CN109050655B - Independent suspension hydraulic wheel driving device for underground coal mine vehicle - Google Patents
Independent suspension hydraulic wheel driving device for underground coal mine vehicle Download PDFInfo
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- CN109050655B CN109050655B CN201810768228.3A CN201810768228A CN109050655B CN 109050655 B CN109050655 B CN 109050655B CN 201810768228 A CN201810768228 A CN 201810768228A CN 109050655 B CN109050655 B CN 109050655B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/065—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by specially adapted means for varying pressurised fluid supply based on need, e.g. on-demand, variable assist
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
- B60G15/067—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper characterised by the mounting on the vehicle body or chassis of the spring and damper unit
- B60G15/068—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper characterised by the mounting on the vehicle body or chassis of the spring and damper unit specially adapted for MacPherson strut-type suspension
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
- B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/06—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle
- B62D5/10—Power-assisted or power-driven steering fluid, i.e. using a pressurised fluid for most or all the force required for steering a vehicle characterised by type of power unit
- B62D5/12—Piston and cylinder
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/16—Running
- B60G2800/162—Reducing road induced vibrations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/24—Steering, cornering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2800/00—Indexing codes relating to the type of movement or to the condition of the vehicle and to the end result to be achieved by the control action
- B60G2800/90—System Controller type
- B60G2800/91—Suspension Control
- B60G2800/914—Height Control System
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Vehicle Body Suspensions (AREA)
- Arrangement Or Mounting Of Propulsion Units For Vehicles (AREA)
Abstract
The invention relates to a hydraulic wheel-side driving device for independent suspension of underground coal mine vehicles, which comprises a fixed seat and tires arranged on the outer side of the fixed seat, wherein one end of the fixed seat is connected with a mine trolley through a double cross arm arranged on the fixed seat, a motor for driving the tires is arranged on the inner side of the fixed seat, and the fixed seat and the motor are combined to form a wheel-side driving motor. The invention relates to a hydrostatic wheel-side driving device for a coal mine underground vehicle, which can realize hydraulic power-assisted steering, is provided with a double-transverse-arm independent suspension system and is suitable for the working condition that the coal mine underground large-tonnage vehicle rapidly runs on a pothole road surface.
Description
Technical Field
The invention belongs to the field of special vehicle equipment, and particularly relates to an independently suspended hydraulic wheel driving device for a coal mine underground vehicle.
Background
The coal mine underground large-tonnage auxiliary transport vehicle adopts a hydraulic transmission mode, an engine is a power source, a transmission case torque converter is used for power gear shifting, and a transmission shaft is connected with a drive axle to realize vehicle traveling, but the height and the width of a vehicle body are greatly limited under the condition of a coal mine underground roadway, the overall dimension of the drive axle bearing large load is larger, and the height and the width of the vehicle body cannot be ensured. The invention solves the problem of poor damping performance of a large-tonnage auxiliary transport vehicle when the large-tonnage auxiliary transport vehicle runs on a depressed road surface in a coal mine. The invention has the advantages that the number of pits and bulges on the roadway surface of the underground coal mine roadway is large, the initial position of the double cross arms of the device is ensured to incline downwards to the right during the structural design, and the double cross arms can be horizontal when passing through the pits, so that the damping performance is exerted to the maximum extent.
The existing underground coal mine heavy auxiliary transport vehicle generally adopts a central hinged structure, and the turning of a hydraulic oil cylinder causes that the vehicle body is long, the turning radius is large, and an underground roadway is narrow, so that turning is time-consuming and labor-consuming.
Disclosure of Invention
Aiming at the problems that the volume is increased and transmission equipment is not easy to arrange due to the adoption of a central hinged structure in the prior art, the invention provides the hydraulic wheel driving device which effectively reduces the volume of the equipment by arranging the driving device on the tire.
The technical scheme adopted by the invention is as follows: a hydraulic wheel driving device for independent suspension of underground coal mine vehicles comprises a fixed seat and tires arranged on the outer side of the fixed seat, wherein one end of the fixed seat is connected with a mine trolley through a double transverse arm, a motor for driving the tires is arranged on the inner side of the fixed seat, and the fixed seat and the motor are combined to form a wheel driving motor.
First, the present device is a rim drive device comprising a set of stationary body structures and an externally disposed tire. The mine trolley is of a main structure, and the equipment is mainly arranged at four corners of the bottom of the mine trolley. Compared with the prior art, the transmission device is directly arranged on one side of the tire in order to reduce the arrangement of the transmission device, so that the arrangement of the transmission device can be reduced, and the space is saved; meanwhile, the power output of the engine can be more direct, and the problem that the loss of power transmission between the engine and the tire is large due to the adoption of a plurality of transmission devices in the prior art is avoided. The fixing frame is connected with the mine trolley, the motor is fixed on the fixing frame, and the fixing frame cannot rotate around the rotating direction of the rotating shaft of the motor.
Furthermore, the double cross arms comprise at least two groups of connecting rods which are parallel to each other, and the connecting rods of each group are connected end to form a hexagonal structural frame structure. The double cross arm comprises an upper structure and a lower structure, and the two structures are the same in size and structure and are parallel to each other. In order to ensure that the connecting rod has better structural strength and torsion resistance, each group of connecting rods is of a hexagonal frame plane structure, and meanwhile, in order to reduce the manufacturing cost, the hexagonal frame structure with the double-body pipe structure is adopted, so that materials can be saved and the weight can be reduced under the condition of ensuring that the connecting rod has better structural strength as much as possible.
Furthermore, oil cylinder hinged parts are arranged on two sides of the fixed seat, and steering oil cylinders hinged with the mine trolley are hinged to the oil cylinder hinged parts; the double cross arms are hinged with the fixed seat, planes formed by the rotation of the double cross arms and the steering oil cylinders are parallel to each other, and the steering oil cylinders on the two sides act simultaneously to push the tires to rotate around the hinged points of the double cross arms and the fixed seat to steer. The steering oil cylinders are hinged with the fixed seat, and the tires can rotate towards one side to achieve the purpose of rotation by simultaneously moving the steering oil cylinders on the two sides in opposite directions. In order to ensure that the tire has a better horizontal rotation range, a double cross arm of a mechanism part for fixed connection and a fixed seat are hinged, and a small flange seat is arranged at the hinged position so as to be detachably connected through a bolt. When the steering cylinders on two sides push the tires to rotate towards one side, the fixed seat also rotates between the two connecting rods.
Furthermore, the double cross arms are hinged with the mine trolley, and the axes of the rotating shafts at the hinged parts of the double cross arms and the mine trolley and the axes of the rotating shafts at the hinged parts of the double cross arms and the fixed seat are vertical. The inner side of the double cross arm is provided with a joint bearing near the hinged point of the mine trolley and is hinged with the mine trolley through the joint bearing.
Furthermore, both sides of the fixing seat are provided with hydro-pneumatic suspension hinge parts, hydro-pneumatic suspension devices are hinged to the hydro-pneumatic suspension hinge parts, and the other ends of the hydro-pneumatic suspension devices are fixed on the mine trolley. The hydro-pneumatic suspension device is a damping device, and particularly is a structure formed by a spring and an oil cylinder which are sleeved on the outer side of the same oil cylinder. Both ends of the connecting rod are hinged, so that the connecting rod has a large moving range. When the tire jolts from top to bottom, whole fixed toilet rotates around the pin joint of two xarm upsides and mine dolly to can improve the shock attenuation effect.
Furthermore, the included angle between the axis of the rotating shaft at the hinged position of the double cross arms and the fixed seat and the axis of the tire is alpha, and the alpha is more than 90 degrees. The alpha is larger than 90 degrees, namely when the tire keeps straight line and stable rotation in a normal state, the connecting line of the upper hinged part and the lower hinged part of the double cross arm is inclined, so that a better shock absorption effect can be obtained.
Furthermore, a flange plate is arranged on the outer side of the wheel edge driving motor, and the tire is in transmission connection with the wheel edge driving motor through the flange plate.
Furthermore, the axis of the hinged position of the remaining fixed seat of the steering oil cylinder is parallel to the axis of the hinged position of the double cross arm on the fixed seat.
Furthermore, the hydro-pneumatic suspension devices fixed on the same fixed seat are symmetrically arranged to form a V-shaped structure.
Further, the angle between the axis direction of the hinged position of the double cross arms and the fixed seat and the vertical direction is 98.5 degrees.
It is worth to be noted that the wheel side driving motor has the functions of hanging and swinging, the corresponding hinged part of the vehicle body and the upper hinged shaft and the lower hinged shaft of the wheel side driving motor can be connected through the double cross arms, the hinged axes form a certain included angle with the vertical surface of the road surface, when the vehicle meets the pothole road surface, the double cross arms rotate with the hinged parts of the vehicle body, the vehicle sinks, and the vehicle body can be kept horizontal; the corresponding hinged part of the vehicle body and the suspended hinged part of the wheel side driving motor are connected through the hydro-pneumatic suspension device, and when the vehicle meets a pothole road surface, the position of the hydro-pneumatic suspension device is changed to be vertical along with the hinged axis of the double cross arms of the wheel side driving motor, so that the buffering performance is favorably exerted; connecting a corresponding hinged part of the vehicle body and a steering hinged part of the wheel driving motor through a hydraulic steering oil cylinder; the tire is connected with a tire connecting flange of the wheel driving motor.
The hydro-pneumatic suspension device and the double cross arms form an independent suspension system, when the hydro-pneumatic suspension device and the double cross arms meet a pothole road surface, the plane where the hydro-pneumatic suspension device is located is parallel to the vertical plane of the road surface, no transverse load exists, the height of the vehicle body is adjusted through the hydro-pneumatic suspension device, the shock absorption performance can be fully exerted, and the double cross arms are horizontal to the road surface and are specially suitable for the working condition that a large-tonnage vehicle in a coal mine rapidly runs on the pothole road surface.
The invention has the beneficial effects that:
(1) the invention relates to a hydrostatic wheel-side driving device for a coal mine underground vehicle, which can realize hydraulic power-assisted steering, is provided with a double-cross-arm independent suspension system and is suitable for the working condition that the coal mine underground large-tonnage vehicle rapidly runs on a pothole road surface;
(2) the axis of the double-cross-arm articulated shaft is provided with an inclination angle of 8.5 degrees in the direction vertical to the ground, the double cross arms are equal in length and parallel, one end of the double-cross-arm articulated shaft is connected with a wheel-side driving motor, and the other end of the double-cross-arm articulated shaft is connected with the frame through a bearing;
(3) the invention adopts hydro-pneumatic suspension for damping, takes inert gas as an elastic medium and liquid as a force transmission medium, can adjust the height of the vehicle body, absorb impact force, protect the vehicle body, personnel or goods, and enables the vehicle to rapidly form downward pressure when the vehicle is braked, so that the friction force between the tire and the ground is increased, the braking distance can be shortened, and the safety is improved; the hydraulic steering oil cylinder is respectively connected with the wheel-side driving motor and the vehicle body, and can realize front wheel steering, rear wheel steering or four-wheel steering according to the design requirements of the vehicle, thereby adjusting the turning radius of the vehicle.
Drawings
FIG. 1 is a schematic diagram of the system connection structure of the present invention;
FIG. 2 is a schematic side view of the present invention:
FIG. 3 is a schematic view of the side of the fixing base of the present invention without the device attached thereto;
fig. 4 is a front view of the fixing base of the present invention.
In the figure: 1-a tire; 2-hydro-pneumatic suspension; 3-a wheel-side drive motor; 4-a steering oil cylinder; 5-double cross arm.
Detailed Description
The invention is further explained below with reference to the drawings and the specific embodiments.
Example 1:
as shown in fig. 1, the embodiment provides a hydraulic wheel driving device for independent suspension of a coal mine underground vehicle, which comprises a fixed seat and a tire 1 arranged outside the fixed seat, wherein one end of the fixed seat is connected with a mine trolley through a double cross arm 5, a motor for driving the tire 1 is arranged inside the fixed seat, and the fixed seat and the motor are combined to form a wheel driving motor 3. The mine trolley is a main structure, and the equipment is mainly arranged at four corners of the bottom of the mine trolley. Compared with the prior art, the transmission device is directly arranged on one side of the tire 1 in order to reduce the arrangement of the transmission device, so that the arrangement of the transmission device can be reduced, and the space is saved; meanwhile, the power output of the tire can be more direct, and the problem that the loss of power transmission between an engine and the tire 1 is large due to the adoption of a plurality of transmission devices in the prior art is avoided. The fixing frame is connected with the mine trolley, the motor is fixed on the fixing frame, and the fixing frame cannot rotate around the rotating direction of the rotating shaft of the motor.
Example 2:
as shown in fig. 1, the present embodiment is defined by optimizing on the basis of embodiment 1 above, and the double wishbone 5 comprises two groups of mutually parallel connecting rods, and the connecting rods of each group are connected end to form a hexagonal structural frame structure.
The double wishbone 5 described herein comprises an upper and a lower structure, which are identical in size and structure and parallel to each other. In order to ensure that the connecting rod has better structural strength and torsion resistance, each group of connecting rods is of a hexagonal frame plane structure, and meanwhile, in order to reduce the manufacturing cost, the hexagonal frame structure with the double-body pipe structure is adopted, so that materials can be saved and the weight can be reduced under the condition of ensuring that the connecting rod has better structural strength as much as possible.
The two sides of the fixed seat are respectively provided with an oil cylinder hinged part, and a steering oil cylinder 4 hinged with the mine trolley is hinged on the oil cylinder hinged part; the double-cross arm 5 is hinged with the fixed seat in the same way, the planes formed by the rotation of the double-cross arm 5 and the steering oil cylinders 4 are parallel to each other, and the steering oil cylinders 4 on the two sides act simultaneously to push the tire 1 to rotate around the hinged point of the double-cross arm 5 and the fixed seat to steer.
The steering oil cylinders 4 are hinged with the fixed seat, and the steering oil cylinders 4 on the two sides move in opposite directions simultaneously to enable the tire 1 to rotate towards one side to achieve the purpose of rotation.
In order to ensure that the tyre 1 has a good horizontal rotation range, a mechanism part double cross arm 5 for fixed connection and a fixed seat are hinged, and a small flange seat is arranged at the hinged position so as to be detachably connected through bolts. When the steering cylinders 4 on the two sides push the tire 1 to rotate towards one side, the fixed seat also rotates between the two connecting rods. The double-cross arm 5 is hinged with the mine trolley, and the axis of a rotating shaft at the hinged part of the double-cross arm 5 and the mine trolley is vertical to the axis of a rotating shaft at the hinged part of the double-cross arm 5 and the fixed seat.
The inner side of the double-cross arm 5 is provided with a joint bearing near the hinged point of the mine trolley and is hinged with the mine trolley through the joint bearing.
Both sides of the fixing seat are provided with hydro-pneumatic suspension hinge parts, hydro-pneumatic suspension devices 2 are hinged to the hydro-pneumatic suspension hinge parts, and the other ends of the hydro-pneumatic suspension devices 2 are fixed on the mine trolley. The hydro-pneumatic suspension device is a damping device, and particularly is a structure formed by a spring and an oil cylinder which are sleeved on the outer side of the same oil cylinder. Both ends of the connecting rod are hinged, so that the connecting rod has a large moving range. When the tire 1 jolts up and down, the whole fixed toilet rotates around the hinged point of the upper side of the double cross arms 5 and the mine trolley, so that the damping effect can be improved.
And the included angle between the axis of the rotating shaft at the hinged part of the double cross arms 5 and the fixed seat and the axis of the tire 1 is alpha which is more than 90 degrees. The angle alpha is larger than 90 degrees, which means that when the tire 1 keeps straight line stable rotation in a normal state, the connecting line of the upper and lower hinged parts of the double cross arm 5 is inclined, so that a better shock absorption effect can be obtained. The outer side of the wheel edge driving motor 3 is provided with a flange plate, and the tire 1 is in transmission connection with the wheel edge driving motor 3 through the flange plate. And the axis of the hinged part of the rest fixed seats of the steering oil cylinder 4 is parallel to the axis of the hinged part of the double cross arm 5 on the fixed seat. The hydro-pneumatic suspension devices 2 fixed on the same fixed seat are symmetrically arranged to form a V-shaped structure. The angle between the axis direction of the hinged position of the double cross arms 5 and the fixed seat and the vertical direction is 98.5 degrees.
Example 3:
as shown in fig. 1, 2, 3 and 4, the present embodiment is a hydraulic wheel-side driving device for independent suspension of a coal mine underground vehicle, which can realize hydraulic power steering and is provided with a double-wishbone 5 independent suspension system, including a tire 1, a hydro-pneumatic suspension device 2, a wheel-side driving motor 3, a steering cylinder 4 and a double-wishbone 5.
The core component of the steering hydrostatic wheel-side driving device with the double-cross arm 5 independent suspension is a unique wheel-side driving motor 3 which has a hydraulic driving function and can fix a tire 1 on a tire 1 connecting flange G5 of the motor to realize vehicle walking, and an upper hinge part G1 and a lower hinge part G4 of a double-cross arm 5 swing frame, an oil-gas suspension hinge part G2 and a steering hinge part G3 are arranged on the motor. The axes of the upper hinge part G1 and the lower hinge part G4 of the swing frame of the double cross arm 5 are not perpendicular to the axis of the motor tire connecting flange, and meanwhile, the axis of the hole of the hydro-pneumatic suspension hinge part G2 is parallel to the axes of G1 and G4, so that when a wheel falls into a road pit, the double cross arm swing frame 5 is parallel to the ground, and the hydro-pneumatic suspension device 2 is parallel to the vertical plane of the ground, so that the hydro-pneumatic suspension device can fully exert the buffering performance.
The hydro-pneumatic suspension device 2 and the double cross arms 5 form an independent suspension system, the posture of the hydro-pneumatic suspension device and the ground vertical surface form a certain included angle on a flat road, when the hydro-pneumatic suspension device is positioned in a pit, the double cross arms 5 are parallel to the ground, the hydro-pneumatic suspension device 2 is parallel to the ground vertical surface, longitudinal load is basically borne, and the buffering performance is exerted to the maximum extent. And the structure of the parallel double transverse arms with equal length is beneficial to reducing the height of the vehicle body, and has more advantages in narrow and short roadways under coal mines.
One end of the double-cross arm 5 is connected with the upper and lower hinged parts G1 and G4 of the wheel-side driving motor through tapered roller bearings, the other end of the double-cross arm is connected with the frame through a joint bearing, when a vehicle encounters obstacle impact in the advancing direction, the hydro-pneumatic suspension device 2 consists of two groups of damping cylinders which form an included angle with each other, the impact can be absorbed, and the double-cross arm can also slightly rotate in the advancing direction.
The hydraulic steering oil cylinder 4 can pull the wheel side driving motor 3 to steer the tire, and similarly, if the device is used as wheel side driving in front and back driving, four-wheel steering can be realized, the turning radius of the vehicle can be reduced, the vehicle can move transversely, and the trafficability of the vehicle is improved.
The double cross arms 5 are equal in length and parallel, the upper end height is lower, the reduction of the height of a vehicle body is facilitated, the shape of the vehicle body is improved, tapered roller bearings are arranged at upper and lower cross parts G1 and G4 of the wheel driving motor 3, and joint bearings are arranged at corresponding vehicle body cross parts.
The plane of the hydro-pneumatic suspension hinge part G2 on the wheel driving motor 3 is parallel to the axes of the double-cross-arm hinge parts G1 and G4, and forms a certain included angle with the horizontal road surface, the hydro-pneumatic suspension device 2 comprises two groups of hydro-pneumatic damping cylinders, and the connecting line of the corresponding hinge part arranged on the vehicle body and G2 forms a certain angle, so that the hydro-pneumatic suspension hinge part can absorb the impact caused by the obstacle in the advancing direction of the vehicle.
The present invention is not limited to the above-described alternative embodiments, and various other forms of products can be obtained by anyone in light of the present invention. The above detailed description should not be taken as limiting the scope of the invention, which is defined in the claims, and which the description is intended to be interpreted accordingly.
Claims (9)
1. A hydraulic wheel-side driving device for independent suspension of underground coal mine vehicles is characterized in that: the mine trolley comprises a fixed seat and a tire (1) arranged on the outer side of the fixed seat, wherein one end of the fixed seat is connected with a mine trolley through a double transverse arm (5), a motor for driving the tire is arranged on the inner side of the fixed seat, and the fixed seat and the motor are combined to form a wheel driving motor (3);
both sides of the fixed seat are provided with oil cylinder hinged parts, and steering oil cylinders (4) hinged with the mine trolley are hinged to the oil cylinder hinged parts; the double-cross arm (5) is hinged to the fixed seat in the same way, planes formed by rotation of the double-cross arm (5) and the steering oil cylinders (4) are parallel to each other, and the steering oil cylinders (4) on the two sides act simultaneously to push the tire (1) to rotate around the hinged point of the double-cross arm (5) and the fixed seat to steer.
2. The independent suspension hydraulic wheel-side driving device for the underground coal mine vehicle according to claim 1, is characterized in that: the double cross arms (5) comprise at least two groups of connecting rods which are parallel to each other, and the connecting rods of each group are connected end to form a hexagonal structure frame structure.
3. The independently suspended hydraulic wheel-side drive device for a coal mine underground vehicle according to claim 1 or 2, characterized in that: the double-cross arm (5) is hinged with the mine trolley, and the axis of a rotating shaft at the hinged part of the double-cross arm (5) and the mine trolley is vertical to the axis of the rotating shaft at the hinged part of the double-cross arm (5) and the fixed seat.
4. The independently suspended hydraulic wheel-side drive device for a coal mine underground vehicle according to claim 1 or 2, characterized in that: both sides of the fixed seat are provided with hydro-pneumatic suspension hinge parts, hydro-pneumatic suspension devices (2) are hinged to the hydro-pneumatic suspension hinge parts, and the other ends of the hydro-pneumatic suspension devices (2) are fixed on the mine trolley.
5. The independently suspended hydraulic wheel-side drive device for a coal mine underground vehicle according to claim 1 or 2, characterized in that: the included angle between the axis of the rotating shaft at the hinged part of the double cross arms (5) and the fixed seat and the axis of the tire (1) is alpha, and alpha is more than 90 degrees and less than 100 degrees.
6. The independently suspended hydraulic wheel-side drive device for a coal mine underground vehicle according to claim 1 or 2, characterized in that: the outer side of the wheel edge driving motor (3) is provided with a flange plate, and the tire (1) is in transmission connection with the wheel edge driving motor (3) through the flange plate.
7. The independently suspended hydraulic wheel-side drive device for a coal mine underground vehicle according to claim 1 or 2, characterized in that: the axis of the hinged part of the steering oil cylinder (4) and the fixed seat is parallel to the axis of the hinged part of the double cross arm (5) on the fixed seat.
8. The independent suspension hydraulic wheel-side driving device for the underground coal mine vehicle according to claim 4, is characterized in that: the hydro-pneumatic suspension devices (2) fixed on the same fixed seat are symmetrically arranged to form a V-shaped structure.
9. The independently suspended hydraulic wheel-side drive device for a coal mine underground vehicle according to claim 1 or 2, characterized in that: the angle between the axis direction of the hinged position of the double cross arms (5) and the fixed seat and the vertical direction is 98.5 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810768228.3A CN109050655B (en) | 2018-07-13 | 2018-07-13 | Independent suspension hydraulic wheel driving device for underground coal mine vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810768228.3A CN109050655B (en) | 2018-07-13 | 2018-07-13 | Independent suspension hydraulic wheel driving device for underground coal mine vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN109050655A CN109050655A (en) | 2018-12-21 |
| CN109050655B true CN109050655B (en) | 2020-10-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810768228.3A Active CN109050655B (en) | 2018-07-13 | 2018-07-13 | Independent suspension hydraulic wheel driving device for underground coal mine vehicle |
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| CN111319457A (en) * | 2020-03-27 | 2020-06-23 | 三一汽车制造有限公司 | Traveling platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| ITUB20152440A1 (en) * | 2015-07-23 | 2017-01-23 | Fca Italy Spa | Car suspension system of the MacPherson type, including a transverse leaf spring |
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| EP2553419B1 (en) * | 2010-04-02 | 2018-01-10 | Compagnie Générale des Etablissements Michelin | Method for characterising and improving the behaviour of a vehicle |
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| CN104960409A (en) * | 2015-05-28 | 2015-10-07 | 东南大学 | Integrated wheel edge driving system equipped with unequal-length double transverse arm suspending frame and capable of reducing unsprung mass |
| CN206327100U (en) * | 2016-12-06 | 2017-07-14 | 哈工大机器人集团上海有限公司 | A kind of wheeled robot chassis |
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| CN109050655A (en) | 2018-12-21 |
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