CN110239299A - Unmanned platform - Google Patents
Unmanned platform Download PDFInfo
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- CN110239299A CN110239299A CN201910594299.0A CN201910594299A CN110239299A CN 110239299 A CN110239299 A CN 110239299A CN 201910594299 A CN201910594299 A CN 201910594299A CN 110239299 A CN110239299 A CN 110239299A
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- Prior art keywords
- trailing arm
- car body
- oil cylinder
- unmanned platform
- telescopic device
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- 230000033001 locomotion Effects 0.000 claims description 21
- 238000009825 accumulation Methods 0.000 claims description 14
- 230000035939 shock Effects 0.000 claims description 6
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 241000208340 Araliaceae Species 0.000 claims 1
- 235000005035 Panax pseudoginseng ssp. pseudoginseng Nutrition 0.000 claims 1
- 235000003140 Panax quinquefolius Nutrition 0.000 claims 1
- 235000008434 ginseng Nutrition 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 14
- 238000013016 damping Methods 0.000 abstract description 13
- 230000036544 posture Effects 0.000 abstract description 12
- 238000007667 floating Methods 0.000 abstract description 4
- 238000012876 topography Methods 0.000 abstract description 4
- 239000003921 oil Substances 0.000 description 82
- 238000010586 diagram Methods 0.000 description 11
- 230000001276 controlling effect Effects 0.000 description 9
- 238000000034 method Methods 0.000 description 4
- 230000001737 promoting effect Effects 0.000 description 4
- 230000001105 regulatory effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000009194 climbing Effects 0.000 description 3
- 239000007788 liquid Substances 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/26—Resilient suspensions characterised by arrangement, location or kind of springs having fluid springs only, e.g. hydropneumatic springs
-
- 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
- B60G17/02—Spring characteristics, e.g. mechanical springs and mechanical adjusting means
- B60G17/04—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics
- B60G17/0416—Spring characteristics, e.g. mechanical springs and mechanical adjusting means fluid spring characteristics regulated by varying the resiliency of hydropneumatic suspensions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/02—Resilient suspensions for a single wheel with a single pivoted arm
- B60G3/12—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle
- B60G3/14—Resilient suspensions for a single wheel with a single pivoted arm the arm being essentially parallel to the longitudinal axis of the vehicle the arm being rigid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
- B60G2200/13—Independent suspensions with longitudinal arms only
- B60G2200/132—Independent suspensions with longitudinal arms only with a single trailing arm
-
- 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
- B60G2202/10—Type of spring
- B60G2202/15—Fluid spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2400/00—Indexing codes relating to detected, measured or calculated conditions or factors
- B60G2400/05—Attitude
- B60G2400/051—Angle
- B60G2400/0516—Angular position of a suspension element
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention proposes a kind of unmanned platforms, comprising: car body；Multiple preceding trailing arms, are rotatably arranged in the front end of car body, and the lower end of each preceding trailing arm has been rotatably coupled a wheel；The upper end of multiple telescopic devices, each telescopic device is connect with car body；The upper end for each telescopic device that trailing arm connect with the lower end of a telescopic device, and is connected with preceding trailing arm before each, positioned at the front of the upper end of coupled preceding trailing arm；Wherein, preceding trailing arm is rotated with the flexible of coupled telescopic device.According to the technical solution of the present invention, unmanned platform is effectively promoted for the adaptability of a variety of topography and geomorphologies, enable unmanned platform that there is high maneuverability, high cross-country ability, cross-country traveling ability energy, get over moat, wide-angle longitudinal slope side slope particularly with large span obstacle detouring and paddle in addition it is waterborne it is floating cross, complex environment requirement can be adapted to various postures, or the requirement of water sailing, also improve the damping capacity of unmanned platform.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to a kind of unmanned platform.
Background technique
Vehicle driving excessively in need guarantee vehicle traveling regularity and stability；For general unmanned platform, make
Industry range includes cities and towns, mountain area, Plain, the network of rivers, jungle, plateau, desert, gobi, marsh etc., and as highland and severe cold, core are raw
The complexity, rugged environment such as change, narrow few space, it requires vehicle other than reliable ride performance and stability, nothing
The vehicle performance of people's platform must also meet universe requirement, have high maneuverability energy, high cross-country ability, cross-country traveling ability energy；
Get over moat, wide-angle longitudinal slope side slope especially for large span obstacle detouring and paddle in addition it is waterborne it is floating cross, require that unmanned platform is whole
Vehicle has the function of more top adjustment, also requires vehicle terrain clearance to have bigger regulating power, it is also necessary to various attitude regulation energy
Power adapts to complicated ground environmental requirement, also wheel is required to withdraw to greatest extent when navigating by water on the water, in this way can be just conducive to
Water sailing；In addition, unmanned platform travels on various road surfaces, it is necessary to meet the various impact dampings from different road surfaces and want
It asks.
Summary of the invention
The present invention is directed to solve at least one of the technical problems existing in the prior art or related technologies.
In view of this, the purpose of the present invention is to provide a kind of unmanned platforms.
To achieve the goals above, technical solution of the present invention provides a kind of unmanned platform, comprising: car body；Before multiple
Trailing arm is rotatably arranged in the front end of car body, and the lower end of each preceding trailing arm has been rotatably coupled a wheel；It is multiple to stretch
The upper end of compression apparatus, each telescopic device is connect with car body；Trailing arm is connect with the lower end of a telescopic device before each, and with
The upper end of the connected each telescopic device of preceding trailing arm, positioned at the front of the upper end of coupled preceding trailing arm；Wherein, preceding vertical
Swing arm is rotated with the flexible of coupled telescopic device.
In the technical scheme, before by the way that the upper end of telescopic device to be arranged in the upper end of coupled preceding trailing arm
Side, trailing arm is rotated in front of car body and top before telescopic device is driven when retracting, thus with preceding trailing arm
The wheel of lower end connection can be rotated with the rotation of preceding trailing arm and to the front of car body, top, and then increase unmanned platform
Approach angle promotes the handling capacity of unmanned platform, especially for the handling capacity of wide-angle longitudinal slope.
Specifically, multiple preceding trailing arms can be rotatably set by the front end in car body, the lower end of each preceding trailing arm connects
It is connected to rotatable wheel, platform unmanned in this way can be advanced or be retreated by the rotation of wheel, while can be with preceding
The rotation of trailing arm adjusts the distance between car body front end and ground, leads to promote unmanned platform to various road surfaces, obstacle
Cross ability；And preceding trailing arm is rotated by the flexible of telescopic device, such rotational structure is simple, easily controllable.
Further, the upper end of each telescopic device is connect with car body, under each preceding trailing arm and a telescopic device
End connection, and the upper end for each telescopic device being connected with preceding trailing arm, before the upper end of coupled preceding trailing arm
Side, in this way when telescopic device extends, preceding trailing arm is able to drive wheel and rotates to car body lower section, rear, turns in preceding trailing arm
Move to it is vertical with car body when, the distance between car body front end and wheel reach maximum value so that the front end of car body be provided with it is higher
Terrain clearance regulating power；When telescopic device shortens, preceding trailing arm is able to drive wheel and turns to top, the front of car body
It is dynamic, it is gradually increased the approach angle of unmanned platform, promotes unmanned platform for the handling capacity of wide-angle longitudinal slope；Further
Ground, as preceding trailing arm is rotated to top, the front of car body, the distance between wheel and car body are also gradually reduced, so as to
The front end for promoting car body passes through the ability of limit for height position, and when unmanned platform carries out water sailing, can receive to the maximum extent
Return reduces wheel, preceding trailing arm to the resistance of water, is conducive to the water sailing for promoting unmanned platform in the wheel of car body front end
Speed.
In the above-mentioned technical solutions, unmanned platform further include: trailing arm after multiple is rotatably arranged in the rear end of car body,
The lower end of trailing arm has been rotatably coupled a wheel after each；The lower end of trailing arm and a telescopic device connects after each
The upper end for each telescopic device for connecing, and being connected with rear trailing arm, positioned at the rear of the upper end of coupled rear trailing arm；Its
In, rear trailing arm is rotated with the flexible of coupled telescopic device.
In the above-mentioned technical solutions, multiple preceding trailing arms are distributed on the car body symmetrically；And/or multiple rear pitch
Arm is distributed on the car body symmetrically；And/or preceding trailing arm and rear trailing arm are symmetrically dispersed on car body in front and back.
In any of the above-described technical solution, telescopic device is oil cylinder；Unmanned platform further include: multiple hydraulic valve banks, often
A oil cylinder is connected with a hydraulic valve bank；Each hydraulic valve bank is stretched for controlling an oil cylinder.
In the above-mentioned technical solutions, unmanned platform further include: the first control valve is connected with oil cylinder, to be connected to or disconnect oil
The rod chamber and rodless cavity of cylinder；Second control valve, is connected with oil cylinder, has first state, the second state and the third state；Second
Control valve is extended in first state drive cylinder；Second control valve shortens in the second state-driven oil cylinder；Second control valve is
Three condition disconnects rod chamber and rodless cavity and working connection.
In the above-mentioned technical solutions, unmanned platform further include: hydro-pneumatic spring is connected with oil cylinder；Hydro-pneumatic spring includes: mutual
The orifice valve and accumulation of energy component of connection, accumulation of energy component are used for energy-absorbing for undertaking compression shock, orifice valve.
In the above-mentioned technical solutions, accumulation of energy component includes: main accumulator, for undertaking low-pressure impact；Auxiliary accumulator is used
It is impacted in undertaking high pressure；Third control valve is connected with accumulation of energy component；First control valve and third control valve are turned off, and the
Two control valves are in the third state, oil cylinder locking.
In any of the above-described technical solution, unmanned platform further include: sensor module is set on car body, sensor group
Part is used to detect the driving parameters of unmanned platform；Vehicle motion controller, is connected with sensor module, and vehicle motion controller is used
According to driving parameters, the self contained function of each preceding trailing arm or rear trailing arm is controlled.
In the above-mentioned technical solutions, sensor module includes: multiple angular transducers, it is each before trailing arm and/or rear vertical
Swing arm is equipped with an angular transducer, to detect the movement angle of preceding trailing arm and/or rear trailing arm.
In the above-mentioned technical solutions, sensor module further include: pressure sensor, vehicle lateral pickup, vehicle are longitudinal
Sensor, vehicle speed sensor and upper cartridge controller.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the invention
Recognize.
Detailed description of the invention
Fig. 1 is the schematic view of the front view of the unmanned platform of one embodiment of the present of invention；
Fig. 2 is the overlooking structure diagram of the unmanned platform of one embodiment of the present of invention；
Fig. 3 is the schematic perspective view of the unmanned platform of one embodiment of the present of invention；
Fig. 4 is the sectional perspective structural schematic diagram of the unmanned platform of one embodiment of the present of invention；
Fig. 5 is the sectional perspective structural schematic diagram of the unmanned platform of one embodiment of the present of invention；
Fig. 6 is the schematic diagram that the unmanned platform of one embodiment of the present of invention travels on side slope road surface；
Fig. 7 is the schematic diagram that the unmanned platform of another embodiment of the invention travels on side slope road surface；
Fig. 8 is the schematic diagram that the unmanned platform of one embodiment of the present of invention travels on longitudinal slope road surface；
Fig. 9 is the schematic diagram that the unmanned platform of another embodiment of the invention travels on longitudinal slope road surface；
Figure 10 is the big height obstacle detouring schematic diagram of the unmanned platform of one embodiment of the present of invention；
Figure 11 is the traveling schematic diagram of the unmanned platform of one embodiment of the present of invention；
Figure 12 is the traveling schematic diagram of the unmanned platform of another embodiment of the invention；
Figure 13 is the traveling schematic diagram of the unmanned platform of another embodiment of the invention.
Wherein, the corresponding relationship between appended drawing reference and component names of the Fig. 1 into Figure 13 are as follows:
10 car bodies, trailing arm before 12,120 shafts, 13 wheels, trailing arm after 14,16 oil cylinders, 160 oil cylinder car body mounting bases,
162 oil cylinder trailing arm mounting bases, 164 oil cylinder bi-bit bi-pass hydraulic valves, 166 oil cylinder 3-position 4-ways stretch drop valve, 18 hydraulic stations, and 181
First hydraulic valve bank, 182 second hydraulic valve banks, 183 third hydraulic valve banks, 184 the 4th hydraulic valve banks, 185 the 5th hydraulic valve banks,
186 the 6th hydraulic valve banks, 187 the 7th hydraulic valve banks, 188 the 8th hydraulic valve banks, 20 vehicle motion controllers, 22 angle sensors
Device, 24 pressure sensors, 26 main accumulators, 260 accumulator bi-bit bi-pass hydraulic valves, 28 auxiliary accumulators, 30 unidirectional valve groups, 32 liquid
Pressure lock, 34 damping valve groups.
Specific embodiment
It is with reference to the accompanying drawing and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other than the one described here other modes, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
According to some embodiments of the present invention referring to Fig. 1 to Figure 13 description.
As shown in figure 1 to figure 13, the unmanned platform of the one embodiment proposed according to the present invention, comprising: car body 10；It is multiple
Preceding trailing arm 12, is rotatably arranged in the front end of car body 10, and the lower end of each preceding trailing arm 12 has been rotatably coupled a vehicle
Wheel 13；The upper end of multiple telescopic devices, each telescopic device is connect with car body 10；Trailing arm 12 and a telescopic device before each
Lower end connection, and the upper end for each telescopic device being connected with preceding trailing arm 12, positioned at coupled preceding trailing arm 12
The front of upper end；Wherein, preceding trailing arm 12 is rotated with the flexible of coupled telescopic device.
In this embodiment, before by the way that the upper end of telescopic device to be arranged in the upper end of coupled preceding trailing arm 12
Side, trailing arm 12 is rotated to 10 front of car body and top before telescopic device is driven when retracting, thus with preceding pitch
The wheel 13 of the lower end connection of arm 12 can be rotated with the rotation of preceding trailing arm 12 and to the front of car body 10, top, Jin Erzeng
The approach angle of big unmanned platform, promotes the handling capacity of unmanned platform, especially for the handling capacity of wide-angle longitudinal slope.
Specifically, by can be rotatably set multiple preceding trailing arms 12 in the front end of car body 10, each preceding trailing arm 12
Lower end is connected with rotatable wheel 13, and platform unmanned in this way can be advanced or be retreated by the rotation of wheel 13, simultaneously
The distance between front end and the ground that car body 10 can be adjusted with the rotation of preceding trailing arm 12, to promote unmanned platform to each
Plant the handling capacity on road surface, obstacle；And preceding trailing arm 12 is rotated by the flexible of telescopic device, such rotational structure letter
It is single, it is easily controllable.
Further, the upper end of each telescopic device is connect with car body 10, each preceding trailing arm 12 and a telescopic device
Lower end connection, and the upper end for each telescopic device being connected with preceding trailing arm 12, positioned at coupled preceding trailing arm 12
The front of upper end, in this way when telescopic device extends, preceding trailing arm 12 is able to drive wheel 13 and turns to 10 lower section of car body, rear
Dynamic, when preceding trailing arm 12 turns to vertical with car body 10, the distance between car body 10 and wheel 13 reach maximum value, so that vehicle
The front end of body 10 is provided with higher terrain clearance regulating power；When telescopic device shortens, preceding trailing arm 12 is able to drive vehicle
Wheel 13 is rotated to top, the front of car body 10, is gradually increased the approach angle of unmanned platform, is promoted unmanned platform for wide-angle
The handling capacity of longitudinal slope；Further, it is rotated with top from preceding trailing arm 12 to car body 10, front, wheel 13 and car body
The distance between 10 are also gradually reduced, so as to promote the ability that the front end of car body 10 passes through limit for height position, and it is flat at nobody
When platform carries out water sailing, wheel 13 can be withdrawn to the maximum extent, reduce wheel 13, preceding trailing arm 12 to the resistance of water, have
Conducive to the water sailing speed for promoting unmanned platform.
As shown in Figures 1 and 2, in the above-described embodiments, unmanned platform further include: trailing arm 14 after multiple, rotationally
Set on the rear end of car body 10, the lower end of each rear trailing arm 14 has been rotatably coupled a wheel 13；Trailing arm 14 after each
The upper end for each telescopic device for connecting with the lower end of a telescopic device, and being connected with rear trailing arm 14 is located at coupled
Rear trailing arm 14 upper end rear；Wherein, rear trailing arm 14 is rotated with the flexible of coupled telescopic device.
In this embodiment, before by the way that the upper end of telescopic device to be arranged in the upper end of coupled rear trailing arm 14
Side, trailing arm 14 is rotated to 10 rear of car body and top after telescopic device is driven when retracting, thus with rear pitch
Arm 14 lower end connection wheel 13 can then trailing arm 14 rotation and to the rear of car body 10, top rotate, Jin Erzeng
The departure angle of big unmanned platform, further promotes the handling capacity of unmanned platform, passes through energy especially for wide-angle longitudinal slope
Power.
In addition, the lower end of rear trailing arm 14 is connected with rotatable wheel 13, platform unmanned in this way can pass through wheel 13
Rotation and advance or retreat, while can be adjusted with the rotation of rear trailing arm 14 between 10 rear end of car body and ground away from
From to further promote unmanned platform to the handling capacity on various road surfaces, obstacle.
Further, the upper end of each telescopic device is connect with car body 10, each rear trailing arm 14 and a telescopic device
Lower end connection, and the upper end for each telescopic device being connected with rear trailing arm 14, positioned at coupled rear trailing arm 14
The rear of upper end, in this way when telescopic device extends, rear trailing arm 14 is able to drive wheel 13 and turns to 10 lower section of car body, front
Dynamic, when rear trailing arm 14 turns to vertical with car body 10, the distance between 10 rear end of car body and wheel 13 reach maximum value, make
The rear end for obtaining unmanned platform is provided with higher terrain clearance regulating power；When telescopic device shortens, rear trailing arm 14 can
It is rotated with top from motor car wheel 13 to car body 10, rear, is gradually increased the departure angle of unmanned platform, it is flat further to promote nobody
Handling capacity of the platform for wide-angle longitudinal slope；Further, it is rotated with top from rear trailing arm 14 to car body 10, rear,
The distance between wheel 13 and 10 rear end of car body are also gradually reduced, and pass through limit for height position so as to promote the rear end of car body 10
Ability, and when unmanned platform carries out water sailing, the wheel 13 positioned at 10 rear end of car body can be withdrawn to the maximum extent, reduced
Wheel 13, rear trailing arm 14 are conducive to the water sailing speed for further promoting unmanned platform to the resistance of water.
Since preceding trailing arm 12 and rear trailing arm 14 can be rotated so that vehicle can be carried out big height obstacle detouring and
The more moat of large span also improves the longitudinal slope climbing and parking stability of wide-angle.
As shown in Figure 2 and Figure 3, in the above-described embodiments, multiple preceding trailing arms 12 are distributed in car body 10 symmetrically
On；And/or multiple rear trailing arms 14 are distributed in symmetrically on car body 10；And/or preceding trailing arm 12 and rear trailing arm 14
It is symmetrically dispersed on car body 10 in front and back.
In this embodiment, on car body 10 and/or multiple by being distributed in multiple preceding trailing arms 12 symmetrically
Trailing arm 14 is distributed in symmetrically on car body 10 afterwards；And/or preceding trailing arm 12 and rear trailing arm 14 in front and back symmetrically
It is distributed on car body 10, such structure can fully ensure that the stress of each axis on the car body 10 of unmanned platform all more
It is even, promote vehicle stability in driving and braking；And unmanned platform move forward and backward all have said function and performance, into
The full landform handling capacity of one step promotion vehicle.
As Figure 1 and Figure 4, in any of the above-described embodiment, telescopic device is oil cylinder 16；Unmanned platform further include: more
A hydraulic valve bank, each oil cylinder 16 are connected with a hydraulic valve bank；Each hydraulic valve bank is stretched for controlling an oil cylinder 16
Contracting.
In this embodiment, it is used as telescopic device by using oil cylinder 16, other liquid on unmanned platform can be made full use of
Pressure device simplifies structure, reduces component, and each oil cylinder 16 is connected with a hydraulic valve bank, each hydraulic valve bank is for driving
One oil cylinder 16 stretches, and each oil cylinder 16 is carried out by coupled hydraulic valve bank individually flexible dynamic
Make, so that the movement of each preceding trailing arm 12, rear trailing arm 14 also can be carried out independently, realizes single, multiple and whole
Adjusting, and then realize the whole height of vehicle, pitching, roll posture traveling, parking and the combination of multiple groups wheel 13 and travel function
Can, the landform adaptability and handling capacity of vehicle are greatly improved, and when individual wheel 13 breaks down, vehicle still may be used
With normally travel.
It is to be appreciated that the telescopic device of the application is not limited in oil cylinder, it is also possible to cylinder, electric cylinders etc..
As shown in figure 5, in the above-described embodiments, unmanned platform further include: the first control valve is connected with oil cylinder 16, with even
On-off opens the rod chamber and rodless cavity of oil cylinder 16；Second control valve is connected with oil cylinder 16, has first state, the second state
And the third state；Second control valve is extended in first state drive cylinder 16；Second control valve is in the second state-driven oil cylinder 16
Shorten；Second control valve disconnects rod chamber and rodless cavity and working connection in the third state.
In this embodiment, by the setting of the first control valve and the second control valve, convenient for independently controlling each oil cylinder
16 elongation and shortening and the locking of oil cylinder 16, to be independently adjusted the rotation of each preceding trailing arm 12, rear trailing arm 14
Angle, and locked after being adjusted in place, trailing arm 12 or rear trailing arm 14 are maintained in the angle before making, to guarantee whole
The vehicular attitude of vehicle or the stability of parking posture.
Optionally, the first control valve is two-position two-way solenoid valve, any one in bi-bit bi-pass hydraulic valve；Second control
Valve is three position four-way electromagnetic valve, any one in three-position four-way hydraulic valve.
In the above-described embodiments, unmanned platform further include: hydro-pneumatic spring is connected with oil cylinder 16；Hydro-pneumatic spring includes: mutual
The orifice valve and accumulation of energy component of connection, accumulation of energy component are used for energy-absorbing for undertaking compression shock, orifice valve.
In this embodiment, by the setting of hydro-pneumatic spring, and accumulation of energy component is configured for undertaking compression shock, and resistance
Buddhist nun's valve is used for energy-absorbing, and the impact for absorbing ground can be carried out damping, and such structure can increase the damping property of unmanned platform, mention
Unmanned platform is risen for the adaptability of the various shock and vibrations on different road surfaces, further promotes unmanned platform for variously
The adaptability and handling capacity of shape guarantee the stability and reliability of vehicle traveling.
As shown in figure 5, in the above-described embodiments, accumulation of energy component includes: main accumulator 26, for undertaking low-pressure impact；
Auxiliary accumulator 28, for undertaking high pressure impact；Third control valve is connected with accumulation of energy component；First control valve and third control
Valve is turned off, and the second control valve is in the third state, and oil cylinder 16 locks.
In this embodiment, by the setting of main accumulator 26 and auxiliary accumulator 28, be conducive in this way by double accumulators
The stationarity of vehicle is kept, and extends the service life of each accumulator, guarantees the stability and reliability of vehicle performance；Pass through
Third control valve is connected with accumulation of energy component, can further locked cylinder 16, guarantee vehicle posture stability.
In any of the above-described embodiment, unmanned platform further include: sensor module is set on car body 10, sensor group
Part is used to detect the driving parameters of unmanned platform；Vehicle motion controller 20, is connected with sensor module, vehicle motion controller
20 for controlling the self contained function of each preceding trailing arm 12 or rear trailing arm 14 according to driving parameters.
In this embodiment, by the setting of sensor module and vehicle motion controller 20, so that unmanned platform is each
Kind driving parameters can be detected by sensor module and be passed to vehicle motion controller 20, so that vehicle motion control
Device 20 can control the self contained function of each preceding trailing arm 12 or rear trailing arm 14 according to driving parameters, so as to for difference
Topography and geomorphology use different driving postures, further promoted vehicle handling capacity and traveling, the stability of parking, such as
Vehicle gone up and down, unilateral lifting etc..
In the above-described embodiments, sensor module includes: multiple angular transducers 22, it is each before trailing arm 12 and/or after
Trailing arm 14 is equipped with an angular transducer 22, to detect the movement angle of preceding trailing arm 12 and/or rear trailing arm 14.
In this embodiment, by the setting of multiple angular transducers 22, be able to detect each preceding trailing arm 12 and/or after
The movement angle of trailing arm 14, to accurately control the turned position of preceding trailing arm 12 and/or rear trailing arm 14, and then accurate
Ground controls the position of each wheel 13, guarantees the adaptability of vehicle posture and topography and geomorphology, promotes vehicle handling capacity.
In the above-described embodiments, sensor module further include: pressure sensor 24, vehicle lateral pickup, vehicle are longitudinal
Sensor, vehicle speed sensor and upper cartridge controller.
In this embodiment, it is arranged by the sensor of multiple types such as pressure sensor 24, convenient for detecting each wheel
13 be subject to pressure, vehicle relative on the lateral angles of driving direction, regulation of longitudinal angle and speed, car body 10 dress inclination feelings
A variety of data such as condition, so that entire car controller of being more convenient for is adjusted vehicle posture according to these data, it is ensured that driving, parking
Stability and reliability, promoted car body 10 realize cross-country traveling ability.
According to the unmanned platform for the specific embodiment that the application proposes, preceding trailing arm 12, rear trailing arm 14 are passed through
Shaft 120 is installed on car body 10, multiple preceding trailing arms 12 or so to arrangement, it is multiple after trailing arms 14 or so to arrangement, and it is preceding
Trailing arm 12 is arranged symmetrically with rear 14 front and back inverted chevron of trailing arm.
Trailing arm 12 and each rear trailing arm 14 are mounted thereon the other end by one end and are installed on car body 10 before each
On oil cylinder 16 drive rotation；Ground is born by oil cylinder 16, preceding trailing arm 12, rear trailing arm 14 and car body 10 and wheel 13 connects
The various power of touching are able to achieve the stability requirement of vehicle traveling and parking process；Pass through each independent hydraulically controlled valve group of hydraulic system
Flexible and preceding trailing arm 12, rear trailing arm 14 the rotation for adjusting each 16 piston rod of oil cylinder adjusts a wide range of lifting, the side of vehicle
Incline or 10 posture of the car bodies such as pitching and single wheel 13 it is liftoff；Pass through angular transducer 22, independent hydraulically controlled valve group and vehicle
Motion controller 20 can arbitrarily adjust 10 height of car body；Pass through the height adjusting valve in hydraulic system, damping valve group 34, list simultaneously
Spring shock absorption function is formed to valve group 30 and accumulator, guarantees to want in vehicle driving process to damping under the conditions of bad road
It asks, to guarantee high performance off-the-road requirements；Center of gravity reduction is set to meet fast motorway operation by turning down vehicle posture
It can require, and realize the stability and ride comfort requirement of vehicle driving process；Pass through switch valve i.e. the first control valve locked cylinder
16, it realizes the rigid locking of arbitrary height, guarantees safety in the locked state.
Specifically, as shown in Figure 1 to Figure 3, on the left side of car body 10, preceding trailing arm 12 passes through the mounting disc in shaft 120
It is installed on car body 10, is arranged forward together with wheel 13, preceding trailing arm 12 is swung up and down by the realization of shaft 120, forms rotation
Transhipment is dynamic；Trailing arm 14 is installed on car body 10 by the mounting disc in shaft 120 afterwards, is arranged backward together with wheel 13, after
Trailing arm 14 is swung up and down by the realization of shaft 120.
On the right of car body 10, preceding trailing arm 12 is installed on car body 10 by the mounting disc in shaft 120, with wheel 13
It arranges forward together, preceding trailing arm 12 is swung up and down by the realization of shaft 120；Trailing arm 14 passes through the installation in shaft 120 afterwards
Disk is installed on car body 10, is arranged backward together with wheel 13, and rear trailing arm 14 is swung up and down by the realization of shaft 120, is formed
Rotary motion.
Further, angular transducer 22 is mounted on preceding trailing arm 12 and rear trailing arm 14, trailing arm before controlling
12, the movement angle of rear trailing arm 14, to control vehicle height and various postures.
16 upper end of oil cylinder is installed on car body 10 by oil cylinder car body mounting base 160, and lower section is installed by oil cylinder trailing arm
Seat 162 is installed on preceding trailing arm 12 or rear trailing arm 14, forms car body 10, preceding trailing arm 12, rear trailing arm 14 and oil cylinder 16
The moving parts of the suspension system of the vehicle of composition；Wherein, the oil cylinder car body mounting base for the oil cylinder 16 being connected with preceding trailing arm 12
160 are located at the front of the mounting disc of the shaft 120 of preceding trailing arm 12, the oil cylinder car body peace for the oil cylinder 16 being connected with rear trailing arm 14
Dress seat 160 is located at the rear of the mounting disc of the shaft 120 of rear trailing arm 14.
The oil inlet and oil return opening of each oil cylinder 16 pass through sebific duct and are connected respectively to an independent same hydraulic valve
Group has eight wheels 13 in this specific embodiment, is accordingly equipped with eight mutually independent hydraulic valve banks；Wherein, the first liquid
Pressure valve group 181 controls the first oil cylinder, and the second hydraulic valve bank 182 controls the second oil cylinder 16, and third hydraulic valve bank 183 controls third oil
Cylinder 16, the 4th hydraulic valve bank 184 control the 4th oil cylinder 16, and the 5th hydraulic valve bank 185 controls the 5th oil cylinder 16, the 6th hydraulic valve bank
186 the 6th oil cylinders 16 of control, the 7th hydraulic valve bank 187 control the 7th oil cylinder 16, and the 8th hydraulic valve bank 188 controls the 8th oil cylinder
16, the hydraulic oil of each hydraulic valve bank provides hydraulic power by hydraulic station 18；It is independent by each independent hydraulically controlled valve group control
Oil cylinder 16 act, wherein the first oil cylinder 16 is identical to 16 structure of the 8th oil cylinder.
Specifically, as shown in Figure 4, Figure 5, oil cylinder 3-position 4-way stretches the two of drop valve 166 (i.e. the second control valve) and oil cylinder 16
Two-way hydraulic valve 164 (i.e. the first control valve) co- controlling oil cylinder 16 in position stretches, when closing bi-bit bi-pass hydraulic valve, cutting
The rod chamber and rodless cavity of oil cylinder 16, oil cylinder 3-position 4-way are stretched drop 166 left side of valve and are obtained electric (first state), oil cylinder 16 piston rod
It stretches out；Oil cylinder 3-position 4-way, which is stretched, obtains electric (the second state) on the right of drop valve 166, and 16 piston rod of oil cylinder retracts, when oil cylinder 3-position 4-way
Stretch drop valve 166 all must not electricity Hui Zhongwei (third state) when, cutting 16 rod chamber of oil cylinder and rodless cavity and working connection pass through simultaneously
Hydraulic lock 32 realizes zero leakage in oil gas damping circuit, guarantees the requirement of oil gas damping performance.
As shown in figure 5, hydro-pneumatic spring is made of check valve, orifice valve, main accumulator 26, auxiliary accumulator 28 and oil cylinder 16,
Main accumulator 26 is low pressure accumulator, bears ground and passes to the impact of 16 low-pressure of oil cylinder, when pressure is higher than certain value, auxiliary storage
Energy device 28 participates in work, bears the large impact power on ground together, the stationarity of vehicle is able to maintain by double accumulators.Pass through damping
The impact that valve absorbs ground can be carried out damping, and configuration check valve can rapidly adapt to the requirement of road surface landform, enable suspension system very
Good adherence properties, meet the driving force request of various landform.
As shown in Figure 1 to Figure 3, it is received on preceding trailing arm 12 and rear trailing arm 14 by vehicle motion controller 20
Angular transducer 22, pressure sensor 24, vehicle lateral pickup, vehicle longitudinal sensor, vehicle speed sensor and the control of upper dress
The signals such as device processed are analyzed by the calculating of vehicle motion controller 20, and calculated result is transferred to the first hydraulic valve bank 181, the
Two hydraulic valve banks 182, third hydraulic valve bank 183, the 4th hydraulic valve bank 184, the 5th hydraulic valve bank 185, the 6th hydraulic valve bank
186, then the 7th hydraulic valve bank 187, the 8th hydraulic valve bank 188 control eight independent respectively movements of oil cylinder 16.
As shown in figure 5, stretching drop valve 166 and oil by the oil cylinder 3-position 4-way controlled in eight independent hydraulic valve banks simultaneously
Cylinder bi-bit bi-pass hydraulic valve 164 makes oil cylinder 16 while stretching out or retracting, so that the lifting of vehicle is realized, by reducing car body
10, into highway driving, improve car body 10 and realize cross-country cross-country traveling ability.
As shown in Figure 6 and Figure 7, it is extended and retracted by controlling the oil cylinder 16 of left or right side, realizes vehicle side slope row
It sails, improves 10 levelness of car body of small side slope when driving, and the stability of big side slope angle traveling.
As shown in Figure 8 and Figure 9, by the swing angle of trailing arm 12 before controlling or rear trailing arm 14, it can be achieved that small is vertical
The vehicle level on slope and the climbing and descending functional requirement of wide-angle.
As shown in Figure 10, by preceding trailing arm 12 or the swing angle of rear trailing arm 14, the obstacle detouring function of big height difference is realized
It can require.
As is illustrated by figs. 11 and 12, the preceding trailing arm 12 of front end and the rear trailing arm 14 of rearmost end are withdrawn by control,
Or intermediate preceding trailing arm 12 and rear trailing arm 14 are withdrawn, four-wheel driving functions may be implemented, improve travel speed.
As shown in figure 13, the trailing arm 14 by trailing arm 12 before one group of control withdrawal or after withdrawing one group, may be implemented six
Wheel traveling can also realize the traveling of five wheels or seven wheels by controlling single preceding trailing arm 12 or rear trailing arm 14, in this way when
When some preceding trailing arm 12 or some rear trailing arm 14 or single wheel 13 break down, oil can be controlled by hydraulic valve bank
After cylinder 16 retracts, and it is locked by oil cylinder bi-bit bi-pass hydraulic valve 164, so that it is not involved in driving cycle, such vehicle can also be just
Often traveling is gone home.
As shown in figure 3, by closing oil cylinder bi-bit bi-pass hydraulic valve 164 and accumulator bi-bit bi-pass hydraulic valve 260, simultaneously
It keeps oil cylinder 3-position 4-way to stretch drop valve 166 to be in close state, then oil cylinder 16 is in rigid self-locking state, and vehicle keeps safety
Under each posture.
According to the unmanned platform of the specific embodiment of the application, have the advantages that
1) preceding trailing arm 12, rear trailing arm 14 reverse symmetry herringbone fashion layout design guarantee wide-angle approach angle and
Departure angle makes vehicle can be carried out the obstacle detouring of big height and the more moat of large span, while improving the longitudinal slope climbing of wide-angle and staying
Vehicle stability；And guarantees to move forward and backward and all there is said function and performance；
2) preceding trailing arm 12, rear trailing arm 14 symmetrical arrangement can fully ensure that the stress of each axis is relatively uniform, make whole
Vehicle has higher stability in driving and braking；
3) layout design for passing through oil cylinder 16 and preceding trailing arm 12, rear trailing arm 14, guarantees low design and big row
16 telescopic adjustment of oil cylinder of journey；
4) by each independent hydraulic valve bank of hydraulic system and oil cylinder 16, the car bodies such as body roll or pitching 10 are adjusted
Posture, to guarantee longitudinal slope and the requirement of side slope driving performance of vehicle wide-angle；It ensure that vehicle by the integral elevating of vehicle
Floating degree navigation capable and waterborne is sailed in quickly paddling for big depth；
5) vibration-damping function is sailed by adjusting to the laggard every trade of certain altitude and meets highway and cross-country ability requirement；
6) single trailing arm, and independent rigid locking are adjusted by independent hydraulic valve bank, realizes that a variety of wheels 13 combine
Traveling, may be implemented to pack up when 13 failure of single trailing arm and wheel, to continue to meet driving requirements.
The technical scheme of the present invention has been explained in detail above with reference to the attached drawings, according to the technical solution of the present invention, effectively mentions
Unmanned platform has been risen for the adaptability of a variety of topography and geomorphologies, has enabled unmanned platform that there is high maneuverability, high cross-country ability, height
Passage capacity, get over moat, wide-angle longitudinal slope side slope particularly with large span obstacle detouring and paddle in addition it is waterborne it is floating cross, be provided with
More top adjustment function, and complicated ground environmental requirement can be adapted to various attitude regulations, or adapt to wanting for water sailing
It asks, also improves the damping capacity of unmanned platform.
In the present invention, term " first ", " second ", " third " are only used for the purpose of description, and should not be understood as indicating
Or imply relative importance；Term " multiple " then refers to two or more, unless otherwise restricted clearly.Term " installation ",
The terms such as " connected ", " connection ", " fixation " shall be understood in a broad sense, for example, " connection " may be a fixed connection, being also possible to can
Dismantling connection, or be integrally connected；" connected " can be directly connected, can also be indirectly connected through an intermediary.For this
For the those of ordinary skill in field, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In description of the invention, it is to be understood that the instructions such as term " on ", "lower", "left", "right", "front", "rear"
Orientation or positional relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of the description present invention and simplification is retouched
It states, rather than the device or unit of indication or suggestion meaning must have specific direction, be constructed and operated in a specific orientation,
It is thus impossible to be interpreted as limitation of the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the invention
It applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or reality
Example.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples with
Suitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the art
For member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,
Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of unmanned platform characterized by comprising
Car body (10)；
Multiple preceding trailing arms (12), are rotatably arranged in the front end of the car body (10), under each preceding trailing arm (12)
End has been rotatably coupled a wheel (13)；
The upper end of multiple telescopic devices, each telescopic device is connect with the car body (10)；
Each preceding trailing arm (12) connect with the lower end of a telescopic device, and is connected with the preceding trailing arm (12)
Each of the telescopic device upper end, positioned at the front of the upper end of the coupled preceding trailing arm (12)；
Wherein, the preceding trailing arm (12) rotates with the flexible of the coupled telescopic device.
2. unmanned platform according to claim 1, which is characterized in that further include:
Trailing arms (14) after multiple, are rotatably arranged in the rear end of the car body (10), it is each it is described after under trailing arm (14)
End has been rotatably coupled a wheel (13)；
Each rear trailing arm (14) is connect with the lower end of a telescopic device, and is connected with the rear trailing arm (14)
Each of the telescopic device upper end, positioned at it is coupled it is described after trailing arm (14) upper end rear；
Wherein, the rear trailing arm (14) is rotated with the flexible of the coupled telescopic device.
3. unmanned platform according to claim 2, which is characterized in that
Multiple preceding trailing arms (12) are distributed in symmetrically on the car body (10)；And/or
Multiple rear trailing arms (14) are distributed in symmetrically on the car body (10)；And/or
The preceding trailing arm (12) and the rear trailing arm (14) are symmetrically dispersed on the car body (10) in front and back.
4. unmanned platform according to any one of claim 1-3, which is characterized in that
The telescopic device is oil cylinder (16)；The unmanned platform further include:
Multiple hydraulic valve banks, each oil cylinder (16) are connected with the hydraulic valve bank；Each hydraulic valve bank is used for
One oil cylinder (16) of control is stretched.
5. unmanned platform according to claim 4, which is characterized in that further include:
First control valve is connected with the oil cylinder (16), to be connected to or disconnect the rod chamber and rodless cavity of the oil cylinder (16)；
Second control valve is connected with the oil cylinder (16), has first state, the second state and the third state；
Second control valve drives oil cylinder (16) elongation in the first state；Second control valve is described second
Oil cylinder described in state-driven (16) shortens；Second control valve disconnects the rod chamber and the no bar in the third state
Chamber and working connection.
6. unmanned platform according to claim 5, which is characterized in that further include:
Hydro-pneumatic spring is connected with the oil cylinder (16)；
The hydro-pneumatic spring includes: orifice valve interconnected and accumulation of energy component, and the accumulation of energy component is used to undertake compression shock,
The orifice valve is used for energy-absorbing.
7. unmanned platform according to claim 6, which is characterized in that
The accumulation of energy component includes: main accumulator (26), for undertaking low-pressure impact；
Auxiliary accumulator (28), for undertaking high pressure impact；
Third control valve is connected with the accumulation of energy component；
First control valve and the third control valve are turned off, and second control valve is in the third state, the oil
Cylinder (16) locking.
8. the unmanned platform according to any one of claim 2-3, which is characterized in that further include:
Sensor module is set on the car body (10), and the sensor module is used to detect the traveling ginseng of the unmanned platform
Number；
Vehicle motion controller (20), is connected with the sensor module, and the vehicle motion controller (20) is used for according to institute
Driving parameters are stated, the self contained function of each preceding trailing arm (12) or the rear trailing arm (14) is controlled.
9. unmanned platform according to claim 8, which is characterized in that
The sensor module includes: multiple angular transducers (22), each preceding trailing arm (12) and/or the rear pitch
Arm (14) is equipped with an angular transducer (22), to detect the preceding trailing arm (12) and/or the rear trailing arm
(14) movement angle.
10. unmanned platform according to claim 9, which is characterized in that
The sensor module further include: pressure sensor (24), vehicle lateral pickup, vehicle longitudinal sensor, speed pass
Sensor and upper cartridge controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910594299.0A CN110239299A (en) | 2019-07-03 | 2019-07-03 | Unmanned platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910594299.0A CN110239299A (en) | 2019-07-03 | 2019-07-03 | Unmanned platform |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110239299A true CN110239299A (en) | 2019-09-17 |
Family
ID=67890878
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910594299.0A Pending CN110239299A (en) | 2019-07-03 | 2019-07-03 | Unmanned platform |
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| Country | Link |
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| CN (1) | CN110239299A (en) |
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| CN113386509A (en) * | 2021-07-13 | 2021-09-14 | 上海崟冠智能科技有限公司 | Vehicle active suspension system |
| CN113459746A (en) * | 2021-07-13 | 2021-10-01 | 上海崟冠智能科技有限公司 | Vehicle longitudinal swing arm |
| CN113859361A (en) * | 2021-10-24 | 2021-12-31 | 黄冬成 | Suspension mechanism with adjustable semitrailer width |
| CN114211922A (en) * | 2021-11-24 | 2022-03-22 | 电子科技大学 | Height-adjustable cantilever device and vehicle thereof |
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Effective date of registration: 20221102 Address after: 413064 19th Floor, High tech Zone Office Building, No. 1, Longtang Road, East Industrial Park, High tech Zone, Yiyang City, Hunan Province Applicant after: Hunan Province Ground Unmanned Equipment Engineering Research Center Co.,Ltd. Address before: 410100 31 industrial city, Changsha economic and Technological Development Zone, Hunan Applicant before: Sany Automobile Manufacturing Co.,Ltd. |