CN1769126A

CN1769126A - Suspension structure of six-wheeled type environment inspecting vehicle

Info

Publication number: CN1769126A
Application number: CN 200510017170
Authority: CN
Inventors: 王荣本; 陈建新; 陈百超; 申振荣; 金立生; 郭烈
Original assignee: Jilin University; China Academy of Space Technology CAST
Current assignee: Jilin University; China Academy of Space Technology CAST
Priority date: 2005-09-28
Filing date: 2005-09-28
Publication date: 2006-05-10
Anticipated expiration: 2025-09-28
Also published as: CN100347025C

Abstract

The invention relates to a suspension device of wheel vehicle, especially providing a six-wheel suspension device of environment detecting vehicle. The invention comprises a supporting arm whose lower ends are hinged to the shafts of wheels on two sides, and a horizontal axis arranged on the vehicle body via differential gear whose two ends are individually connected to a balance arm. The supporting arm on the same side of vehicle body is coupling connected to said balance arm via two connection bar as following method: hinging the lower ends of two connection bars while individually hinging the lower ends to the upper ends of left and right supporting arm; the right side of fulcrum of balance arm is hinged to the connection bar connected with the support arm while the left side is hinged to the left supporting arm; the left section of balance and the connection bar connected with left supporting arm are in the across condition; and the upper end of supporting arm of intermediate wheel is hinged on the left supporting arm while its lower end is hinged with right side of balance arm.

Description

Suspension structure of six-wheeled type environment inspecting vehicle

Technical field

The present invention relates to the suspension fork mechanism of wheeled car, especially a kind of suspension fork mechanism that is specially adapted to the environment detection car.

Background technology

Existing six take turns the suspension fork mechanism of portable probe vehicles, mainly take turns rocking bar suspension type structure based on six of the U.S., this suspension fork mechanism is a kind of by dynamic deformation ecad traveling mechanism, form by left and right sides rocking bar suspension type suspension, one side rocking bar suspension type suspension is by a master rocker and hinged the forming of secondary-rocker, its one-sided suspension frame structure as shown in Figure 4, master rocker and trailing wheel and secondary-rocker are hinged, secondary-rocker links to each other with middle wheel with front-wheel.About two independently rocking bar suspension type suspension by cross bar in differential mode with body suspension, when this kind structure probe vehicles was travelled on the rugged face of land, its obstacle climbing ability was relatively poor, and is desirable not enough to the comformability of complex-terrain and mobile ride comfort.

Summary of the invention

The purpose of this invention is to provide a kind of suspension structure of six-wheeled type environment inspecting vehicle, with the obstacle climbing ability that improves the environment detection car with to the comformability and the mobile ride comfort of complex-terrain.

Suspension structure of six-wheeled type environment inspecting vehicle of the present invention, comprise the bottom be hinged respectively on the axletree of both sides hold-down arm and be arranged on transverse axis on the car body by diff, the two ends that the it is characterized in that described transverse axis equilibrium arm that is connected respectively, the hold-down arm of car body the same side by two connecting rods in the following manner lotus root be connected on this lateral balance arm: end is hinged mutually under two connecting rods, its upper end is hinged in the right side respectively, the upper end of left side two end supports arm, the fulcrum right side of equilibrium arm be hinged with connecting rod that the right-hand member hold-down arm links to each other on, the fulcrum left-hand end of equilibrium arm is hinged on the left end hold-down arm, and the left side of equilibrium arm section is space crossed state with the connecting rod that is connected the left end hold-down arm; The upper end of middle wheel pivot arm is hinged on the right-hand member hold-down arm, and its underpart is hinged on the equilibrium arm right-hand end, and promptly middle wheel pivot arm surrounds closed quadrangle swivel hook with the right side section of right-hand member hold-down arm, the connecting rod that is connected the right-hand member hold-down arm and equilibrium arm.

Suspension fork mechanism of the present invention has good contraction, expansion service, and system flexibility degree height is applied widely, is not only applicable to the probe vehicles of complex-terrain, also is applicable to the suspension fork mechanism of toy car.Assemble six of this suspension fork mechanism and take turns moving vehicle, have stronger crossing ability and ride comfort when obstacle detouring, the adaptive motion of rod member makes suspension produce distortion, helps the car body held stationary.

Description of drawings

Fig. 1 is that the master of suspension structure of six-wheeled type environment inspecting vehicle looks scheme drawing;

Fig. 2 is the schematic top plan view of suspension structure of six-wheeled type environment inspecting vehicle;

Fig. 3 is the present invention's six wheeled environment detection car obstacle detouring walking scheme drawings;

Fig. 4 is the suspension fork mechanism scheme drawing of existing six wheeled environment detection cars.

The specific embodiment

The embodiment that provides below in conjunction with accompanying drawing is described in further detail structure of the present invention.

With reference to Fig. 1,2, suspension structure of six-wheeled type environment inspecting vehicle, comprise be hinged respectively hold-down arm 1 on the axletree of both sides of bottom, 3,6 and be arranged on transverse axis 7 on the car body by diff 8, the two ends of described transverse axis 7 equilibrium arm 4 that is connected respectively, the hold-down arm 1 of car body the same side, 3,6 by two connecting rods 2,5 in the following manner lotus root be connected on this lateral balance arm 4: two connecting rods 2, end is hinged mutually under 5, its upper end is hinged in the right side respectively, left side two end supports arm 1,6 upper end, the fulcrum right side of equilibrium arm 4 be hinged with connecting rod 2 that the right-hand member hold-down arm links to each other on, the fulcrum left-hand end of equilibrium arm 4 is hinged on left end hold-down arm 6, and the left side of equilibrium arm 4 section is space crossed state with the connecting rod 5 that is connected the left end hold-down arm; The upper end of middle wheel pivot arm 3 is hinged on right-hand member hold-down arm 1, and its underpart is hinged on equilibrium arm 4 right-hand ends, and promptly middle wheel pivot arm 3 surrounds closed quadrangle swivel hook with the right side section of right-hand member hold-down arm 1, the connecting rod 2 that is connected the right-hand member hold-down arm and equilibrium arm 4.

The present invention's six wheeled environment detection car obstacle detouring walking effects as shown in Figure 3.This suspension fork mechanism can self adaptation be out of shape after being subjected to external force, and two-wheeled is upturned before and after showing as, and middle wheel moves down or the front and back two-wheeled moves down, and middle wheel is upturned.The moving vehicle that adopts this suspension fork mechanism is when obstacle detouring, and the distortion of the self adaptation of suspension rod member can help wheel lift, and a part of ground out-of-flat has been offset in this suspension distortion simultaneously, and vehicular platform keeps steady relatively when helping obstacle detouring.

Fig. 3 a is depicted as the state of vehicle on flat road surface, the state the when state when Fig. 3 b is vehicle front-wheel obstacle detouring, Fig. 3 c are middle wheel obstacle detouring, the state when Fig. 3 d is the vehicle rear wheel obstacle detouring.

Claims

1. suspension structure of six-wheeled type environment inspecting vehicle, comprise be hinged respectively hold-down arm (1 on the axletree of both sides of bottom, 3,6) and by diff (8) be arranged on transverse axis (7) on the car body, the two ends that it is characterized in that described transverse axis (7) equilibrium arm (4) that is connected respectively, the hold-down arm (1 of car body the same side, 3,6) by two connecting rods (2,5) lotus root is connected on this lateral balance arm (4) in the following manner: two connecting rods (2,5) end is hinged mutually under, its upper end is hinged in the right side respectively, left side two end supports arm (1,6) upper end, the fulcrum right side of equilibrium arm (4) is hinged on the connecting rod (2) that links to each other with the right-hand member hold-down arm, the fulcrum left-hand end of equilibrium arm (4) is hinged on left end hold-down arm (6), and the left side of equilibrium arm (4) section is space crossed state with the connecting rod that is connected the left end hold-down arm (5); The upper end of middle wheel pivot arm (3) is hinged on right-hand member hold-down arm (1), its underpart is hinged on equilibrium arm (4) right-hand end, and promptly middle wheel pivot arm (3) surrounds closed quadrangle swivel hook with the right side section of right-hand member hold-down arm (1), the connecting rod (2) that is connected the right-hand member hold-down arm and equilibrium arm (4).