CN1302958C - Eight-wheel symmetrical suspension frame vehicle loading mechanism - Google Patents

Eight-wheel symmetrical suspension frame vehicle loading mechanism Download PDF

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Publication number
CN1302958C
CN1302958C CNB2004100438012A CN200410043801A CN1302958C CN 1302958 C CN1302958 C CN 1302958C CN B2004100438012 A CNB2004100438012 A CN B2004100438012A CN 200410043801 A CN200410043801 A CN 200410043801A CN 1302958 C CN1302958 C CN 1302958C
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wheel
hinged
rocker arm
main
rocker
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CN1597416A (en
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邓宗全
胡明
高海波
陶建国
吴湘
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Harbin Institute of Technology Shenzhen
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Harbin Institute of Technology Shenzhen
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Abstract

八轮对称悬架式车载机构，它涉及一种悬架式车载机构。本发明两个单侧独立悬架机构(20)设置在主车体(30)的左右两侧，副摇臂(5)的前侧下端与中前轮(2)铰接，副摇臂(5)的后侧下端与中后轮(3)铰接，前主摇臂(8)的前端与前轮(1)铰接，前主摇臂(8)的后端与副摇臂(5)的前侧铰接，后主摇臂(7)的前端与副摇臂(5)的后侧铰接，后主摇臂(7)的后端与后轮(4)铰接。本发明轮系结构采用驱动、传动、轮体一体化的结构。主车体通过铰接方式装在两对主摇臂上，重力在各车轮上分配均匀，能够发挥驱动传动装置中电机的最大驱动效率。在崎岖地形移动过程中，八轮自适应地形变化，越障性能良好。主车体由两横轴支撑，强度高，且移动过程中姿态平稳。

Figure 200410043801

An eight-wheel symmetrical suspension type vehicle-mounted mechanism relates to a suspension type vehicle-mounted mechanism. Two unilateral independent suspension mechanisms (20) of the present invention are arranged on the left and right sides of the main vehicle body (30), the front side lower end of the auxiliary rocker arm (5) is hinged with the middle front wheel (2), and the auxiliary rocker arm (5) ) is hinged with the middle rear wheel (3), the front end of the front main rocker arm (8) is hinged with the front wheel (1), and the rear end of the front main rocker arm (8) is hinged with the front of the auxiliary rocker arm (5). Side hinged, the front end of rear main rocker arm (7) is hinged with the rear side of secondary rocker arm (5), and the rear end of rear main rocker arm (7) is hinged with rear wheel (4). The wheel train structure of the present invention adopts an integrated structure of drive, transmission and wheel body. The main car body is mounted on two pairs of main rocker arms by means of articulated joints, and the gravity is evenly distributed on each wheel, so that the maximum driving efficiency of the motor in the drive transmission can be exerted. In the process of moving on rough terrain, the eight-wheel adaptive terrain changes, and the performance of obstacle surmounting is good. The main car body is supported by two transverse shafts, with high strength and stable posture during movement.

Figure 200410043801

Description

八轮对称悬架式车载机构Eight-wheel symmetrical suspension vehicle-mounted mechanism

技术领域：Technical field:

本发明涉及一种悬架式车载机构。The invention relates to a suspension type vehicle-mounted mechanism.

背景技术：Background technique:

已有移动车辆(包括月球、行星探测车)大多采用多轮并列式车载机构，这些车载机构虽然具有一定的越障能力和适应地形的能力，但这种能力还具有一定的局限性，车载机构在凹凸崎岖的地表上，移动姿态还不够平稳，在越障能力、适应地形，移动平稳等方面有待进一步提高和完善。Most of the existing mobile vehicles (including lunar and planetary exploration vehicles) use multi-wheel side-by-side vehicle-mounted mechanisms. Although these vehicle-mounted mechanisms have a certain ability to overcome obstacles and adapt to terrain, this ability still has certain limitations. On the uneven and rugged surface, the moving posture is not stable enough, and the obstacle-surmounting ability, adapting to the terrain, and moving smoothly need to be further improved and perfected.

发明内容：Invention content:

本发明的目的是提供一种八轮对称悬架式车载机构，它具有结构紧凑、车体稳定性好、自动适应复杂地形能力强、越障性能良好、移动过程中姿态平稳的特点。本发明由两个单侧独立悬架机构20、主车体30组成，两个单侧独立悬架机构20设置在主车体30的左右两侧，两个单侧独立悬架机构20与主车体30相连接。两个单侧独立悬架机构20分别由前轮1、中前轮2、中后轮3、后轮4、副摇臂5、前主摇臂8、后主摇臂7组成，副摇臂5的前侧下端与中前轮2铰接，副摇臂5的后侧下端与中后轮3铰接，前主摇臂8的前端与前轮1铰接，前主摇臂8的后端与副摇臂5的前侧铰接，后主摇臂7的前端与副摇臂5的后侧铰接，后主摇臂7的后端与后轮4铰接。主车体30由主车体架6和连杆9组成，连杆9的上端与主车体架6的前端铰接，连杆9下端的两侧分别与两个单侧独立悬架机构20中的前主摇臂8铰接，主车体架6的下端两侧分别与两个单侧独立悬架机构20中的后主摇臂7铰接。前轮1、中前轮2、中后轮3或后轮4由轮体1-1、两个轴承1-2、驱动传动装置1-3、驱动传动装置支撑套1-4、轮毂1-5、连接套1-6组成，驱动传动装置支撑套1-4设在轮体1-1内，驱动传动装置支撑套1-4与轮体1-1之间固定有两个轴承1-2，驱动传动装置1-3固定在驱动传动装置支撑套1-4内，轮毂1-5固定在轮体1-1的外侧，驱动传动装置1-3的输出端与轮毂1-5固定连接，连接套1-6固定在轮体1-1的内侧，连接套1-6分别与前主摇臂8、副摇臂5和后主摇臂7铰接。本发明采用八轮独立驱动、前后四轮独立转向的方式移动。轮系结构采用驱动、传动、轮体一体化的结构。主车体通过铰接方式装在两对主摇臂上，重力在各车轮上分配均匀，能够发挥驱动传动装置中电机的最大驱动效率。在崎岖地形移动过程中，八轮自适应地形变化，越障性能良好。主车体由两横轴支撑，强度高，且移动过程中姿态平稳。本发明的悬架机构具有良好的拓展性，不仅可作为月球或行星探测车的车载机构，也可通过改变其几何尺寸参数，作为复杂地形移动车辆的车载移动机构或玩具车。The purpose of the present invention is to provide a vehicle-mounted mechanism with eight-wheel symmetrical suspension, which has the characteristics of compact structure, good vehicle body stability, strong ability to automatically adapt to complex terrain, good obstacle-crossing performance, and stable posture during movement. The present invention is made up of two unilateral independent suspension mechanisms 20 and a main vehicle body 30. The two unilateral independent suspension mechanisms 20 are arranged on the left and right sides of the main vehicle body 30. The car body 30 is connected. Two unilateral independent suspension mechanisms 20 are composed of front wheel 1, middle front wheel 2, middle rear wheel 3, rear wheel 4, auxiliary rocker arm 5, front main rocker arm 8, and rear main rocker arm 7. The auxiliary rocker arm The lower end of the front side of the 5 is hinged with the middle front wheel 2, the lower end of the rear side of the auxiliary rocker arm 5 is hinged with the middle rear wheel 3, the front end of the front main rocker arm 8 is hinged with the front wheel 1, and the rear end of the front main rocker arm 8 is hinged with the auxiliary rocker arm 8. The front side of rocking arm 5 is hinged, the front end of rear main rocking arm 7 is hinged with the rear side of secondary rocking arm 5, and the rear end of rear main rocking arm 7 is hinged with rear wheel 4. The main vehicle body 30 is made up of the main vehicle body frame 6 and the connecting rod 9. The upper end of the connecting rod 9 is hinged with the front end of the main vehicle body frame 6. The front main rocker arm 8 is hinged, and both sides of the lower end of the main body frame 6 are respectively hinged with the rear main rocker arm 7 in the two unilateral independent suspension mechanisms 20. Front wheel 1, middle front wheel 2, middle rear wheel 3 or rear wheel 4 are made of wheel body 1-1, two bearings 1-2, drive transmission device 1-3, drive transmission device support sleeve 1-4, wheel hub 1- 5. Composed of connecting sleeves 1-6, the drive transmission device support sleeve 1-4 is arranged in the wheel body 1-1, and two bearings 1-2 are fixed between the drive transmission device support sleeve 1-4 and the wheel body 1-1 , the drive transmission device 1-3 is fixed in the drive transmission device support sleeve 1-4, the wheel hub 1-5 is fixed on the outer side of the wheel body 1-1, and the output end of the drive transmission device 1-3 is fixedly connected with the wheel hub 1-5, Connecting sleeve 1-6 is fixed on the inboard of wheel body 1-1, and connecting sleeve 1-6 is hinged with front main rocker arm 8, secondary rocker arm 5 and rear main rocker arm 7 respectively. The present invention adopts eight-wheel independent drive, front and rear four-wheel independent steering mode to move. The wheel train structure adopts the integrated structure of drive, transmission and wheel body. The main car body is mounted on two pairs of main rocker arms by means of articulated joints, and the gravity is evenly distributed on each wheel, so that the maximum driving efficiency of the motor in the drive transmission can be exerted. In the process of moving on rough terrain, the eight-wheel adaptive terrain changes, and the performance of obstacle surmounting is good. The main car body is supported by two transverse shafts, with high strength and stable posture during movement. The suspension mechanism of the present invention has good expansibility, not only can be used as a vehicle-mounted mechanism of a lunar or planetary exploration vehicle, but also can be used as a vehicle-mounted mobile mechanism or a toy car of a vehicle moving on complex terrain by changing its geometric size parameters.

附图说明：Description of drawings:

图1是本发明的主视图，图2是本发明的俯视图，图3是前轮1、中前轮2、中后轮3或后轮4的结构示意图。Fig. 1 is a front view of the present invention, Fig. 2 is a top view of the present invention, Fig. 3 is a structural representation of a front wheel 1, a middle front wheel 2, a middle rear wheel 3 or a rear wheel 4.

具体实施方式：Detailed ways:

具体实施方式一：(参见图1-图3)本实施方式由两个单侧独立悬架机构20、主车体30组成，两个单侧独立悬架机构20设置在主车体30的左右两侧，两个单侧独立悬架机构20与主车体30相连接。两个单侧独立悬架机构20分别由前轮1、中前轮2、中后轮3、后轮4、副摇臂5、前主摇臂8、后主摇臂7组成，副摇臂5的前侧下端与中前轮2铰接，副摇臂5的后侧下端与中后轮3铰接，前主摇臂8的前端与前轮1铰接，前主摇臂8的后端与副摇臂5的前侧铰接，后主摇臂7的前端与副摇臂5的后侧铰接，后主摇臂7的后端与后轮4铰接。主车体30由主车体架6和连杆9组成，连杆9的上端与主车体架6的前端铰接，连杆9下端的两侧分别与两个单侧独立悬架机构20中的前主摇臂8铰接，主车体架6的下端两侧分别与两个单侧独立悬架机构20中的后主摇臂7铰接。前轮1、中前轮2、中后轮3或后轮4由轮体1-1、两个轴承1-2、驱动传动装置1-3、驱动传动装置支撑套1-4、轮毂1-5、连接套1-6组成，驱动传动装置支撑套1-4设在轮体1-1内，驱动传动装置支撑套1-4与轮体1-1之间固定有两个轴承1-2，驱动传动装置1-3固定在驱动传动装置支撑套1-4内，轮毂1-5固定在轮体1-1的外侧，驱动传动装置1-3的输出端与轮毂1-5固定连接，连接套1-6固定在轮体1-1的内侧，连接套1-6分别与前主摇臂8、副摇臂5和后主摇臂7铰接。Specific embodiment one: (referring to Fig. 1-Fig. 3) this embodiment is made up of two unilateral independent suspension mechanisms 20, the main car body 30, two unilateral independent suspension mechanisms 20 are arranged on the left and right sides of the main car body 30 On both sides, two unilateral independent suspension mechanisms 20 are connected with the main vehicle body 30 . Two unilateral independent suspension mechanisms 20 are composed of front wheel 1, middle front wheel 2, middle rear wheel 3, rear wheel 4, auxiliary rocker arm 5, front main rocker arm 8, and rear main rocker arm 7. The auxiliary rocker arm The lower end of the front side of the 5 is hinged with the middle front wheel 2, the lower end of the rear side of the auxiliary rocker arm 5 is hinged with the middle rear wheel 3, the front end of the front main rocker arm 8 is hinged with the front wheel 1, and the rear end of the front main rocker arm 8 is hinged with the auxiliary rocker arm 8. The front side of rocking arm 5 is hinged, the front end of rear main rocking arm 7 is hinged with the rear side of secondary rocking arm 5, and the rear end of rear main rocking arm 7 is hinged with rear wheel 4. The main vehicle body 30 is made up of the main vehicle body frame 6 and the connecting rod 9. The upper end of the connecting rod 9 is hinged with the front end of the main vehicle body frame 6. The front main rocker arm 8 is hinged, and both sides of the lower end of the main body frame 6 are respectively hinged with the rear main rocker arm 7 in the two unilateral independent suspension mechanisms 20. Front wheel 1, middle front wheel 2, middle rear wheel 3 or rear wheel 4 are made of wheel body 1-1, two bearings 1-2, drive transmission device 1-3, drive transmission device support sleeve 1-4, wheel hub 1- 5. Composed of connecting sleeves 1-6, the drive transmission device support sleeve 1-4 is arranged in the wheel body 1-1, and two bearings 1-2 are fixed between the drive transmission device support sleeve 1-4 and the wheel body 1-1 , the drive transmission device 1-3 is fixed in the drive transmission device support sleeve 1-4, the wheel hub 1-5 is fixed on the outer side of the wheel body 1-1, and the output end of the drive transmission device 1-3 is fixedly connected with the wheel hub 1-5, Connecting sleeve 1-6 is fixed on the inboard of wheel body 1-1, and connecting sleeve 1-6 is hinged with front main rocker arm 8, secondary rocker arm 5 and rear main rocker arm 7 respectively.

工作原理：working principle:

由于该车载机构引入了副摇臂和两中间轮，当遇到障碍时，可通过副摇臂的转动，并借助两中间车轮来调整重力在各车轮的分配，以提高车体的稳定性和越障能力。前轮1和后轮4可相对前主摇臂8与后主摇臂7转动，并通过驱动传动装置中转向电机实现车轮绕其垂直轴线的转动。该车载机构的8个车轮均独立驱动，前后4个车轮独立转向，可实现前进、后退和转向等多种运动功能。Since the vehicle-mounted mechanism introduces the auxiliary rocker arm and two intermediate wheels, when an obstacle is encountered, the distribution of gravity on each wheel can be adjusted through the rotation of the auxiliary rocker arm and the two intermediate wheels to improve the stability and stability of the car body. Obstacle surmountability. Front wheel 1 and trailing wheel 4 can rotate relative to front main rocker arm 8 and rear main rocker arm 7, and realize the rotation of wheel around its vertical axis by driving the steering motor in the transmission. The 8 wheels of the vehicle-mounted mechanism are driven independently, and the front and rear 4 wheels turn independently, which can realize various motion functions such as forward, backward and steering.

Claims (2)

1, eight take turns symmetrical suspension frame type vehicular mechanism, it is by two one-sided independent suspension mechanisms (20), main car body (30) is formed, two one-sided independent suspension mechanisms (20) are arranged on the left and right sides of main car body (30), two one-sided independent suspension mechanisms (20) are connected with main car body (30), two one-sided independent suspension mechanisms (20) are respectively by front-wheel (1), middle front-wheel (2), middle trailing wheel (3), trailing wheel (4), secondary-rocker (5), preceding master rocker (8), back master rocker (7) is formed, the lower end, front side of secondary-rocker (5) and middle front-wheel (2) are hinged, the rear side lower end of secondary-rocker (5) and middle trailing wheel (3) are hinged, the front end and the front-wheel (1) of preceding master rocker (8) are hinged, the rear end of preceding master rocker (8) and the front side of secondary-rocker (5) are hinged, the rear side of the front end of back master rocker (7) and secondary-rocker (5) is hinged, the rear end of back master rocker (7) and trailing wheel (4) are hinged, it is characterized in that front-wheel (1), middle front-wheel (2), middle trailing wheel (3) or trailing wheel (4) are by wheel body (1-1), two bearings (1-2), drive transmission (1-3), drive transmission support sleeve (1-4), wheel hub (1-5), adapter sleeve (1-6) is formed, drive transmission support sleeve (1-4) is located in the wheel body (1-1), be fixed with two bearings (1-2) between drive transmission support sleeve (1-4) and the wheel body (1-1), drive transmission (1-3) is fixed in the drive transmission support sleeve (1-4), wheel hub (1-5) is fixed on the outside of wheel body (1-1), the mouth of drive transmission (1-3) is captiveed joint with wheel hub (1-5), adapter sleeve (1-6) is fixed on the inboard of wheel body (1-1), adapter sleeve (1-6) respectively with preceding master rocker (8), secondary-rocker (5) and back master rocker (7) are hinged.
2, according to claim 1 eight take turns symmetrical suspension frame type vehicular mechanism, it is characterized in that main car body (30) is made up of main car body frame (6) and connecting rod (9), the front end of the upper end of connecting rod (9) and main car body frame (6) is hinged, the both sides of connecting rod (9) lower end respectively with two one-sided independent suspension mechanisms (20) in preceding master rocker (8) hinged, the both sides, lower end of main car body frame (6) respectively with two one-sided independent suspension mechanisms (20) in back master rocker (7) hinged.
CNB2004100438012A 2004-08-13 2004-08-13 Eight-wheel symmetrical suspension frame vehicle loading mechanism Expired - Fee Related CN1302958C (en)

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Publication number Priority date Publication date Assignee Title
CN100372702C (en) * 2006-04-26 2008-03-05 哈尔滨工业大学 Eight-wheel differential-torsion bar spring suspension vehicle-mounted mechanism
CN101870312B (en) * 2010-06-29 2011-12-28 王龙 Terrain self-adaptive detection and rescue walking platform
CN104260607B (en) * 2014-09-04 2017-02-15 管中林 Wheel type armoured eight-wheel-interconversion damping device
CN104590420B (en) * 2014-12-19 2016-11-09 贾克 Obstacle detouring articulator eight wheel drive system
CN104648500B (en) * 2014-12-19 2017-02-01 贾克 Eight-wheel hinged obstacle crossing vehicle
CN105292300A (en) * 2015-11-17 2016-02-03 北京自动化控制设备研究所 Wheel type travelling mechanism
CN109693811B (en) * 2018-12-17 2022-08-02 西北工业大学 Differential rear-mounted mars vehicle moving mechanism
CN110562344A (en) * 2019-09-27 2019-12-13 核星核电科技(海盐)有限公司 Magnetic adsorption type wall-climbing robot
CN110949566A (en) * 2019-12-25 2020-04-03 中国科学院沈阳自动化研究所 A terrain-adaptive variable-configuration mobile eight-wheeled detection robot

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Publication number Priority date Publication date Assignee Title
CN2105421U (en) * 1991-09-17 1992-05-27 殷建新 Balance suspension
CN2441705Y (en) * 2000-07-06 2001-08-08 东风汽车工业联营公司新疆汽车厂 Self balance double connection suspending frame
CN2507683Y (en) * 2001-08-31 2002-08-28 泰安特种车制造厂 Fuel gas spring balance suspension device for multi-axle super heavy-duty cross-country car

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2105421U (en) * 1991-09-17 1992-05-27 殷建新 Balance suspension
CN2441705Y (en) * 2000-07-06 2001-08-08 东风汽车工业联营公司新疆汽车厂 Self balance double connection suspending frame
CN2507683Y (en) * 2001-08-31 2002-08-28 泰安特种车制造厂 Fuel gas spring balance suspension device for multi-axle super heavy-duty cross-country car

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