinge assembly (3). On the vehicle platform (1), one end of each of the two second electric push rods (6) is connected by two Hooke hinge assemblies (3); the output ends of the two second electric push rods (6) are connected to the connecting bracket (5) by the Hooke hinge assemblies (3).

2. The parallel active suspension system for industrial park transportation according to claim 1, characterized in that, The connecting bracket (5) has a Z-shaped structure, with a high middle section and low side sections. The middle section of the connecting bracket (5) is equipped with a double ear seat (7). The output end of the first electric push rod (4) is connected to a single ear seat (8). The single ear seat (8) and the double ear seat (7) are hinged by a pin. The Hooke hinge assemblies (3) at the output ends of the two second electric push rods (6) are symmetrically installed on the side sections of the connecting bracket (5).

3. A parallel active suspension system for industrial park transportation according to claim 1, characterized in that, The wheel assembly (12) includes a steering knuckle (1201), a hub motor (1202), and a wheel (1203). The steering knuckle (1201) is mounted on the bottom of the connecting bracket (5), the hub motor (1202) is mounted on the free end of the steering knuckle (1201), and the wheel (1203) is mounted on the output end of the hub motor (1202) via a wheel axle.

4. A parallel active suspension system for industrial park transportation according to claim 1, characterized in that, The spring damper assembly (9) includes a hydraulic damper (901) and a coil spring (902) sleeved on the outside of the hydraulic damper (901). The upper ends of the hydraulic damper (901) and the coil spring (902) are connected to the vehicle platform (1) through the same Hooke hinge assembly (3), and the lower ends of the hydraulic damper (901) and the coil spring (902) are connected to the upper part of the housing of the first electric push rod (4) through the same Hooke hinge assembly (3).

5. A parallel active suspension system for industrial park transportation according to claim 1, characterized in that, The second electric push rod (6) and the Hooke hinge assembly (3) at the upper end of the spring damper assembly (9) are at the same height.

6. A parallel active suspension system for industrial park transportation according to claim 1, characterized in that, The line connecting the upper ends of the two second electric push rods (6) and the Hooke hinge assembly (3) is parallel to the moving direction of the mover (201) of the linear drive module (2).

7. A parallel active suspension system for industrial park transportation according to claim 1, characterized in that, Each of the Hooke hinge components (3) has a first connector (10) and a second connector (11) at both ends, and the first connector (10) and the second connector (11) are fixedly connected to the corresponding components.

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