CN108116492A - Vehicle and its walking unit - Google Patents
Vehicle and its walking unit Download PDFInfo
- Publication number
- CN108116492A CN108116492A CN201711451805.8A CN201711451805A CN108116492A CN 108116492 A CN108116492 A CN 108116492A CN 201711451805 A CN201711451805 A CN 201711451805A CN 108116492 A CN108116492 A CN 108116492A
- Authority
- CN
- China
- Prior art keywords
- wheel
- cylinder barrel
- vehicle
- piston rod
- oil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 30
- 238000013016 damping Methods 0.000 claims description 123
- 239000004519 grease Substances 0.000 claims description 43
- 238000007667 floating Methods 0.000 claims description 18
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 238000007514 turning Methods 0.000 abstract description 10
- 239000000725 suspension Substances 0.000 description 23
- 239000007789 gas Substances 0.000 description 15
- 238000013519 translation Methods 0.000 description 13
- 230000005484 gravity Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 8
- 238000010586 diagram Methods 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 230000000694 effects Effects 0.000 description 7
- 238000007789 sealing Methods 0.000 description 7
- 230000006870 function Effects 0.000 description 6
- 238000003825 pressing Methods 0.000 description 6
- 239000000047 product Substances 0.000 description 6
- 238000005096 rolling process Methods 0.000 description 6
- 238000005299 abrasion Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000006386 memory function Effects 0.000 description 4
- 229910052757 nitrogen Inorganic materials 0.000 description 4
- 238000003860 storage Methods 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000605 extraction Methods 0.000 description 2
- 238000005461 lubrication Methods 0.000 description 2
- 241000237858 Gastropoda Species 0.000 description 1
- 240000002853 Nelumbo nucifera Species 0.000 description 1
- 235000006508 Nelumbo nucifera Nutrition 0.000 description 1
- 235000006510 Nelumbo pentapetala Nutrition 0.000 description 1
- 241000270295 Serpentes Species 0.000 description 1
- 241000826860 Trapezium Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002775 capsule Substances 0.000 description 1
- 230000002153 concerted effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 230000007306 turnover Effects 0.000 description 1
- 238000011144 upstream manufacturing Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D9/00—Steering deflectable wheels not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G17/00—Resilient suspensions having means for adjusting the spring or vibration-damper characteristics, for regulating the distance between a supporting surface and a sprung part of vehicle or for locking suspension during use to meet varying vehicular or surface conditions, e.g. due to speed or load
- B60G17/06—Characteristics of dampers, e.g. mechanical dampers
- B60G17/08—Characteristics of fluid dampers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/40—Indexing codes relating to the wheels in the suspensions
- B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/20—Type of damper
- B60G2202/24—Fluid damper
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The present invention provides a kind of vehicle and its walking unit, which includes wheel, hydro-pneumatic spring and steer-drive；Steer-drive includes splined shaft and steering driving mechanism；Splined shaft is coaxially arranged on the oil cylinder of hydro-pneumatic spring, and the shaft part outside oil cylinder is connected with steering driving mechanism so as to be rotated around own axes, is connected positioned at the piston rod spline of in-oil cylinder shaft part and oil cylinder；The bottom of piston rod is connected with axle block, is equipped on axle block axial for horizontal direction wheel shaft；Wheel is configured with wheel hub motor and is assemblied on wheel shaft, and the center of wheel is located on the extended line of piston rod central axes.The walking unit of vehicle provided by the invention, the function of hydro-pneumatic spring is combined as a whole with turning function, by being arranged in the splined shaft at the top of oil cylinder piston rod spline housing is driven to rotate, in the case where ensureing the basic function of hydro-pneumatic spring, the steering of wheel is can also be achieved, so as to effectively improve the operability of vehicle.
Description
Technical field
The invention belongs to automobile technical fields, are to be related to a kind of walking unit of vehicle and using the row more specifically
Walk the vehicle of unit.
Background technology
In the chassis design of existing cross-country traveling ability automatic driving vehicle, generally it is divided to crawler type and wheeled two major class.
The former caterpillar cross-country ability is good, can cross wider trench, can climb certain step, but speed is not on highway
It is high；Steering keeps left right-hand track chiain speed difference to realize, road pavement is destroyed larger in traveling；Cannot lateral, oblique translation, limit machine
Dynamic property.
The latter's wheeled vehicle speed of operation on highway is high, and road pavement is not destroyed in traveling.But existing wheeled vehicle is by outstanding
The influence of frame system and steering designing scheme and cross-country ability is poor, since the wheel of existing wheeled vehicle cannot be voluntarily
Ground is lifted off, can not voluntarily stretch down and contact following ground, therefore the step height that it can be climbed up is usually no more than
The radius of wheel.It is more than being also just subject to certain restrictions across width for the trench of radius of wheel for depth.It is simultaneously because existing
It is mechanically connected to be formed so-called " steering trapezium " using track rod between the left and right turn wheel of some wheeled vehicles, then
In addition the restriction of the guiding mechanism of the suspension system of existing wheeled vehicle, so as to cannot also realize that each wheel is pure around vehicle center
The pivot stud of rolling can not realize lateral translation and oblique translation, limit mobility.In addition, existing wheeled vehicle
Pivot stud is all designed to certain introversion and hypsokinesis and has certain steering offset, in order to obtain low speed and height
The self-aligning ability of speed, but steering drag increase, tire wear increase, the increase of deflecting roller occupied space etc. are also just brought simultaneously
Drawback.
Vehicle is when driving the good ride comfort of acquisition and handling stability on good highway, it is desirable to which vehicle ground clearance is small by one
A bit, center of gravity is lower, and suspension system rigidity is smaller, damping is smaller, and at this moment the dynamic stroke of suspension system also can be smaller.And
Then wish that vehicle ground clearance is larger in cross-country run, suspension system rigidity is larger, damping is also larger, at this moment suspension
The dynamic stroke of system, which also wants larger, to improve average speed in cross-country run.These requirements are in existing automatic driving vehicle
In it is all relatively difficult to achieve.
The content of the invention
The walking unit and the vehicle using the walking unit that the present invention provides a kind of vehicle, can at least solve the prior art
Segmental defect.
To achieve the above object, the technical solution adopted by the present invention is：A kind of walking unit of vehicle is provided, including vehicle
Wheel, further includes hydro-pneumatic spring and steer-drive；
The steer-drive includes splined shaft and steering driving mechanism；The splined shaft is coaxially arranged in the hydro-pneumatic spring
Oil cylinder on, and the shaft part outside the oil cylinder is connected with the steering driving mechanism so as to be rotated around own axes,
It is connected positioned at the in-oil cylinder shaft part with the piston rod spline of the oil cylinder；
The bottom of the piston rod is connected with axle block, is equipped on the axle block axial for horizontal direction wheel shaft；
The wheel is configured with wheel hub motor and is assemblied on the wheel shaft, and the center of the wheel is located at the piston rod axis
On the extended line of line.
As one of embodiment, the hydro-pneumatic spring includes the oil cylinder, elastic damping mechanism and oil circuit mechanism, the oil
Cylinder includes the piston rod and nested multistage cylinder barrel step by step from outer to inner；
In per adjacent two-stage cylinder barrel, internal layer cylinder barrel outer wall multidiameter structure with a narrow upper and lower width, the enlarged diameter section of the internal layer cylinder barrel
Be embedded in and be slidedly arranged in outer layer cylinder barrel and top offers oil-through-hole turn on the outer layer inner cavity of cylinder, the internal layer cylinder barrel it is small directly
Footpath section is arranged in the bottom of outer layer cylinder barrel and is enclosed with the outer layer inner wall of cylinder and sets to form an annular grease chamber；The piston rod includes living
Piston part and the bar portion for being connected to the piston portion bottom, the piston portion, which is embedded in, to be slidedly arranged in innermost layer cylinder barrel, and the bar portion is worn
It is enclosed arranged on the bottom of the innermost layer cylinder barrel and with the innermost layer inner wall of cylinder and sets to form an annular grease chamber；
The top of outermost layer cylinder barrel offers elastic damping interface and is connected with the elastic damping mechanism, outermost layer cylinder barrel it is upper
Portion and each annular grease chamber offer oil circuit interface, and each oil circuit interface is connected with the oil circuit mechanism；
The splined shaft is coaxially disposed with each cylinder barrel, and the top of the splined shaft is located above outermost layer cylinder barrel and bottom is stretched
Into the inner cavity of the bar portion, the piston portion is connected with the splined shaft spline.
As one of embodiment, from-inner-to-outer is arranged at least one spline housing, each flower successively on the splined shaft
The top and bottom of key set are all provided with finite place piece, and the piston portion is connected with the outermost spline housing spline.
As one of embodiment, the elastic damping mechanism includes high-damping pipeline, low resistance pipeline and elastic balloon knot
Structure, the high-damping pipeline it is in parallel with the low resistance pipeline and with the elastic damping interface and the elastic balloon structure
Connection, the high-damping pipeline on the low resistance pipeline with being equipped with damper and the first control valve, and the high-damping pipe
The damping value of the damper of road is higher than the damping value of the damper on the low resistance pipeline.
As one of embodiment, the elastic balloon structure includes the air vesicle room being arranged in parallel and ballonet room, and two
Branch road is equipped with the second control valve where a gasbag chamber.
As one of embodiment, the hydro-pneumatic spring includes the oil cylinder, damping sheet and floating piston；
The oil cylinder includes cylinder barrel and the hollow piston rod, and the piston rod top is slidedly arranged in the cylinder barrel and bottom position
In outside the cylinder barrel, the piston rod cavity is led with the cylinder barrel oil pocket by being opened in the oil-through hole on the piston rod top
It is logical；
The splined shaft is arranged on the cylinder barrel and is connected with piston rod top spline, and the splined shaft bottom extends institute
In the inner cavity for stating piston rod；
The damping sheet, which is embedded in, to be slidedly arranged in the inner cavity of the piston rod and affixed with the splined shaft bottom, in the damping sheet
On be provided with damping oil passing passage；
The floating piston is slidedly arranged in the inner cavity of the piston rod and below the damping sheet, and by the piston rod
Inner cavity is divided into top grease chamber and lower section gas chamber.
As one of embodiment, the damping oil passing passage includes the compression damping hole being opened on the damping sheet and stretches
Damping hole is opened, the compression damping hole is configured with to control first unidirectionally controlled list of its excessively oily direction for direction from top to bottom
Member, the damping hole of upholding are configured with to control second unidirectionally controlled unit of its excessively oily direction for direction from bottom to top.
As one of embodiment, the first unidirectionally controlled unit includes installing in first on the damping sheet lower surface
Elastic cover plate, the second unidirectionally controlled unit includes installing in the second elastic cover plate on the damping sheet upper surface, described
First elastic cover plate and second elastic cover plate fitting parallel with the plate face of the damping sheet and it is covered each by corresponding resistance
Buddhist nun hole.
As one of embodiment, the splined shaft is also associated with steering angle sensor.
The present invention also provides a kind of vehicle, including car body, the walking unit of multigroup vehicle as described above, each institute are further included
The oil cylinder for stating hydro-pneumatic spring is fixedly mounted on the car body.
The beneficial effects of the present invention are：
The function of hydro-pneumatic spring is combined as a whole, by wearing by the walking unit of vehicle provided by the invention with turning function
Splined shaft at the top of oil cylinder drives the rotation of piston rod spline housing, in the case where ensureing the basic function of hydro-pneumatic spring, may be used also
The steering of wheel is realized, so as to effectively improve the operability of vehicle；The piston rod spline in the bounce of suspension system total travel
Set can reliably drive piston rod rotation that can control the random angle of wheel without influencing suspension system bounce, the walking unit
Degree rotation turns to, so as to ensure that vehicle can be realized according to the needs of various driving cycles around vehicle center original place Arbitrary Rotation
The functions such as steering, lateral translation, oblique translation, the various speed Turning travels of highway.Based on the walking unit of above-mentioned vehicle, vehicle
Each wheel between do not have turn to straight and horizontal adjusting rod mechanical connection, also without the mechanical connection of transmission system, thus with compared with
Good passability and mobility.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to institute in embodiment or description of the prior art
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure diagram for the hydro-pneumatic spring that the embodiment of the present invention one provides；
Fig. 2 is the structure chart of the walking unit of vehicle provided by Embodiment 2 of the present invention；
Fig. 3 is the structure chart of the walking unit for the vehicle that the embodiment of the present invention three provides
Fig. 4 and Fig. 5 is the schematic diagram of the upper and lower step of vehicle provided in an embodiment of the present invention；
Fig. 6 is the schematic diagram of Vehicular turn provided in an embodiment of the present invention traveling；
Fig. 7 is the schematic diagram that vehicle provided in an embodiment of the present invention travels on side slope road；
Fig. 8 is the schematic diagram of the oblique translation of vehicle provided in an embodiment of the present invention；
Fig. 9 is the schematic diagram of vehicle lateral translation provided in an embodiment of the present invention；
Figure 10 is the schematic diagram of turn inside diameter provided in an embodiment of the present invention traveling；
Figure 11 is the schematic diagram of vehicle spot turn provided in an embodiment of the present invention.
Specific embodiment
In order to which technical problems, technical solutions and advantages to be solved are more clearly understood, below in conjunction with attached
Figure and embodiment, the present invention will be described in further detail.It should be appreciated that specific embodiment described herein is only used to
It explains the present invention, is not intended to limit the present invention.
It should be noted that when element is referred to as " being fixed on " or " being arranged at " another element, it can be directly another
On one element or it is connected on another element.When an element is known as " being connected to " another element, it can
To be directly to another element or be indirectly connected on another element.
In the description of the present invention, it is to be understood that term " " center ", " length ", " width ", " thickness ", " on ",
" under ", "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", the orientation or position of the instructions such as " outer "
Relation is based on orientation shown in the drawings or position relationship, is for only for ease of the description present invention and simplifies description, without referring to
Show or imply that the device of meaning or element there must be specific orientation, with specific azimuth configuration and operation, therefore cannot manage
It solves as limitation of the present invention.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more this feature.In the description of the present invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
The interaction relationship of connection or two elements inside two elements.It for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term in the present invention is understood as the case may be.
Embodiment one
Such as Fig. 1 and Fig. 2, the embodiment of the present invention provides a kind of hydro-pneumatic spring, including oil cylinder, elastic damping mechanism and oil circuit mechanism,
The oil cylinder includes piston rod 3 and nested multistage cylinder barrel step by step from outer to inner；In per adjacent two-stage cylinder barrel, outside internal layer cylinder barrel 2
Wall multidiameter structure with a narrow upper and lower width, the enlarged diameter section 201 of the internal layer cylinder barrel 2, which is embedded in, to be slidedly arranged in outer layer cylinder barrel 1 and top
The oil-through-hole turned on 1 inner cavity of outer layer cylinder barrel is offered, the reduced diameter section 202 of the internal layer cylinder barrel 2 is arranged in outer layer cylinder barrel 1
Bottom and being enclosed with 1 inner wall of outer layer cylinder barrel sets to form an annular grease chamber 7；The piston rod 3 includes piston portion 301 and is connected to institute
The bar portion 302 of 301 bottom of piston portion is stated, the piston portion 301 is embedded in and is slidedly arranged in innermost layer cylinder barrel 2, and the bar portion 302 is worn
It encloses to set to form an annular grease chamber 8 in the bottom of the innermost layer cylinder barrel 2 and with 2 inner wall of innermost layer cylinder barrel；Outermost layer cylinder barrel 1 it is upper
Portion offers elastic damping interface and is connected with the elastic damping mechanism, the top of outermost layer cylinder barrel 1 and each annular
Grease chamber offers oil circuit interface, and each oil circuit interface is connected with the oil circuit mechanism.
Usually, above-mentioned each cylinder barrel is cylindrical bore, and inner cavity of cylinder is cylindrical cavity；Per adjacent two-stage cylinder
In cylinder, the bottom of outer layer cylinder barrel 1 offers perforating, the aperture of the perforating and the outer diameter of the reduced diameter section 202 of internal layer cylinder barrel 2
It is essentially identical, so as to which the reduced diameter section 202 of the internal layer cylinder barrel 2 can be closely slidably installed on the perforating, the internal layer cylinder barrel 2 it is big
Diameter segment 201 is embedded in and is slidably installed in the inner cavity of the outer layer cylinder barrel 1, so as to form the piston of the outer layer cylinder barrel 1.Similarly, it is most interior
The bottom of the cylinder barrel of layer is also offered closely slides the perforating set for above-mentioned bar portion 302, and above-mentioned piston portion 301 is embedded in and is slidably installed in most
So as to forming the piston of the innermost layer cylinder barrel 2 in internal layer cylinder barrel 2.
Hydro-pneumatic spring provided in this embodiment, can be according to various using multistage cylinder barrel and piston rod nested structure step by step
The size of the height for needing to adjust each wheel center of driving condition, size, the coefficient of elasticity for moving stroke etc., so as to meet not
With the demand of driving conditions, there is cross-country traveling ability, high maneuverability.
Further, such as Fig. 1 and Fig. 2, it is resistance on the hole wall of the bottom perforating of each cylinder barrel to be embedded with low-friction coefficient height
The lower pressure-bearing set 10 of mill, which is sleeved on the corresponding 202 cylinder barrel outer wall of reduced diameter section worn or above-mentioned bar portion 302
Outer wall on；It is resistance to embedded with low-friction coefficient height on the outer circumferential surface of the enlarged diameter section 201 of each cylinder barrel in addition to outermost layer cylinder barrel 1
The upper pressure-bearing set 9 of mill, pressure-bearing set 9 is pushed against on the inner wall of the corresponding sliding outer layer cylinder barrel 1 set on this；In above-mentioned piston portion 301
Embedded with the upper pressure-bearing set 9 of low-friction coefficient high abrasion on outer circumferential surface, pressure-bearing set 9 is pushed against the corresponding sliding innermost layer cylinder set on this
On the inner wall of cylinder 2.In the longitudinal force and lateral force that wheel 34 is subject to ground to transmit, above-mentioned each upper pressure-bearing set 9 and it is each under hold
Pressing sleeve 10 bears radial load, ensures the service life and functional reliability of equipment.
Further, such as Fig. 1 and Fig. 2, on the hole wall of the bottom perforating of each cylinder barrel, each cylinder in addition to outermost layer cylinder barrel 1
Oil sealing is equipped on the outer circumferential surface of the enlarged diameter section 201 of cylinder and on the outer circumference surface of piston portion 301, to prevent pressure oil from letting out
Leakage, the lower section of preferably corresponding/adjacent pressure-bearing set of each oil sealing, further preferably covers close to the pressure-bearing and sets.It is in addition, each
Dirt-proof boot is additionally provided on the hole wall of the bottom perforating of cylinder barrel, to prevent that muddy water dust enters in cylinder outside oil cylinder, this is dust-proof
Set is preferably the lower section for being arranged at corresponding oil sealing.
Continue the structure of above-mentioned hydro-pneumatic spring, and above-mentioned oil circuit mechanism includes accumulator 15, high-pressure oil pump 17 and high pressure
Grease chamber 16, specifically, each oil circuit interface are connected with an oil inlet pipe and a drain line, and oil inlet pipe is in parallel with drain line
It sets and is connected with the accumulator 15, above-mentioned high-pressure oil pump 17 and high-pressure oil chamber 16 are arranged on oil inlet pipe, in oil inlet
Pipeline is equipped with into oil control valve, and oil extraction control valve is equipped in drain line, respectively equal into oil control valve and each oil extraction control valve
Preferably use solenoid valve.Above-mentioned high-pressure oil pump 17 is preferably to be arranged between high-pressure oil chamber 16 and accumulator 15, above-mentioned oil inlet
Control valve is preferably to be arranged between high-pressure oil chamber 16 and corresponding oil circuit interface.It is further preferred that each oil circuit interface shares
One high-pressure oil chamber 16, i.e. high-pressure oil chamber 16 are connected by high-pressure oil pump 17 with accumulator 15, and the outlet of the high-pressure oil chamber 16
End is by multiple branch's oil pipes with each oil circuit orifice, being correspondingly arranged an above-mentioned oil inlet on each branch's oil pipe respectively
Control valve.
Continue the structure of above-mentioned hydro-pneumatic spring, such as Fig. 2, and the elastic damping mechanism includes high-damping pipeline, low resistance
Pipeline and elastic balloon structure, the high-damping pipeline it is in parallel with the low resistance pipeline and with the elastic damping interface and
The elastic balloon structure connection, the high-damping pipeline is with being equipped with damper and the first control on the low resistance pipeline
Valve, and the damping value of the damper on the high-damping pipeline is higher than the damping value of the damper on the low resistance pipeline.On
The damper stated is this field routine techniques, and details are not described herein again for concrete structure, and the damper on high-damping pipeline is high resistant
Buddhist nun's device 26, the damper on low resistance pipeline are low resistance device 24.Above-mentioned each first control valve is both preferably using solenoid valve.
Further, such as Fig. 2, the elastic balloon structure includes the air vesicle room 30 being arranged in parallel and ballonet room 31, and two gas
Branch road is equipped with the second control valve where capsule room, and two second control valves are both preferably using solenoid valve.What the present embodiment used
The specific implementation effect of elastic damping mechanism will further illustrate in subsequent embodiment, temporarily omit herein.
In the present embodiment, such as Fig. 1 and Fig. 2, using the cylinder barrel described in two-stage, vehicle ground clearance adjustment can be met, hanged
Frame moves the demands such as run length code matching.
Embodiment two
Such as Fig. 2, the present embodiment provides a kind of walking unit of vehicle, including wheel 34, hydro-pneumatic spring and steer-drive；
The steer-drive includes splined shaft 4 and steering driving mechanism；The splined shaft 4 is coaxially arranged in the oil gas bullet
On the oil cylinder of spring, and the shaft part outside the oil cylinder is connected to revolve around own axes with the steering driving mechanism
Turn, be connected positioned at the in-oil cylinder shaft part with 3 spline of piston rod of the oil cylinder；
The bottom of the piston rod 3 is connected with axle block 33, is equipped on the axle block 33 axial for horizontal direction wheel shaft 35；
The wheel 34 is configured with wheel hub motor 36 and is assemblied on the wheel shaft 35, and the center of the wheel 34 is located at the work
On the extended line of 3 central axes of stopper rod.
Wherein, the hydro-pneumatic spring which is preferably provided using above-described embodiment one, the tool of the hydro-pneumatic spring
Details are not described herein again for body structure.Specifically, such as Fig. 2, the splined shaft 4 is coaxially disposed with each cylinder barrel, the splined shaft 4
Top is located at 1 top of outermost layer cylinder barrel and bottom is extended in the inner cavity of the bar portion 302, the piston portion 301 and the spline
4 spline of axis connects namely is equipped on the piston portion 301 splined shaft via, above-mentioned splined shaft 4 to be allowed to pass through, the splined shaft 4
It sequentially passes through the oil-through hole of each cylinder barrel and above-mentioned splined shaft via and stretches in the inner cavity of bar portion 302, in the piston portion
Spline housing 5 on 301 is installed and passes through the spline housing 5 and is connected with 4 spline of splined shaft, so as to which the splined shaft 4 can be with piston
Portion 301 and bar portion 302 rotate, while do not interfere with the vertical sliding motion of above-mentioned piston rod 3 and each cylinder barrel, in the bar portion
302 bottom connection wheel 34 can be rotated with motor car wheel 34 so as to fulfill the steering of wheel 34；The splined shaft 4 is pierced by outermost layer
The top of cylinder barrel 1, thus steer-drive can be connected so that it to be driven to be rotated around own axes.In the present embodiment, by setting
The splined shaft 4 is put, in the case where ensureing the basic function of this hydro-pneumatic spring, can also be achieved the steering of wheel 34, so as to effectively
Improve the operability of vehicle in ground；In addition, above-mentioned splined shaft 4 can also to the vertical sliding motion of piston rod 3 and each cylinder barrel into
Row is oriented to, and ensures the job stability of wheel 34.It is further preferred that such as Fig. 1 and Fig. 2, on the splined shaft 4 from-inner-to-outer according to
Secondary to be arranged at least one spline housing 5, the top and bottom of each spline housing 5 are all provided with finite place piece 501, the piston portion
301 are connected with outermost 5 spline of spline housing, are adapted to the big stroke demand of vehicle suspension.Above-mentioned locating part 501 can be with
It is circlip for shaft being arranged on spline housing 5 etc..
In the present embodiment, such as Fig. 1 and Fig. 2, the steer-drive preferably comprises driving motor 12, steering gear worm 14
With steering screw 13, the steering gear worm 14 and the coaxial socket of the splined shaft 4, the steering screw 13 and the steering gear worm
14 engage and are connected with the driving motor 12.Since driving motor 12 is controlled by steering screw 13 and steering gear worm 14
Wheel 34 turns to, and because worm screw has worm gear certain self-locking, therefore the steering that can offset ground in face of wheel 34 is disturbed.
It is further preferred that the splined shaft 4 is also associated with steering angle sensor 11, which can be to vehicle
The steering angle information of control system feedback wheel 34, under the coordination of control system, steering will make wheel 34 according to suitable
When direction of motion angle and the cornering behavior of tire determine the steering angle of the wheel 34, can be most so as to obtain excellent handling stability
Limits reduce the abrasion of tire.
Such as Fig. 1 and Fig. 2, above-mentioned driving motor 12 and steering angle sensor 11 are preferably the top for being arranged at outermost layer cylinder barrel 1
End, structure are relatively simple.
Further, such as Fig. 2, the axle block 33 is including the vertical section 332 for being connected with the wheel shaft 35 and even
It is connected to 332 top of vertical section and the horizontal segment 331 extended towards direction outside car body, bottom and the water of the bar portion 302
The top of flat section 331 is connected.Above-mentioned vertical section 332 and horizontal segment 331 are both preferably using disc-shaped structure.In above-mentioned axle block
In 33 structure, it is easy-to-understand to, vertical section 332 is disposed on outside the one side/separate car body on the close chassis of wheel 34
One side is the both sides that tire is relatively separately positioned on wheel rim in other words.
Above-mentioned wheel center is the wheel on the extended line of each cylinder barrel central axes of above-mentioned hydro-pneumatic spring/3 central axes of piston rod
The power of ground all directions suffered by 34 is transmitted to cylinder barrels at different levels by piston rod 3 and is transmitted to car body again, and stability is preferable, moreover, the oil gas
Spring can need to adjust wheel center with respect to the height of car body, the size of dynamic stroke, bullet according to various driving cycles
The size of property coefficient, damped coefficient, moreover it is possible to according to vehicle by landform need to lift wheel 34 leave ground so as to more
Barrier, thus with preferable handling and cross-country ability.
It is further preferred that such as Fig. 2, the rotor 362 of the wheel hub motor 36 be set on the wheel shaft 35 and with it is described
Wheel 34 connects, and stator casing 361 is abutted with the vertical section 332.The present embodiment carries out wheel 34 by wheel hub motor 36
Independent driving, can preferably match above-mentioned hydro-pneumatic spring and be configured with excellent possessed by the steering structure of the hydro-pneumatic spring
Handling, meets the vehicle wheel rotational speed demand under various road conditions in real time, and wheel 34 without sliding wear and has good in ground pure rolling
Handling stability, ensure vehicle have excellent harmony, stability and handling.Be easy-to-understand to, the wheel hub motor 36 with
Vehicle control system is electrically connected.
It is further preferred that such as Fig. 2, lateral force sensors 37, the lateral force sensing are equipped in the vertical section 332
Device 37 be located at the vertical section 332 with the stator casing 361 against abutment face on；The lateral force sensors 37 and vehicle
Control system is electrically connected, and lateral force suffered by wheel 34 can be detected in real time by the lateral force sensors 37, to improve wheel
The handling stability of 34/ vehicle.Such as：When the steering angle of wheel 34 is improper, cause the wheel center and vehicle Instantaneous center
The actual motion direction line out of plumb of line and the wheel 34, and so that the wheel 34 generates lateral sliding wear with ground, and influence
Handling stability；At this moment the wheel 34 generates additional lateral force by the lateral force sensors in the vertical section 332 of above-mentioned axle block 33
37 detect and feed back to vehicle control system, and the steering angle that vehicle control system then adjusts the wheel 34 makes suffered by the wheel 34
Additional lateral force eliminates；Tire wear will be further reduced in this closed-loop control measure, improves handling stability.
It is further preferred that such as Fig. 2, vertical load sensor 32, the vertical load are equipped in the bottom of the bar portion 302
Sensor 32 is electrically connected with vehicle control system, can be detected by the vertical load sensor 32 and be erected suffered by wheel 34 in real time
To load, one of function is that the vertical load information is supplied to vehicle control system, to resolve slip angle of tire, so as to
More accurately improve the handling stability of vehicle.
Embodiment three
Such as Fig. 3, the present embodiment provides a kind of walking unit of vehicle, including wheel 34, hydro-pneumatic spring and steer-drive；
The steer-drive includes splined shaft 400 and steering driving mechanism；The splined shaft 400 is coaxially arranged in the oil
On the oil cylinder of gas spring, and the shaft part outside the oil cylinder is connected with the steering driving mechanism so as to around own axes
Rotation, is connected positioned at the in-oil cylinder shaft part with 300 spline of piston rod of the oil cylinder；
The bottom of the piston rod 300 is connected with axle block 33, is equipped on the axle block 33 axial for horizontal direction wheel shaft
35；
The wheel 34 is configured with wheel hub motor 36 and is assemblied on the wheel shaft 35, and the center of the wheel 34 is located at the work
On the extended line of 300 central axes of stopper rod.
Wherein, above-mentioned hydro-pneumatic spring includes oil cylinder, damping sheet 400 and floating piston 500；The oil cylinder includes cylinder barrel 100
With hollow piston rod 300,300 top of piston rod is slidedly arranged in the cylinder barrel 100 and bottom is located at the cylinder barrel 100
Outside, 300 inner cavity of piston rod is turned on 100 oil pocket of cylinder barrel by being opened in the oil-through hole on 300 top of piston rod；
The splined shaft 400 is arranged on the cylinder barrel 100 and is connected with the 300 top spline of piston rod, and the splined shaft 400 pushes up
End is connected with the steer-drive so as to be rotated around own axes, and 400 bottom of splined shaft extends the piston
In the inner cavity of bar 300；The damping sheet 400 be embedded in be slidedly arranged in the inner cavity of the piston rod 300 and with 400 bottom of splined shaft
Hold it is affixed, in being provided with damping oil passing passage on the damping sheet 400；The floating piston 500 is slidedly arranged on the piston rod 300
Inner cavity in and positioned at 400 lower section of the damping sheet, and the inner cavity of the piston rod 300 is divided into top grease chamber and lower section gas
Room.
In above-mentioned hydro-pneumatic spring, damping sheet 400 can to by pressure oil generate damping action, meanwhile, can be right
The downward storke of piston rod 300 is defined, and can be blocked piston rod spline housing 310 in 300 downlink of piston rod, be avoided piston rod
300 skid off cylinder barrel 100.It is further preferred that such as Fig. 3, the damping oil passing passage includes being opened on the damping sheet 400
Compression damping hole 401 and uphold damping hole 402, the compression damping hole 401 be configured with to control its excessively oily direction be from
And the first unidirectionally controlled unit in lower direction, the extension damping hole 402 be configured with to control its excessively oily direction be from lower and
The second unidirectionally controlled unit in upper direction.The pressure that direction on self-damping plate 400 is flowed through in above-mentioned compression damping hole 401 below
Oil generates damping action, and above-mentioned extension damping hole 402 generates damping to the pressure oil that 400 times directions of self-damping plate are just flowed through thereon
Effect can play preferable damping action when ensureing piston rod 300 compared with 100 upstream or downstream of cylinder barrel.Above-mentioned floating is lived
Compressed air is filled in the gas chamber of 500 lower section of plug, the medium of elastic property is generated as hydro-pneumatic spring.Specifically：
When wheel 34 runs into bump, piston rod 300 moves upwards namely with respect to cylinder barrel 100 compared with 400 He of splined shaft
Damping sheet 400 moves upwards, and damping sheet 400 reduces with 500 spacing of floating piston, and pressure oil therebetween promotes floating piston
500 move downward, and the compressed air of 500 lower section of floating piston is further compressed, so as to generate elastic reaction；It lives due to floating
Plug 500 moves down, and the pressure oil of 500 top of floating piston then flow down, the pressure oil of 310 top of piston rod spline housing can
By the hole flow down on piston rod spline housing 310, the pressure oil of 400 top of damping sheet can pass through the pressure on damping sheet 400
401 flow down of contracting damping hole, this generates compression damping power in the process；
When wheel 34 runs into pothole, piston rod 300 moves downward namely with respect to cylinder barrel 100 compared with 400 He of splined shaft
Damping sheet 400 moves downward, and damping sheet 400 increases with 500 spacing of floating piston, and the compressed air of 500 lower section of floating piston is then
Expansion promotes floating piston 500 up to move, so as to generate elastic reaction；The pressure oil of 500 top of floating piston is then toward upper
Dynamic, the pressure oil of 310 lower section of piston rod spline housing can up be flowed by the hole on piston rod spline housing 310, under damping sheet 400
The pressure oil of side can up be flowed by the extension damping hole 402 on damping sheet 400, this generates uphold damping force in the process.
Above-mentioned first unidirectionally controlled unit and the second unidirectionally controlled unit play the role of check valve, are easy-to-understand to, two
The check valve with certain Opening pressure threshold value can be used in person, and in preferred embodiment provided in this embodiment, such as Fig. 3,
The first unidirectionally controlled unit is included installing in the first elastic cover plate 403 on 400 lower surface of damping sheet, and described second
Unidirectionally controlled unit includes installing in the second elastic cover plate 404 on 400 upper surface of damping sheet, the described first elastic cover plate
403 and the second elastic cover plate 404 fitting parallel with the plate face of the damping sheet 400 and it is covered each by corresponding damping
Hole.Certain Opening pressure threshold value can be provided by the elastic reaction of above-mentioned elastic cover plate, while it is single to play control pressure oil
To by effect；When the pressure of the pressure oil of respective side is more than the Opening pressure threshold value, pressure oil can push the elastomeric cap open
Piece.It is further preferred that the aperture in the compression damping hole 401 is more than the aperture of the extension damping hole 402, i.e. control is upheld
Damping force is bigger than compression damping power, ensures handling stability of the vehicle under each road conditions.Such as Fig. 3, two elastic cover plates can be consolidated by bolt
It is scheduled on the damping sheet 400.
Continue the steering structure of above-mentioned wheel 34, such as Fig. 3, and the steer-drive includes driving motor 12, turns to snail
Wheel 14 and steering screw 13, the steering gear worm 14 and the coaxial socket of the splined shaft 400, the steering screw 13 and described turn
It engages to worm gear 14 and is connected with the driving motor 12.Since driving motor 12 is by steering screw 13 and steering gear worm 14
Control the wheel 34 to turn to, and because worm screw has worm gear certain self-locking, thus can offset in face of wheel 34 steering stem
It disturbs.
Further, such as Fig. 3, the splined shaft 400 is also associated with steering angle sensor 11.The steering angle sensor 11 can
To the steering angle information of vehicle control system feedback wheel 34, under the coordination of control system, steering will make wheel 34
The steering angle of the wheel 34 is determined according to the cornering behavior in due course direction of motion angle and tire, so as to obtain excellent handling stability,
The abrasion of tire can be minimized.Such as Fig. 3, above-mentioned driving motor 12 and steering angle sensor 11 are preferably to be arranged at cylinder barrel
100 top, structure are relatively simple.
Further, such as Fig. 3, the piston rod of low-friction coefficient high abrasion is embedded on the lateral wall at 300 top of piston rod
Pressure-bearing set 901, piston rod pressure-bearing set 901, which corresponds to, to be pushed against on the internal ring wall of cylinder barrel 100, the internal ring wall in 100 bottom of cylinder barrel
The cylinder barrel pressure-bearing set 902 of low-friction coefficient high abrasion is embedded on face, cylinder barrel pressure-bearing set 902, which corresponds to, is pushed against piston rod 300
Lateral wall on, in the longitudinal force and lateral force that wheel 34 is subject to ground to transmit, above-mentioned piston rod pressure-bearing set 901 and cylinder barrel
Pressure-bearing set 902 bears radial load, ensures the service life and functional reliability of equipment.Inner ring wall surface in 100 bottom of cylinder barrel
On be additionally provided with oil sealing, to prevent pressure oil from leaking, which is preferably located at the lower section of above-mentioned cylinder barrel pressure-bearing set 902, further
Preferably close to cylinder barrel pressure-bearing set 902；In addition, dirt-proof boot is additionally provided on the inner ring wall surface of 100 bottom of cylinder barrel, to prevent
Muddy water dust enters in cylinder outside oil cylinder, which is preferably the lower section for being arranged at corresponding oil sealing.
Further, oil sealing is embedded on the lateral wall of above-mentioned floating piston 500, it is empty to separate pressure oil and compression
Gas avoids pressure oil to gas chamber internal leakage.It is easy-to-understand to, the bottom of above-mentioned piston rod 300 is that closing is set, to prevent from pressing
Contracting air leaks, and can be integrated formed structure or use seat 311 and piston rod 300 under piston rod detachable
Connected structure blocks the cavity of the piston rod 300 by seat 311 under the piston rod namely blocks the gas chamber, seat under piston rod
311 can be connected with piston rod 300 by bolt etc., and sealing gland circle can be set on the two contact surface, with the airtight of both enhancings connection
Property.
Preferably, charge valve is equipped in the bottom of above-mentioned piston rod 300, for filling compressed air into gas chamber to specified
Pressure；For the above-mentioned structure using seat under piston rod 311, which is arranged under the piston rod on seat 311.It is floating
Piston 500 is equipped with fuel feeding valve, for filling pressure oil in grease chamber upward.
The concrete structure of above-mentioned wheel 34, axle block 33, wheel hub motor 36 etc. and mutual assembly connection structure can refer to
The related content in embodiment two is stated, is no longer described in detail one by one herein.
Example IV
The present embodiment provides a kind of vehicle, including car body and it is multigroup provided such as above-described embodiment two or embodiment three
The walking unit of vehicle.Those skilled in the art know that the quantity of above-mentioned walking unit should be able to meet what vehicle can walk
Demand, it is general to be no less than 4 groups, preferably it is 8 groups or 8 groups or more of above-mentioned walking unit, i.e., including 8 or 8 or more
Wheel 34.
In one of the embodiments, including 8 above-mentioned wheels 34, the running gear of the vehicle is four vehicle bridge 8 × 8,
Vehicle center of gravity is between Bridge 2 and 3 bridges；Rotary rpm, torque of 8 wheels 34 etc. are according to driving mode, travel speed, steering side
Formula etc. is determined by vehicle control system.
The power source of above-mentioned vehicle can be diesel engine, by diesel engine electrical power generators be driven to charge a battery, electric power storage
Pond is the power supplies such as each motor of full vehicle, electric appliance.Certainly, it is all suitable in this present embodiment as power source using energy such as gasoline.
In above-mentioned 8 groups of walking units, 8 groups of steering driving mechanisms control the steering angle of 8 wheels 34 respectively.Driver passes through
Steering wheel operating steering order device；Steering wheel is equipped with return spring, unclamps direction after driver is turned to by steering wheel operating
During disk, steering wheel can automatically return to in-line position.The steering order device sends instruction and directly controls the steering driving of vehicle the near front wheel
The action of mechanism so as to directly control the steering angle of vehicle the near front wheel, makes the near front wheel steering angle remain and steering order device
Steering angle it is consistent.The steering angle of other 7 wheels is coordinated to determine by vehicle control system according to the value of the near front wheel steering angle.Direction
Three steering mode select buttons are provided on disk, respectively " routine ", " rotating in place ", " translation " is selected for driver.Vehicle
Control system coordinates to determine the steering angles of other 7 wheels according to the value of the selected button of driver and the near front wheel steering angle,
So as to respectively realize " conventional highway Turning travel ", " around vehicle center original place Arbitrary Rotation turn to ", " lateral translation or tiltedly
To translation ".Vehicle control system is according to the selected steering mode select button information of driver, 9 corner information of steering wheel, oil
Door pedal position information, vehicle speed information, the respectively feedback information of each wheel speed, wheel steering angle feedback information, the vertical load of each wheel
Lateral force information suffered by lotus information, each wheel is come the steering angle that calculates the rotating speed of definite each wheel, respectively take turns.Information is transmitted by vehicle
CAN bus is completed.
Walking unit based on the vehicle that above-described embodiment two is provided, can also control suspension system, to suspension
The operational order of system is then shown on the screen of touch instrument, and driver clicks on menu selection.
Embodiment five
Below by taking eight-wheeler as an example, the drive manner of the vehicle of above-described embodiment offer is illustrated, configures above-mentioned implementation
The walking unit for the vehicle that example two is provided.
This is sentenced configures the hydro-pneumatic spring as shown in Figure 1 using two-stage cylinder barrel including 8 wheels 34, each wheel 34
Exemplified by vehicle：
The annular grease chamber between outer layer cylinder barrel 1 and internal layer cylinder barrel 2 is defined as first annular grease chamber 7, internal layer cylinder barrel 2 and piston rod 3
Between annular grease chamber be the second annular grease chamber 8；The oil circuit interface set by 1 top of outer layer cylinder barrel is defined to connect for the first oil circuit
Mouthful, the oil circuit interface set on first annular grease chamber 7 is the second oil circuit interface, the oil circuit interface set on the second annular grease chamber 8
For the 3rd oil circuit interface.
It is the first solenoid valve 18 to define the solenoid valve on the oil inlet pipe that 1 top of outer layer cylinder barrel is connected, the row connected
Solenoid valve on oil pipe line is second solenoid valve 19；On the oil inlet pipe and drain line that the first annular grease chamber 7 is connected
Solenoid valve be respectively the 3rd solenoid valve 20 and the 4th solenoid valve 21；Oil inlet pipe that the second annular grease chamber 8 is connected and
Solenoid valve on drain line is respectively the 5th solenoid valve 22 and the 6th solenoid valve 23；Define low resistance pipeline on solenoid valve be
7th solenoid valve 25, the solenoid valve on high-damping pipeline are the 8th solenoid valve 27；Define 31 place elastic balloon branch of ballonet room
The solenoid valve of road is the 9th solenoid valve 28, and the solenoid valve for defining 30 place elastic balloon branch road of air vesicle room is the tenth electromagnetism
Valve 29.
At this moment vehicle will wish that vehicle ground clearance reduces, center of gravity reduces, at suspension system on good highway when driving
In rigidity is smaller, damping also smaller elastic stage to obtain good ride comfort, dynamic stroke needed for suspension system also compared with
It is small.Driver need to only select " good road " pattern on the screen of touch instrument.
Under the coordination of vehicle control system, the 7th solenoid valve 25, the 9th solenoid valve 28, the tenth solenoid valve 29, the are opened
Two solenoid valves 19 and the 3rd solenoid valve 20 close the 8th solenoid valve 27, the first solenoid valve 18 and the 4th solenoid valve 21.Each oil gas bullet
Spring closes high-damping device 26 by the 8th solenoid valve 27, opens low resistance device 24 by the 7th solenoid valve 25, makes each hydro-pneumatic spring
In low resistance operating mode.It is located in outer layer cylinder barrel 1 in 2 enlarged diameter section of internal layer cylinder barrel, 201 superjacent air space and internal layer cylinder barrel 2 and is located at
Oil in 3 superjacent air space of piston rod can be connected by the 7th solenoid valve 25, low resistance device 24, the tenth solenoid valve 29 with air vesicle room 30
It is logical, it can also be connected by the 7th solenoid valve 25, low resistance device 24, the 9th solenoid valve 28 with ballonet room 31, make each hydro-pneumatic spring
In rigidity is smaller, damping also smaller elastic stage.
The first oil circuit interface of hydro-pneumatic spring and the connection of high-pressure oil chamber 16 are closed by the first solenoid valve 18, passes through second
Solenoid valve 19 opens the first oil circuit interface of hydro-pneumatic spring and the connection of accumulator 15, makes to be located at internal layer cylinder barrel 2 in outer layer cylinder barrel 1
The oil pressure of pressure oil in 201 superjacent air space of enlarged diameter section and internal layer cylinder barrel 2 in 3 superjacent air space of piston rod declines, oil
It can be squeezed and flow to accumulator 15.
The connection of the second oil circuit interface and the accumulator 15 of hydro-pneumatic spring is closed by the 4th solenoid valve 21 simultaneously, by the
Three solenoid valves 20 open the second oil circuit interface of hydro-pneumatic spring and the high pressure oil of the connection, at this moment high-pressure oil chamber 16 of high-pressure oil chamber 16
First annular grease chamber 7 is flowed into through the second oil circuit interface.The piston rod spline housing 6 on 3 head of piston rod is fixed on during 3 uplink of piston rod
It is slided on the external splines of spline housing 5, spline housing 5 is then driven when baffle ring on spline housing 5 is run at the top for sliding into spline housing 5
The upward sliding on splined shaft 4 is collided so as to avoid spline housing 5 and 3 bottom of piston rod.It is complete up and down with respect to car body in wheel 34
In stroke motion, 3 bottom of piston rod will not all collide with splined shaft 4, spline housing 5.And 8 steering motors can be in control
Under the coordination of system, steering screw 13, steering gear worm 14, splined shaft 4, spline housing 5, piston rod spline housing 6, piston are reliably driven
Bar 3, axle block 33 rotate, and then drive the steering of 8 wheels 34.Wheel 34 with respect to car body uplink, then the road clearance reduce, again
The heart reduces.Wheel 34 depends on 2 Top Runby of internal layer cylinder barrel with respect to car body Top Runby, can determine, but be adjusted as needed
Distance be exactly reduction amount that suspension system moves stroke.Internal layer cylinder barrel 2 can adjust the top for being up to outer layer cylinder barrel 1 always, if
The distance adjusted not enough, can employ the upper dynamic stroke of piston rod 3 for adjusting with similar approach；Namely pass through the 6th again
Solenoid valve 23 closes the 3rd oil circuit interface of hydro-pneumatic spring and the connection of accumulator 15, and wheel oil is opened by the 5th solenoid valve 22
3rd oil circuit interface of gas spring and the connection of high-pressure oil chamber 16, the high pressure oil of high-pressure oil chamber 16 flow into the through the 3rd oil circuit interface
Second ring grease chamber Room 8, high pressure oil generate thrust to the upper surface of the second annular grease chamber 8 and push 3 uplink of piston rod, piston rod 3
Then drive 34 uplink of axle block 33 and entire wheel；Certainly the dynamic stroke needed for traveling must be stopped.Generally on good highway
Required dynamic stroke is smaller when driving, and wishes that the road clearance reduces, center of gravity reduces.It is actually true as being travelled on good highway
It is usually to be determined by adjustor to determine car body more high, much road clearances.Control system possesses memory function, and driver need to only touch
Touch selection " good road " pattern on the screen of formula instrument；If driver is discontented with imaginary adjustment, the point again under " good road " pattern
Car body can be raised by pressing " liter " button；Car body can be reduced by pressing " drop " button again.Control system possesses memory function, next driver
Selection " good road " pattern is that the height of the carbody determined by last time adjusts.
The first solenoid valve 18 is still closed each the first oil circuit for taking turns hydro-pneumatic spring and is connect after the completion of wheel center position adjustment
Mouth and the connection of high-pressure oil chamber 16, then each the first oil circuit interface for taking turns hydro-pneumatic spring and oil storage are also switched off by second solenoid valve 19
Room 15 connects namely the first oil circuit interface completely closes, and remains unchanged total oil mass in each 1 upper space of wheel outer layer cylinder barrel,
It can only circulate through elastic damping interface, the 7th solenoid valve 25, low resistance device 24, the 9th solenoid valve 28 and in ballonet room 31, also
It can be through elastic damping interface, the 7th solenoid valve 25, low resistance device 24, the tenth solenoid valve 29 with circulating in air vesicle room 30, at this moment
Determine the equilbrium position at each wheel center.And the oil pressure of 3 superjacent air space of piston rod makes nitrogen in air vesicle room 30 and ballonet room 31
Air volume compresses, and the volume of big ballonet is inversely proportional with oil pressure when temperature-resistant.Also after the completion of wheel center position adjustment
The second oil circuit interface of hydro-pneumatic spring and the connection of high-pressure oil chamber 16 are closed by the 3rd solenoid valve 20, passes through the 4th solenoid valve 21
The second oil circuit interface of hydro-pneumatic spring and the connection of accumulator 15 are closed, completely encloses the second oil circuit interface of hydro-pneumatic spring,
At this moment position of the internal layer cylinder barrel 2 in outer layer cylinder barrel 1 is relatively fixed completely, and outer layer cylinder barrel 1, which rises to adjust, adjusts each wheel center
The effect of height is without dynamic stroke effect.But the 3rd oil circuit interface and high-pressure oil chamber are closed by the 5th solenoid valve 22
The connection of the 3rd oil circuit interface and accumulator 15 of hydro-pneumatic spring is opened in 16 connection by the 6th solenoid valve 23；When wheel 34
When running into bump and raising, piston rod 3 uplink is driven to promote pressure oil through elastic damping interface, the 7th solenoid valve 25, low
Damper 24, the 9th solenoid valve 28 are flowed into ballonet room 31, through elastic damping interface, the 7th solenoid valve 25, low resistance device
24th, the tenth solenoid valve 29 is flowed into air vesicle room 30, and oil pressure raises at this time, and nitrogen volume is compressed in big ballonet.Work as vehicle
Wheel 34 run into pothole and under when stretching, drive 3 downlink suction pressure oil of piston rod through elastic damping interface, the 7th solenoid valve
25th, low resistance device 24, the 9th solenoid valve 28 are flowed out from ballonet room 31, through elastic damping interface, the 7th solenoid valve 25, low-resistance
Buddhist nun's device 24, the tenth solenoid valve 29 are flowed out from air vesicle room 30；Oil pressure declines at this time, nitrogen volume expansion in big ballonet.
The product of ground reaction force and 3 head area of 3 superjacent air space oil pressure of piston rod and piston rod balances suffered by each wheel during this.
Vehicle will be on cross-country road when driving, it is desirable to which vehicle ground clearance increase, center of gravity rise, suspension system are in rigidity
Also larger elastic stage, the dynamic stroke needed for suspension system are also larger for larger, damping.Driver only need to be in touch instrument at this time
" cross-country " pattern is selected on the screen of table.
At this time under the coordination of control system, the 8th solenoid valve 27, the tenth solenoid valve 29, the first solenoid valve 18 and the are opened
Four solenoid valves 21 close the 7th solenoid valve 25, the 9th solenoid valve 28,19 and the 3rd solenoid valve 20 of second solenoid valve.Each oil gas bullet
Spring opens high-damping device 26 by the 8th solenoid valve 27, closes low resistance device 24 by the 7th solenoid valve 25, makes each hydro-pneumatic spring
In high-damping operating mode.It is located in outer layer cylinder barrel 1 in 2 enlarged diameter section of internal layer cylinder barrel, 201 superjacent air space and internal layer cylinder barrel 2 and is located at
Oil in 3 superjacent air space of piston rod can pass through elastic damping interface, the 8th solenoid valve 27, high-damping device 26, the tenth solenoid valve 29
It is flowed into air vesicle room 30, each hydro-pneumatic spring is made to be in elastic stage.Than the above-mentioned situation on good highway when driving,
9th solenoid valve 28 is not opened, and the nitrogen in ballonet room 31 does not participate in elastic reaction, thus the rigidity of suspension system increases therewith
It is larger；If also disliking rigidity inadequate, " adding rigidity " can be selected again on the screen of touch instrument, it can be again by opening the 9th electricity
Magnet valve 28 closes the tenth solenoid valve 29, makes the air vesicle room 30 for participating in elastic reaction into ballonet room 31, suspension system it is firm
Degree increases again therewith, the increase of 34 earth-grasping force of wheel, handling raising.
The first oil circuit interface of hydro-pneumatic spring and the connection of high-pressure oil chamber 16 are opened by the first solenoid valve 18, then is passed through
Second solenoid valve 19 closes the first oil circuit interface of hydro-pneumatic spring and the connection of accumulator 15, and the oil stream for making high-pressure oil chamber 16 is outside
In the upper space of layer cylinder barrel 1 internal layer cylinder barrel 2 is promoted to be moved downward with piston rod 3.17 and first solenoid valve 18 of high-pressure oil pump
Dynamic, oil is pumped into high-pressure oil chamber 16 from accumulator 15 and is supplemented at any time by high-pressure oil pump 17.Each 2 enlarged diameter section of wheel internal layer cylinder barrel
The oil pressure of pressure oil in 201 superjacent air spaces and in 301 superjacent air space of piston portion is P, 2 enlarged diameter section 201 of internal layer cylinder barrel
The sum of upper surface and 301 upper surface area of piston portion are that the product of S, P and S and ground reaction force suffered by corresponding wheel 34 balance.It is logical
It crosses the 4th solenoid valve 21 and opens the second oil circuit interface of hydro-pneumatic spring and the connection of accumulator 15, closed by the 3rd solenoid valve 20
Second oil circuit interface of hydro-pneumatic spring and the connection of high-pressure oil chamber 16, at this moment the oil of first annular grease chamber 7 pass through the 4th solenoid valve
21st, the second oil circuit interface of hydro-pneumatic spring, which is extruded, flows into accumulator 15, as internal layer cylinder barrel 2 and piston rod 3 move downward band
Piston bar 3, axle block 33 and entire 34 downlink of wheel, wheel 34 with respect to car body downlink, then the road clearance increase, center of gravity liter
It is high；Wheel 34 depends on 2 Bottom Runby of internal layer cylinder barrel with respect to car body Bottom Runby, and the distance that it is adjusted is exactly internal layer cylinder
The incrementss of stroke are moved on cylinder 2.Internal layer cylinder barrel 2 can go downwards to the middle part of outer layer cylinder barrel 1 always, moved on internal layer cylinder barrel 2 stroke with
Dynamic stroke is equal down.The 4th solenoid valve 21 is first closed temporarily, then the 3rd oil circuit of hydro-pneumatic spring is opened by the 6th solenoid valve 23
The connection of interface and accumulator 15 closes the 3rd oil circuit interface of hydro-pneumatic spring and high-pressure oil chamber 16 by the 5th solenoid valve 22
Connection, when piston rod 3 moves downward, the oil of the second annular grease chamber Room 8, which is extruded, flows into accumulator 15, is transported downwards in piston rod 3
The dynamic, road clearance is increased to desired state rear wheel center adjustment and completes.Hereafter the 4th solenoid valve 21 is opened, closes the
Six solenoid valves 23, the first solenoid valve 18, second solenoid valve 19, the 3rd solenoid valve 20 and the 5th solenoid valve 22 are still closed, at this time
The the first oil circuit interface and the 3rd oil circuit interface of each wheel hydro-pneumatic spring completely close, the second oil circuit interface of hydro-pneumatic spring and oil storage
Room 15 connects, and so, the second annular grease chamber 8 is closed, and the position between internal layer cylinder barrel 2 and piston rod 3 is relatively fixed into
It is integrated, and can be with relative motion between internal layer cylinder barrel 2 and outer layer cylinder barrel 1.It is interior when running into Uneven road in wheel 34 and jolting
Relative motion occurs between layer cylinder barrel 2 and outer layer cylinder barrel 1, internal layer cylinder barrel 2 and the pressure oil of 3 upper space of piston rod can pass through bullet
Property damping interface, the 8th solenoid valve 27, high-damping device 26, the tenth solenoid valve 29 mutually flowed with the oil phase in air vesicle room 30.By
It is more than 301 upper surface area of piston portion in the sum of 2 enlarged diameter section of internal layer cylinder barrel, 201 upper surface and 301 upper surface area of piston portion,
Only this also makes vehicle the rigidity of suspension system is more than vehicle suspension when driving on good highway when driving on cross-country road
The rigidity of system.If also disliking rigidity inadequate, " adding rigidity " can be selected again on the screen of touch instrument, it can be again by opening the
Nine solenoid valves 28 are closed and the tenth solenoid valve 29, make the air vesicle room 30 for participating in elastic reaction into ballonet room 31, suspension system
The rigidity of system increases again therewith.As described above, the present invention can realize vehicle on cross-country road when driving, vehicle ground clearance increase
Greatly, center of gravity raises, and suspension system be in that rigidity is larger, damps also larger elastic stage, the dynamic stroke needed for suspension system
Larger state.
Equally, determine that high, much road clearances are usually to be determined by adjustor more than car body actually when driving on cross-country road.
Control system possesses memory function, and driver need to only select " cross-country " pattern on the screen of touch instrument；If it drives
Member is discontented to expect adjustment, then car body can be raised by pressing " liter " button again under " cross-country " pattern；Car body can be reduced by pressing " drop " button again.
Control system possesses memory function, and next driver selects " cross-country " pattern to be determined by last time on the screen of touch instrument
Height of the carbody adjustment.
As shown in figure 4, vehicle is run into when being highly more than the step of 34 radius of wheel, driver first presses if step is higher
Under " liter " button.First oil circuit interface and the connection of high-pressure oil chamber 16 are opened by the first solenoid valve 18, pass through second solenoid valve
19 close the connection of the first oil circuit interface and accumulator 15, make in the upper space of oil stream outer layers cylinder barrel 1 of high-pressure oil chamber 16,
Internal layer cylinder barrel 2 is promoted to be moved downward with piston rod 3.High-pressure oil pump 17 links with the first solenoid valve 18, high-pressure oil pump 17 oil from
Accumulator 15 is pumped into high-pressure oil chamber 16 and is supplemented at any time；Internal layer cylinder barrel 2 and 3 upper space oil pressure of piston rod are P, internal layer cylinder barrel
The sum of 2 and 3 head area of piston rod are that the product of S, P and S are balanced with ground reaction force suffered by corresponding wheel 34.Simultaneously by the
Four solenoid valves 21 open the connection of the second oil circuit interface and accumulator 15, by the 3rd solenoid valve 20 close the second oil circuit interface with
The connection of high-pressure oil chamber 16, at this moment the oil of first annular grease chamber 7 inflow is extruded by the 4th solenoid valve 21, the second oil circuit interface
Accumulator 15；3rd oil circuit interface and the connection of high-pressure oil chamber 16 are closed by the 5th solenoid valve 22, moved downward in piston rod 3
When the second annular grease chamber 8 oil be extruded inflow accumulator.As internal layer cylinder barrel 2 and piston rod 3 move downward drive piston rod
3rd, 34 downlink of axle block 33 and entire wheel, wheel 34 is with respect to car body downlink, then road clearance increase, car body rise.Wheel 34
The sum of 3 Bottom Runby of internal layer cylinder barrel 2 and piston rod is depended on respect to car body Bottom Runby；Internal layer cylinder barrel 2 can go downwards to outer always
The bottom of layer cylinder barrel 1, piston rod 3 can also go downwards to the bottom of internal layer cylinder barrel 2 always.Car body be increased to it is desirable that height after
Driver can unclamp " liter " button, and car body rise adjustment is completed, and it is more empty to lift off ground creation for each bridge wheel 34
Between.Driver selects certain bridge top bar pattern that each bridge wheel 34 can be made to climb up step successively successively again.At this moment vehicle control system
System first pass through the bridge hydro-pneumatic spring the 7th solenoid valve 25 and the 8th solenoid valve 27 close the bridge hydro-pneumatic spring elastic damping connect
Mouthful, the bridge hydro-pneumatic spring is made to follow the string；Bridge the first oil circuit interface and high-pressure oil chamber 16 are closed by the first solenoid valve 18 again
Connection；The connection of bridge the first oil circuit interface and accumulator 15 is opened by second solenoid valve 19 again, makes internal layer cylinder in oil cylinder
Cylinder 2 is squeezed with the oil pressure decline oil in 3 upper space of piston rod and flows to accumulator 15；Being closed simultaneously by the 4th solenoid valve 21 should
The connection of bridge the second oil circuit interface and accumulator 15；Bridge the second oil circuit interface and high-pressure oil chamber are opened by the 3rd solenoid valve 20
16 connection；The connection of the 3rd oil circuit interface of bridge and accumulator 15 is closed by the 6th solenoid valve 23 simultaneously, passes through the 5th electricity
Magnet valve 22 opens the 3rd oil circuit interface of bridge and the connection of high-pressure oil chamber 16.So, the high pressure oil of the bridge high-pressure oil chamber 16
Flow into first annular grease chamber 7 through the second oil circuit interface, the second annular grease chamber 8 flowed into through the 3rd oil circuit interface, high-pressure oil pump 17 with
5th solenoid valve 22, the 3rd solenoid valve 20 link, and oil is pumped into high-pressure oil chamber 16 from accumulator 15 and carried out at any time by high-pressure oil pump 17
Supplement.High pressure oil then generates thrust to the upper surface of the two annular grease chambers and pushes internal layer cylinder barrel 2 and 3 uplink of piston rod, piston
Bar 3 then drives axle block 33 and 34 uplink of wheel to leave ground.At this moment the oil pressure and the annular grease chamber in the second annular grease chamber 8
The product of upper area is balanced each other with the sum of the gravity of axle block 33 and the wheel 34.Since vehicle center of gravity is between 2,3 bridges,
So 34 uplink of wheel of any one bridge leaves ground, the load of the former carrying of the bridge can be transferred to other bridges to carry and whole
Vehicle will not disequilibrium.After certain bridge has climbed up step, vehicle control system first passes through the 7th solenoid valve of the bridge hydro-pneumatic spring
25 open the elastic damping interface of hydro-pneumatic spring, and the hydro-pneumatic spring is made to recover elasticity；The bridge the is opened by the first solenoid valve 18
One oil circuit interface and the connection of high-pressure oil chamber 16 close wheel the first oil circuit interface and accumulator 15 by second solenoid valve 19
Connection；The connection of wheel the second oil circuit interface and accumulator 15 is opened by the 4th solenoid valve 21.It is closed by the 3rd solenoid valve 20
Close the connection of wheel the second oil circuit interface and high-pressure oil chamber 16；The 3rd oil circuit interface of wheel and storage are opened by the 6th solenoid valve 23
The connection of grease chamber 15 closes the 3rd oil circuit interface of wheel and the connection of high-pressure oil chamber 16 by the 5th solenoid valve 22, makes high pressure oil
The high pressure oil of room 16 flows into 1 upper space compressing internal layer cylinder barrel 2 of outer layer cylinder barrel and 3 downlink of piston rod through the first oil circuit interface, makes
Oil in the first annular annular grease chamber 8 of grease chamber 7 and second does not flow into accumulator from the second oil circuit interface, the 3rd oil circuit interface
15,3 downlink of piston rod drives axle block 33 and the wheel 34 to face the counter-force of the bridge with going downwards to step ground and bear.This is anti-
Power will balance each other with the oil pressure of 3 upper space of piston rod and the product of 3 top surface area of piston rod.So far the vehicle bridge wheel 34 is stepped on
More height is more than that the process of 34 radius step of wheel is completed, and it is more than 34 radius step of wheel that the other bridge wheels 34 of vehicle, which step on more height,
Process it is identical with this.After whole wheels 34 step on more step, driver cancels certain bridge top bar pattern, select " cross-country " pattern or
" good road " pattern, under the coordination of control system, according to the height for needing to adjust each wheel center of driving cycle, dynamic stroke
Size, the size of coefficient of elasticity and damped coefficient.
Since the running gear of vehicle provided by the invention is four vehicle bridge 8 × 8, vehicle center of gravity therefore vehicle between 2,3 bridges
The deep trench width that can be crossed over depends on 1, Bridge 2 and the wheelbase of 3,4 bridges adds a diameter of tyres.If trench depth is less than
The total kilometres of the suspension system trench width that then vehicle can be crossed over is with regard to unrestricted.Problem becomes first to get out of a predicament or an embarrassing situation climbs step afterwards
.Such as Fig. 5, when some vehicle bridge sails to trench edge, driver first presses " drop " button, and at this moment vehicle control system first allows vehicle
Car body drops to minimum.Namely the connection of the first oil circuit interface and high-pressure oil chamber 16 is closed by the first solenoid valve 18, by the
Two solenoid valves 19 open the connection of the first oil circuit interface and accumulator 15, decline the oil pressure in 1 upper space of outer layer cylinder barrel, oil
It can be squeezed and flow to accumulator 15.The connection of the second oil circuit interface and accumulator 15 is closed by the 4th solenoid valve 21 simultaneously, is passed through
3rd solenoid valve 20 opens the second oil circuit interface and the connection of high-pressure oil chamber 16；The 3rd oil circuit is closed by the 6th solenoid valve 23 again
The connection of interface and accumulator 15 opens the 3rd oil circuit interface and the connection of high-pressure oil chamber 16, at this moment by the 5th solenoid valve 22
The high pressure oil of high-pressure oil chamber 16 flows into first annular grease chamber 7 through the second oil circuit interface, and the second annular is flowed into through the 3rd oil circuit interface
Grease chamber 8.High pressure oil generates thrust to the upper surface of the two annular grease chambers and pushes internal layer cylinder barrel 2 and 3 uplink of piston rod.Internal layer cylinder
Cylinder 2 is up to the top of outer layer cylinder barrel 1 always, and piston rod 3 is then up to seam allowance face, piston on the endoporus of internal layer cylinder barrel 2 always
Bar 3 then drives axle block 33 and entire wheel 34 to be up to the highest point of opposite car body.At this moment car body is minimum, and the road clearance is most
Small, center of gravity is minimum.Driver's reselection " preceding bridge is got out of a predicament or an embarrassing situation " pattern, vehicle proceed to front axle wheel 34 and drive into trench then, vacantly
Bearing capacity is lost, complete vehicle weight is carried by other wheels 34.At this moment before vehicle control system is opened by the first solenoid valve 18
Bridge the first oil circuit interface and the connection of high-pressure oil chamber 16 close wheel the first oil circuit interface and accumulator by second solenoid valve 19
15 connection；The connection of wheel the second oil circuit interface and accumulator 15 is opened by the 4th solenoid valve 21, passes through the 3rd solenoid valve
20 close wheel the second oil circuit interface and the connection of high-pressure oil chamber 16；The 3rd oil circuit interface of wheel is opened by the 6th solenoid valve 23
With the connection of accumulator 15, the 3rd oil circuit interface of wheel and the connection of high-pressure oil chamber 16 are closed by the 5th solenoid valve 22；Make height
The high pressure oil of pumping chamber 16 is flowed into through the first oil circuit interface under 1 upper space compressing internal layer cylinder barrel 2 of outer layer cylinder barrel and piston rod 3
Row makes the oil in the annular grease chamber 8 of first annular grease chamber 7 and second be squeezed respectively from the second oil circuit interface, the 3rd oil circuit interface stream
Enter accumulator 15.3 downlink of piston rod drives axle block 33 and front axle wheel 34 to go downwards to trench bottom ground and face with bearing
The counter-force of the wheel；The counter-force will balance each other with the oil pressure of 3 upper space of piston rod and the product of 3 top surface area of piston rod.So far
34 times trenches of vehicle front axle wheel simultaneously continue the process completion that moves ahead in bottom of trench, and Bridge 2 sails to trench edge, driver's reselection " 2 again
Bridge is got out of a predicament or an embarrassing situation " pattern, the as above process that repeated under vehicle control system coordination allows Bridge 2 wheel 34 time to arrive trench bottom and in bottom of trench
Continue to move ahead.The process of other 3,4 34 times trenches of bridge wheel is also identical with this.Driver cancels certain after whole 34 times trenches of wheel
Bridge is got out of a predicament or an embarrassing situation pattern, and vehicle continues to move ahead, just become when the wheel 34 of trench bottom sails to problem when trench wall is encountered at trench edge
Into step is climbed, this had been stated in detail in front.
Embodiment six
Below by taking eight-wheeler as an example, the drive manner of the vehicle of above-described embodiment offer is illustrated, can configure above-mentioned reality
The walking unit for the vehicle that example two is provided is applied, can also be configured the walking unit for the vehicle that above-described embodiment three is provided；For
The electric car situation driven by wheel hub motor 36 more than four-wheel or eight wheels is similar.
As shown in fig. 6, in Turning travel, it is existing since the effect foreign steamer load of centrifugal force increases, lubrication groove load reduces
Carbody all can outwards roll an angle of heel, and adding sense of discomfort to occupant also influences handling stability.But vehicle provided by the invention
Under the coordination of control system, it is above-mentioned so as to issue instructions to that centripetal acceleration is calculated according to speed information and corner information
Hydro-pneumatic spring will be promoted vehicle lubrication groove, foreign steamer declines, and car body is made to slope inwardly instead an angle, makes passenger or cargo
Suffered centrifugal force and centrifugal force make a concerted effort just to overlap with the vertical line of car body floor, and passenger or cargo will seem to feel
Less than the presence of centrifugal force at this time, come even if car has cupful water that will not spill.This will greatly improve the snake speed of vehicle
Degree, and riding comfort and handling stability will be greatly improved.
As shown in fig. 7, vehicle on side slope road with left lower than right when driving, cause car body also with left lower than right, for car body is made to become
Flat, control system makes vehicle left side wheel 34 toward decline, right side according to the road gradient that trailer-mounted radar or ultrasonic scanning detect
For wheel 34 toward rising, then the right drop of left liter tends to be horizontal to car body, therefore intact stability improves, and takes also more comfortable.
Vehicle control system selects travel route by driver in steering wheel selection steering mode button and manipulation direction disk.
When vehicle on normal road with a certain speed along Road turnings when driving, driver steering wheel select " routine " steering mode
Button and manipulation direction disk control the left front a certain steering angle of rotation, and vehicle control system just can determine that in the transient motion of vehicle
The heart.As shown in Figure 10, which respectively has a line to 8 wheel centers.If without considering tire cornering stiffness to the reality of each wheel
The influence that border direction of motion angle generates, under the coordination of vehicle control system, 8 wheels 34 turn different steering angles respectively, make
The line of each 34 center of wheel and vehicle Instantaneous center is perpendicular to the wheel plane, and each wheel center and vehicle
The distance between Instantaneous center and the wheel speed are also directly proportional, this with regard to vehicle can be made when along various curve turning drivings,
Each wheel is in ground pure rolling without sliding wear.But in actual travel, vehicle can generate centrifugal force when along various curve turning drivings.Ground
Centripetal force can be generated in face of each wheel, tire can generate the size and wheel of side drift angle and side drift angle under centripetal force effect in rolling
Tire rigidity, tire pressure, tire normal load are related.These factors are taken into account, under the coordination of vehicle control system, 8
A wheel 34 turns different steering angles respectively, makes the line of each wheel center and vehicle Instantaneous center perpendicular to the wheel
34 actual motion direction line, and each the distance between wheel center and vehicle Instantaneous center and the wheel speed also into
Direct ratio, with regard to that can make vehicle when at various speeds along various curve turning drivings, each wheel without sliding wear and has in ground pure rolling
Good handling stability.When the steering angle of some wheel 34 is improper, its wheel center and vehicle Instantaneous center will be made
Line is not orthogonal to the actual motion direction line of the wheel 34 and the wheel 34 is caused to generate lateral sliding wear with ground, and influences to grasp
Stability；At this moment the wheel 34 generates additional lateral force, this additional lateral force can be sensed by the lateral force in axle block 33
Device 37 detects and feeds back to vehicle control system, and the steering angle that vehicle control system then adjusts the wheel makes additional lateral of the wheel
Power eliminates.Tire wear will be further reduced in this closed-loop control measure, improves handling stability.
When vehicle in roadside or parking lot when in pool, if front and rear be close to other vehicles or barrier, for general
Vehicle is difficult to be driven out to, and is just easier to operate for vehicle provided by the invention, and driver need to only select " flat in steering wheel
Moving " simultaneously 90 ° of angles of the left front rotation of manipulation direction disk control, vehicle make 8 to steering mode button under the coordination of vehicle control system
90 ° of same steering angles of all phase inversions of wheel 34, as shown in figure 9, just energy lateral translation is driven out to vehicle, each wheel speed is also consistent at this time.
Also can be as shown in figure 8, when vehicle to be in narrow street travel, driver only need to select " translation " to turn in steering wheel
Mode button and the left front a certain angle of rotation of manipulation direction disk control, a turn a certain angle carries out oblique translation to 8 wheels 34 simultaneously
It is travelled to be avoided in narrow street, each wheel speed is also consistent at this time.
As shown in figure 11, when needing vehicle around 180 ° of pivot turns of vehicle center or turn over a certain angle again when driving, first
Brake allows vehicle to stop.Driver only need to select " rotating in place " steering mode button in steering wheel, unclamp steering wheel；It is in control
Under the coordination of system, 8 wheels 34 turn different steering angles respectively makes each 34 plane of wheel and the wheel center and vehicle center
Line it is vertical, each to take turns steering angle to be adjusted in place rear indicator light bright, driver's releasing of brake pedal is stepped on the throttle pedal, and vehicle is opened
Beginning rotates in place around vehicle center, and each wheel speed is also directly proportional to the distance of vehicle center with the wheel center, in the process respectively
Wheel is all in ground pure rolling without sliding wear.To then u-turn or turn how many angle, the time depending on rotation lasts.It is needed when turning over
Driver's release gas pedal steps on brake pedal and terminates to rotate in place during the angle wanted, the other steering mode buttons of reselection,
Manipulation direction disk continues to travel.8 wheels 34 adjust its steering angle according to new steering mode under the coordination of control system.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of walking unit of vehicle, including wheel, it is characterised in that：Further include hydro-pneumatic spring and steer-drive；
The steer-drive includes splined shaft and steering driving mechanism；The splined shaft is coaxially arranged in the hydro-pneumatic spring
Oil cylinder on, and the shaft part outside the oil cylinder is connected with the steering driving mechanism so as to be rotated around own axes,
It is connected positioned at the in-oil cylinder shaft part with the piston rod spline of the oil cylinder；
The bottom of the piston rod is connected with axle block, is equipped on the axle block axial for horizontal direction wheel shaft；
The wheel is configured with wheel hub motor and is assemblied on the wheel shaft, and the center of the wheel is located at the piston rod axis
On the extended line of line.
2. the walking unit of vehicle as described in claim 1, it is characterised in that：The hydro-pneumatic spring includes the oil cylinder, bullet
Property damping mechanism and oil circuit mechanism, the oil cylinder includes the piston rod and nested multistage cylinder barrel step by step from outer to inner；
In per adjacent two-stage cylinder barrel, internal layer cylinder barrel outer wall multidiameter structure with a narrow upper and lower width, the enlarged diameter section of the internal layer cylinder barrel
Be embedded in and be slidedly arranged in outer layer cylinder barrel and top offers oil-through-hole turn on the outer layer inner cavity of cylinder, the internal layer cylinder barrel it is small directly
Footpath section is arranged in the bottom of outer layer cylinder barrel and is enclosed with the outer layer inner wall of cylinder and sets to form an annular grease chamber；The piston rod includes living
Piston part and the bar portion for being connected to the piston portion bottom, the piston portion, which is embedded in, to be slidedly arranged in innermost layer cylinder barrel, and the bar portion is worn
It is enclosed arranged on the bottom of the innermost layer cylinder barrel and with the innermost layer inner wall of cylinder and sets to form an annular grease chamber；
The top of outermost layer cylinder barrel offers elastic damping interface and is connected with the elastic damping mechanism, outermost layer cylinder barrel it is upper
Portion and each annular grease chamber offer oil circuit interface, and each oil circuit interface is connected with the oil circuit mechanism；
The splined shaft is coaxially disposed with each cylinder barrel, and the top of the splined shaft is located above outermost layer cylinder barrel and bottom is stretched
Into the inner cavity of the bar portion, the piston portion is connected with the splined shaft spline.
3. the walking unit of vehicle as claimed in claim 2, it is characterised in that：From-inner-to-outer is arranged successively on the splined shaft
There is at least one spline housing, finite place piece, the piston portion and outermost institute are all provided at the top and bottom of each spline housing
State the connection of spline housing spline.
4. the walking unit of vehicle as claimed in claim 2, it is characterised in that：The elastic damping mechanism includes high-damping pipe
Road, low resistance pipeline and elastic balloon structure, the high-damping pipeline it is in parallel with the low resistance pipeline and with the elasticity
Damp interface and elastic balloon structure connection, be equipped on the high-damping pipeline and the low resistance pipeline damper and
First control valve, and the damping value of the damper on the high-damping pipeline is higher than the resistance of the damper on the low resistance pipeline
Buddhist nun is worth.
5. the walking unit of vehicle as claimed in claim 4, it is characterised in that：The elastic balloon structure includes being arranged in parallel
Air vesicle room and ballonet room, and branch road is equipped with the second control valve where two gasbag chambers.
6. the walking unit of vehicle as described in claim 1, it is characterised in that：The hydro-pneumatic spring includes the oil cylinder, resistance
Buddhist nun's plate and floating piston；
The oil cylinder includes cylinder barrel and the hollow piston rod, and the piston rod top is slidedly arranged in the cylinder barrel and bottom position
In outside the cylinder barrel, the piston rod cavity is led with the cylinder barrel oil pocket by being opened in the oil-through hole on the piston rod top
It is logical；
The splined shaft is arranged on the cylinder barrel and is connected with piston rod top spline, and the splined shaft bottom extends institute
In the inner cavity for stating piston rod；
The damping sheet, which is embedded in, to be slidedly arranged in the inner cavity of the piston rod and affixed with the splined shaft bottom, in the damping sheet
On be provided with damping oil passing passage；
The floating piston is slidedly arranged in the inner cavity of the piston rod and below the damping sheet, and by the piston rod
Inner cavity is divided into top grease chamber and lower section gas chamber.
7. the walking unit of vehicle as claimed in claim 6, it is characterised in that：The damping oil passing passage includes being opened in institute
It states the compression damping hole on damping sheet and upholds damping hole, it is certainly that the compression damping hole, which is configured with to control its excessively oily direction,
The first unidirectionally controlled unit in upper and lower direction, the extension damping hole are configured with to control its excessively oily direction as from bottom to top
The second unidirectionally controlled unit in direction.
8. the walking unit of vehicle as claimed in claim 7, it is characterised in that：The first unidirectionally controlled unit includes installing
In the first elastic cover plate on the damping sheet lower surface, the second unidirectionally controlled unit includes installing on the damping sheet
The second elastic cover plate on surface, the plate face of the described first elastic cover plate and the second elastic cover plate with the damping sheet are put down
Row is bonded and is covered each by corresponding damping hole.
9. the walking unit of vehicle as described in claim 1, it is characterised in that：The splined shaft is also associated with steering angle sensing
Device.
10. a kind of vehicle, including car body, it is characterised in that：Further include multigroup vehicle as claimed in any one of claims 1-9 wherein
Walking unit, the oil cylinder of each hydro-pneumatic spring is fixedly mounted on the car body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451805.8A CN108116492B (en) | 2017-12-28 | 2017-12-28 | Vehicle and traveling unit thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711451805.8A CN108116492B (en) | 2017-12-28 | 2017-12-28 | Vehicle and traveling unit thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108116492A true CN108116492A (en) | 2018-06-05 |
| CN108116492B CN108116492B (en) | 2024-04-09 |
Family
ID=62231949
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711451805.8A Active CN108116492B (en) | 2017-12-28 | 2017-12-28 | Vehicle and traveling unit thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108116492B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001341A (en) * | 2019-03-05 | 2019-07-12 | 江苏大学 | A kind of air suspension transverse direction interconnected control systems and method |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001180244A (en) * | 1999-12-27 | 2001-07-03 | Nissan Motor Co Ltd | Attitude controller for vehicle |
| CN102673334A (en) * | 2012-05-21 | 2012-09-19 | 北京市三一重机有限公司 | Independent traveling unit and vehicle |
| CN102889329A (en) * | 2012-07-18 | 2013-01-23 | 宁波南方减震器制造有限公司 | High-pressure absorber with double cylinders provided with floating piston assembly |
| CN103089887A (en) * | 2011-11-07 | 2013-05-08 | 长春孔辉汽车科技有限公司 | Steerable hydro-pneumatic spring |
| CN104369639A (en) * | 2014-09-23 | 2015-02-25 | 北京理工大学 | Wheel-type amphibious vehicle retractable type oil gas suspension system and control method |
| CN104613123A (en) * | 2014-11-28 | 2015-05-13 | 江苏大学 | Two-stage pressure type hydro-pneumatic spring and working method |
| CN204344791U (en) * | 2014-11-26 | 2015-05-20 | 中国第一汽车股份有限公司 | The adjustable hydro-pneumatic spring system of a kind of damping |
| CN105485233A (en) * | 2015-12-24 | 2016-04-13 | 华侨大学 | Oil-gas damper |
| CN205298378U (en) * | 2015-07-31 | 2016-06-08 | 张宏如 | Half initiative oil gas suspension of binary channels lateral rigidity |
| CN107215386A (en) * | 2017-05-05 | 2017-09-29 | 清华大学 | The electric vehicle system that a kind of four motorized wheels and independent omnidirectional turn to |
| CN206749429U (en) * | 2017-06-06 | 2017-12-15 | 崔书林 | A kind of new vehicle flexible suspending mechanism |
| CN207747935U (en) * | 2017-12-28 | 2018-08-21 | 欧孚迪汽车设计武汉有限公司 | Vehicle and its walking unit |
-
2017
- 2017-12-28 CN CN201711451805.8A patent/CN108116492B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001180244A (en) * | 1999-12-27 | 2001-07-03 | Nissan Motor Co Ltd | Attitude controller for vehicle |
| CN103089887A (en) * | 2011-11-07 | 2013-05-08 | 长春孔辉汽车科技有限公司 | Steerable hydro-pneumatic spring |
| CN102673334A (en) * | 2012-05-21 | 2012-09-19 | 北京市三一重机有限公司 | Independent traveling unit and vehicle |
| CN102889329A (en) * | 2012-07-18 | 2013-01-23 | 宁波南方减震器制造有限公司 | High-pressure absorber with double cylinders provided with floating piston assembly |
| CN104369639A (en) * | 2014-09-23 | 2015-02-25 | 北京理工大学 | Wheel-type amphibious vehicle retractable type oil gas suspension system and control method |
| CN204344791U (en) * | 2014-11-26 | 2015-05-20 | 中国第一汽车股份有限公司 | The adjustable hydro-pneumatic spring system of a kind of damping |
| CN104613123A (en) * | 2014-11-28 | 2015-05-13 | 江苏大学 | Two-stage pressure type hydro-pneumatic spring and working method |
| CN205298378U (en) * | 2015-07-31 | 2016-06-08 | 张宏如 | Half initiative oil gas suspension of binary channels lateral rigidity |
| CN105485233A (en) * | 2015-12-24 | 2016-04-13 | 华侨大学 | Oil-gas damper |
| CN107215386A (en) * | 2017-05-05 | 2017-09-29 | 清华大学 | The electric vehicle system that a kind of four motorized wheels and independent omnidirectional turn to |
| CN206749429U (en) * | 2017-06-06 | 2017-12-15 | 崔书林 | A kind of new vehicle flexible suspending mechanism |
| CN207747935U (en) * | 2017-12-28 | 2018-08-21 | 欧孚迪汽车设计武汉有限公司 | Vehicle and its walking unit |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001341A (en) * | 2019-03-05 | 2019-07-12 | 江苏大学 | A kind of air suspension transverse direction interconnected control systems and method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108116492B (en) | 2024-04-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107989945A (en) | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and vehicle | |
| CN103863042B (en) | Electronically controlled suspension system for vehicle | |
| US9045015B2 (en) | Laterally tiltable, multitrack vehicle | |
| CN102808886B (en) | Buffer and draft hitch | |
| US20240131892A1 (en) | Adjustable suspensions and vehicle operation for off-road recreational vehicles | |
| CN107985441A (en) | Electric car and its walking mechanism | |
| CN106585706A (en) | Steering control device for pilotless automobile | |
| CN207747935U (en) | Vehicle and its walking unit | |
| CN208007141U (en) | Electric vehicle and its walking mechanism | |
| CN108116492A (en) | Vehicle and its walking unit | |
| CN207750424U (en) | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and vehicle | |
| CN207747693U (en) | A kind of four-wheel electric motor car | |
| CN108001140B (en) | Four-wheel electric vehicle | |
| CN207750425U (en) | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric vehicle | |
| CN108216423B (en) | A kind of all-electric mobile platform of intelligent control of pleiotaxy hydraulic suspension | |
| CN104648500B (en) | Eight-wheel hinged obstacle crossing vehicle | |
| WO2017007509A2 (en) | Kinetic energy recovery system under braking | |
| CN107989946A (en) | Hydro-pneumatic spring, the steering mechanism of wheel, wheel and electric car | |
| CN104175828B (en) | Vehicle | |
| CN206938377U (en) | A kind of automatic roll automobile suspension system | |
| CN108297640B (en) | A kind of intelligent control hydraulic lift hitch of the distributed more wheel mobile platforms of pure electric vehicle | |
| CN201833849U (en) | Device for preventing lateral leaning and forward leaning of automobile | |
| CN106976497B (en) | A kind of active auxiliary wheel device for realizing the obstacle detouring limit for multiple-axle vehicle | |
| CN205706931U (en) | A kind of full landform walking mechanism | |
| US2965388A (en) | Fluid pressure operated tilting device for automobiles |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20211216 Address after: 430000 third floor, D + M industrial design Town, No. 1, Jinghan Avenue, Qiaokou District, Wuhan, Hubei Province Applicant after: Wuhan mengma Yiteng Intelligent Automobile Technology Co.,Ltd. Address before: 430035 6th floor, A95 office building, Hanzheng Street, 21 Jiefang Avenue, Qiaokou District, Wuhan City, Hubei Province Applicant before: ADVANCED VEHICLE DESIGN WUHAN Ltd. |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |