CN112224281A

CN112224281A - Suspension, suspension system and chassis with same

Info

Publication number: CN112224281A
Application number: CN202011105651.9A
Authority: CN
Inventors: 李新娥
Original assignee: Chongqing Hantuo Technology Co ltd
Current assignee: Chongqing Hantuo Technology Co ltd
Priority date: 2020-10-15
Filing date: 2020-10-15
Publication date: 2021-01-15

Abstract

The invention provides a suspension, a suspension system and a chassis having the same, the suspension comprising: the frame is movably connected with the wheels; a steering unit disposed on the frame; and one end of the steering pull rod unit is movably connected with the steering unit, and the other end of the steering pull rod unit is movably connected with the wheels. When the steering unit rotates and generates rotational freedom, the steering pull rod unit and the movable connection part of the steering unit are driven to rotate, and due to the fact that the steering pull rod unit is movably connected with the wheels, the rotational freedom is transmitted to the wheels through the steering pull rod unit, and then steering of the wheels is achieved.

Description

Suspension, suspension system and chassis with same

Technical Field

The invention relates to the field of vehicle engineering, in particular to a suspension, a suspension system and a chassis with the suspension.

Background

Networking and intellectualization are inevitable roads for automobile development, and automatic driving gradually replaces manual driving. Such as parks, factories and scenic spots, and police, emergency and off-road scenes, and the like, and new requirements are put forward on unmanned vehicles. The drive-by-wire chassis applied to outdoor, cross-country, wading and climbing scenes generally has a crawler scheme and a wheel scheme. When the crawler belt scheme is adopted, the trafficability characteristic is strong, the obstacle and ditch crossing capability is strong, but the crawler belt has heavy weight and is not convenient to flexibly control; when the traditional wheel type scheme is adopted, the self weight is light, but the trafficability is poor, and the obstacle and ditch crossing capability is poor.

Disclosure of Invention

In view of the above-mentioned drawbacks of the prior art, an object of the present invention is to provide a suspension, a suspension system and a chassis having the same, which solve the problem of limited application of the chassis in the prior art.

To achieve the above and other related objects, the present invention provides a suspension including:

the frame is movably connected with the wheels;

a steering unit disposed on the frame;

and one end of the steering pull rod unit is movably connected with the steering unit, and the other end of the steering pull rod unit is movably connected with the wheels.

Optionally, the steering unit includes a steering motor and a steering rocker arm, a main shaft of the steering motor is fixedly connected to one end of the steering rocker arm, and the other end of the steering rocker arm is movably connected to the steering linkage unit.

Optionally, the suspension further includes a knuckle and a swing arm unit, one end of the swing arm unit is movably connected to the frame, and the other end of the swing arm unit is movably connected to the knuckle.

Optionally, one end of the steering pull rod unit connected with the steering rocker arm is connected in a vertically rotating mode, and one end of the steering pull rod unit connected with the steering knuckle is connected in a horizontally rotating mode.

Optionally, the swing arm unit includes an upper swing arm subunit and a lower swing arm subunit, the lower swing arm subunit is located below the upper swing arm subunit, the lower swing arm subunit is connected to one end of the shock absorber, and the other end of the shock absorber is connected to the frame.

Optionally, one end of the swing arm unit connected with the frame is connected in an up-and-down rotating manner, and one end of the swing arm unit connected with the steering knuckle is connected in a left-and-right rotating manner.

Optionally, one end of the swing arm unit movably connected to the frame includes at least one connecting arm, and at least one connecting arm is movably connected to the frame.

Optionally, the wheel comprises a drive motor and a caliper.

A suspension system comprising: at least two of said suspensions, at least two of said suspensions being connected.

A suspension system comprising: at least one said suspension and at least one axle, at least one said suspension being connected to at least one said axle.

Optionally, the suspension is provided at one or both ends of the suspension system.

A chassis, comprising: the suspension system comprises at least one suspension and 2n second suspensions, wherein n is more than or equal to 1 and is an integer, the second suspensions are symmetrically arranged on two sides of the frame, each second suspension comprises a balance arm, a second wheel and a third wheel, the middle of each balance arm is movably connected with the frame, and two ends of each balance arm are respectively connected with the second wheel and the third wheel.

As described above, the suspension system and the chassis having the same of the present invention have the following advantageous effects:

when the steering unit rotates and generates rotational freedom, the steering pull rod unit and the movable connection part of the steering unit are driven to rotate, and due to the fact that the steering pull rod unit is movably connected with the wheels, the rotational freedom is transmitted to the wheels through the steering pull rod unit, and then steering of the wheels is achieved.

Drawings

Fig. 1 is a schematic structural view of a suspension provided in embodiment 1 of the present invention.

Fig. 2 shows a schematic steering diagram of the suspension provided for embodiment 1 of the present invention.

Fig. 3 shows a schematic view of a suspension system provided for embodiment 3 of the present invention.

Fig. 4 shows a schematic view of a second suspension provided for embodiment 4 of the present invention.

Fig. 5 shows a schematic view of a chassis provided for embodiment 4 of the present invention.

Description of reference numerals

1 vehicle frame

2 steering unit

21 steering motor

22 spindle of steering motor

23 steering rocker arm

3 wheel

4-turn drawbar unit

5 steering knuckle

6 swing arm unit

61 upper swing arm subunit

62 lower swing arm subunit

7 shock absorber

8 callipers

91 balance arm

92 second wheel

93 third wheel

10 suspension

20 axle

30 second suspension

Detailed Description

The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention.

Please refer to fig. 1 to 5. It should be noted that the drawings provided in the present embodiment are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated. The structures, proportions, sizes, and other dimensions shown in the drawings and described in the specification are for understanding and reading the present disclosure, and are not intended to limit the scope of the present disclosure, which is defined in the claims, and are not essential to the art, and any structural modifications, changes in proportions, or adjustments in size, which do not affect the efficacy and attainment of the same are intended to fall within the scope of the present disclosure. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.

Referring to fig. 1 and 2, an embodiment 1 of the present invention provides a suspension, including:

the frame 1 is used for loading other functional elements of a suspension and assembling, the frame 1 is movably connected with the wheels 3, when the wheels 3 are driven, the movement can be realized, for example, each wheel 3 can be respectively driven independently, the flexible steering, forward and backward control can be realized, and the informatization control is convenient;

the steering unit 2 is arranged on the frame 1, and the rotational freedom degree of the steering unit 2 is transmitted to the wheels 3 through the rotation of the steering unit 2, so that the wheels 3 realize steering;

the steering linkage unit 4, the one end of steering linkage unit 4 with steering unit 2 swing joint, the other end of steering linkage unit 4 with wheel 3 swing joint, steering unit 2 rotates and produces the rotational degree of freedom, drive steering linkage unit 4 and steering unit 2 swing joint department and rotate, because be swing joint between steering linkage unit 4 and the wheel 3, transmit the rotational degree of freedom for wheel 3 through steering linkage unit 4, and then realize turning to of wheel 3, this suspension has higher trafficability characteristic and higher steering control precision, can be applied to multiple application scene better, improve the suitability of this suspension or the chassis that utilizes this suspension to make.

In some implementations, the steering unit 2 includes a steering motor 21 and a steering rocker 23, a main shaft 22 of the steering motor 21 is fixedly connected to one end of the steering rocker 23, and the other end of the steering rocker 23 is movably connected to the steering linkage unit 4, for example, the steering unit 4 is symmetrically disposed on two sides of the vehicle frame 1, and when the steering motor 21 rotates, the steering motor drives the rotating portion 23 to deflect leftwards or rightwards, and the leftward or rightward deflection is transmitted to the vehicle wheels 3 through the steering unit 4, so as to achieve steering of the vehicle wheels 3.

In some embodiments, the suspension 10 further includes a knuckle 5 and a swing arm unit 6, the knuckle is used for mounting the wheel 3 and transmitting rotational freedom, one end of the swing arm unit 6 is movably connected to the frame 1, the other end of the swing arm unit 6 is movably connected to the knuckle 5, the swing arm unit 6 is used for supporting the load of the suspension in the up-down direction, and the swing arm unit 6 can also be used for guiding the steering of the wheel 3.

In order to improve the shock absorption capability of the suspension or guide the steering of the wheels 3, the end of the steering rod unit 4 connected to the steering rocker 23 is connected to rotate up and down, the end of the steering rod unit 4 connected to the knuckle 5 is connected to rotate left and right, and the transmission and conversion of the degree of freedom is completed through the steering rod unit 4, please refer to fig. 2.

In some embodiments, in order to enhance the structural strength of the suspension, the swing arm unit 6 may be designed as an upper swing arm subunit 61 and a lower swing arm subunit 62, the lower swing arm subunit 62 is located below the upper swing arm subunit 61, the lower swing arm subunit 62 is connected to one end of the shock absorber 7, the other end of the shock absorber 7 is connected to the frame 1, and when the suspension is impacted from the ground, the wheel 3 transmits the impact to the swing arm unit 6, and the shock absorber 7 absorbs the impact energy, so as to achieve shock absorption.

In some implementation processes, the end of the swing arm unit 6 connected with the frame 1 is connected in a vertical rotation manner, the end of the swing arm unit 6 connected with the knuckle 5 is connected in a horizontal rotation manner, when the suspension is impacted from the ground direction, the swing arm unit 6 and the frame 1 are vertically rotated to buffer, so that other structures of the suspension are prevented from being damaged, when the steering unit 2 steers, the swing arm unit 6 can be horizontally rotated with the knuckle 5 to facilitate steering, and the excessive steering freedom degree can be limited to facilitate steering control.

In some embodiments, the end of the swing arm unit 6 that is movably connected to the frame 1 includes at least one connecting arm, at least one of the connecting arms is movably connected to the frame 1, connected to the frame 1 through a plurality of connecting arms, and connected to enhance structural stability through a plurality of connecting arms.

In order to facilitate independent driving and braking of the wheel 3, the wheel 3 comprises a driving motor and calipers 8, power is provided through the driving motor, braking is achieved through the calipers 8, each wheel 3 is provided with an independent driving motor, different driving motors can independently achieve control of power magnitude and power direction, braking is achieved through the calipers 8, and therefore deployment of suspension motion direction and steering curvature radius is facilitated, different application scenes can be adapted to, for example, outdoor scenes, cross-country scenes, wading scenes, climbing scenes and the like.

Embodiment 2 provides a suspension system comprising: at least two of the suspensions are connected, for example, a suspension system comprises two suspensions, the suspension system can reduce the curvature radius of the suspension system when the suspension system turns by controlling the steering direction simultaneously, so that the suspension system is convenient to turn, and in addition, the suspension system can also be used as a vehicle head or a vehicle parking space respectively, so that the forward or reverse direction can be changed rapidly, and the response speed is improved.

Referring to fig. 3, embodiment 3 provides a suspension system, including: the suspension comprises at least one suspension 10 and at least one axle 20, wherein the at least one suspension 10 is connected with the at least one axle 20, the direction of the suspension 10 is controlled, the axle 20 is used for conducting the motion direction, and when the suspension 10 turns, the axle 20 can be driven to turn, so that the suspension can be suitable for bearing larger load.

In some implementations, the suspension 10 is disposed at one or both ends of the suspension system, such as both ends of the suspension system, and can be used for steering as a vehicle head.

Referring to fig. 4 and 5, embodiment 4 provides a chassis, including:

the suspension system comprises at least one suspension 10 and 2n second suspensions 30, wherein n is more than or equal to 1 and is an integer, the second suspensions 30 are symmetrically arranged on two sides of the frame, each second suspension 30 comprises a balance arm 91, a second wheel 92 and a third wheel 93, the middle of each balance arm 91 is movably connected with the frame, two ends of each balance arm 91 are respectively connected with the second wheel 92 and the third wheel 93, for example, the number of the suspensions 10 is 1, and the number of the second suspensions 30 is two, when the suspensions meet the terrain with obstacles, the second suspensions 30 are stressed, and then the balance arms 91 rotate with the frame, so that the chassis is prevented from being stuck by the obstacles and cannot move, the suspension system has good obstacle passing performance, and can be suitable for application scenes with complex terrain.

The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.

Claims

1. A suspension, comprising:

the frame is movably connected with the wheels;

a steering unit disposed on the frame;

2. The suspension according to claim 1, wherein the steering unit comprises a steering motor and a steering rocker arm, a main shaft of the steering motor is fixedly connected with one end of the steering rocker arm, and the other end of the steering rocker arm is movably connected with the steering pull rod unit.

3. The suspension of claim 2, further comprising a knuckle and a swing arm unit, one end of the swing arm unit being movably connected to the frame and the other end of the swing arm unit being movably connected to the knuckle.

4. The suspension according to claim 3 wherein the end of the steering linkage unit connected to the pitman arm is pivotally connected and the end of the steering linkage unit connected to the knuckle is pivotally connected.

5. The suspension of claim 3, wherein the swing arm unit comprises an upper swing arm subunit and a lower swing arm subunit, the lower swing arm subunit being located below the upper swing arm subunit, and the lower swing arm subunit being connected to one end of a shock absorber, the other end of the shock absorber being connected to the frame.

6. The suspension of claim 3 wherein the end of the swing arm unit connected to the frame is pivotally connected and the end of the swing arm unit connected to the knuckle is pivotally connected.

7. The suspension of claim 3 wherein the end of said swing arm unit that is movably coupled to said frame includes at least one link arm, at least one of said link arms being movably coupled to said frame.

8. The suspension of any one of claims 1 to 7, wherein the wheel includes a drive motor and a caliper.

9. A suspension system, comprising: at least two suspensions according to any of claims 1 to 8, at least two of the suspensions being connected.

10. A suspension system, comprising: at least one suspension as claimed in any one of claims 1 to 8 and at least one axle, at least one said suspension being connected to at least one said axle.

11. The suspension system of claim 10, wherein the suspension is disposed at one or both ends of the suspension system.

12. A chassis, comprising: the suspension and 2n second suspensions as claimed in any one of claims 1 to 8, wherein n is greater than or equal to 1 and n is an integer, the second suspensions are symmetrically arranged on two sides of the frame, each second suspension comprises a balance arm, a second wheel and a third wheel, the middle of the balance arm is movably connected with the frame, and two ends of the balance arm are respectively connected with the second wheel and the third wheel.