KR20090062243A - Suspension unit for automobile - Google Patents

Suspension unit for automobile Download PDF

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Publication number
KR20090062243A
KR20090062243A KR1020070129377A KR20070129377A KR20090062243A KR 20090062243 A KR20090062243 A KR 20090062243A KR 1020070129377 A KR1020070129377 A KR 1020070129377A KR 20070129377 A KR20070129377 A KR 20070129377A KR 20090062243 A KR20090062243 A KR 20090062243A
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KR
South Korea
Prior art keywords
lower arm
vehicle
shock absorber
wheel
link
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KR1020070129377A
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Korean (ko)
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KR100907777B1 (en
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박재용
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현대자동차주식회사
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Priority to KR1020070129377A priority Critical patent/KR100907777B1/en
Publication of KR20090062243A publication Critical patent/KR20090062243A/en
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Publication of KR100907777B1 publication Critical patent/KR100907777B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G13/00—Resilient suspensions characterised by arrangement, location or type of vibration dampers
    • B60G13/001—Arrangements for attachment of dampers
    • B60G13/005—Arrangements for attachment of dampers characterised by the mounting on the axle or suspension arm of the damper unit
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
    • B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
    • B60G11/16—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only characterised by means specially adapted for attaching the spring to axle or sprung part of the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G3/00—Resilient suspensions for a single wheel
    • B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
    • B60G3/20—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram all arms being rigid
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G7/00—Pivoted suspension arms; Accessories thereof
    • B60G7/001—Suspension arms, e.g. constructional features
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/10—Independent suspensions
    • B60G2200/14—Independent suspensions with lateral arms
    • B60G2200/144—Independent suspensions with lateral arms with two lateral arms forming a parallelogram
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2200/00—Indexing codes relating to suspension types
    • B60G2200/40—Indexing codes relating to the wheels in the suspensions
    • B60G2200/44—Indexing codes relating to the wheels in the suspensions steerable
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/12—Mounting of springs or dampers
    • B60G2204/124—Mounting of coil springs
    • B60G2204/1244—Mounting of coil springs on a suspension arm
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/10—Mounting of suspension elements
    • B60G2204/12—Mounting of springs or dampers
    • B60G2204/129—Damper mount on wheel suspension or knuckle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/421—Pivoted lever mechanisms for mounting suspension elements, e.g. Watt linkage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/422—Links for mounting suspension elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60G—VEHICLE SUSPENSION ARRANGEMENTS
    • B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
    • B60G2204/40—Auxiliary suspension parts; Adjustment of suspensions
    • B60G2204/423—Rails, tubes, or the like, for guiding the movement of suspension elements
    • B60G2204/4232—Sliding mounts
    • 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
    • B60G2400/25—Stroke; Height; Displacement

Abstract

A suspension for an automobile is provided to improve ride comfort and rotating performance by varying the stroke ratio of a link and controlling wheel-rate according to the enlargement of the bump amount. A lower arm mounting support point of a shock absorber(100) is composed of a slide joint. The tie rod(200) of a steering system and the mounting a support point of the lower arm are supported through a connection link(10). In the connection link, the wheel-rate is increased in a direction in which the bump amount increases.

Description

자동차용 현가장치{Suspension unit for automobile}Suspension unit for automobile

본 발명은 자동차용 현가장치에 관한 것으로서, 더욱 상세하게는 자동차의 선회시에 링크의 스트로크비(레버비)가 가변되도록 함으로써, 선회시의 범프량의 증대에 따라 승차감이 유리하도록 휠레이트가 조절되므로 자동차의 승차감 및 선회능력 향상에 능동적으로 대처할 수 있는 자동차용 현가장치에 관한 것이다.The present invention relates to a suspension device for an automobile, and more particularly, by adjusting the link ratio (lever ratio) of the link when the vehicle is turning, the wheel rate is adjusted so that the riding comfort is advantageous as the bump amount is increased during the turning. Therefore, the present invention relates to a vehicle suspension that can actively cope with the improvement of ride comfort and turning ability of the vehicle.

일반적으로, 자동차의 현가장치는 차축과 연결하여, 자동차의 주행 중에 노면으로부터 받는 진동이나 충격을 자동차 차체에 직접적으로 전달되지 않도록 제어하여 차체, 승객, 화물, 등에 손상을 주지 않도록 하고 자동차의 승차감을 좋게 만드는 장치이다. In general, the suspension of the vehicle is connected to the axle, so that vibrations or shocks received from the road surface are not transmitted directly to the vehicle body while driving, so as not to damage the vehicle body, passengers, cargo, etc. It is a device that makes good.

상기 현가장치는 노면으로부터 충격을 완화시키는 섀시 스프링, 섀시 스프링의 자유진동을 제어하여 승차감을 좋게 하는 쇽업소버, 자동차의 롤링(rolling)을 방지하는 스태빌라이저 바 등으로 구성된다. The suspension device is composed of a chassis spring to mitigate the impact from the road surface, a shock absorber to control the free vibration of the chassis spring to improve the ride comfort, a stabilizer bar to prevent rolling of the vehicle.

이 중에서 쇽업소버는 자동차의 주행중 스프링이 받는 충격에 의해 발생하는 고유진동을 흡수하여 진동을 빨리 감쇠시켜 승차감을 좋게 하기 위하여 차체와 휠 사이에 장착되어 있다.Among them, the shock absorber is installed between the vehicle body and the wheels to absorb natural vibrations generated by the shocks of the springs while the vehicle is running, to attenuate vibrations quickly, and to improve ride comfort.

그런데, 이러한 종래의 쇽업소버는 장착 위치, 운동 특성에 따라 연결부의 구조가 각각 상이하며, 주로 리어 서스펜션에 적용중인 쇽업소버는 상하 방향에 대해 국한된 운동 특성을 가지므로 상부 차체와 하부 현가장치를 연결하는 힌지부에 러버 부시를 적용하여 본연의 댐핑 기능 외에 주행 시의 완충 기능도 수행하게 된다.However, these conventional shock absorbers have different structures depending on the mounting position and movement characteristics, and the shock absorbers which are mainly applied to the rear suspension have limited movement characteristics in the vertical direction, thereby connecting the upper body and the lower suspension device. The rubber bush is applied to the hinge portion to perform a shock absorbing function in addition to the natural damping function.

그런데, 이러한 쇽업소버는 로워암 또는 너클에 일정한 링크 레버(link lever)비를 가지고 지지되므로 과도한 자동차의 선회시에 현가장치의 스프링 반력 및 쇽업소버의 오일 댐핑 제어만으로는 자동차의 롤링 현상을 안정적으로 제어하는데는 한계가 있는 문제점이 있다.However, since the shock absorber is supported with a constant link lever ratio on the lower arm or the knuckle, the rolling phenomenon of the vehicle is stably controlled only by the spring reaction force of the suspension and the oil damping control of the shock absorber during excessive turning of the vehicle. There is a limit to this problem.

따라서, 본 발명은 상기와 같은 문제점을 해결하기 위하여 발명한 것으로서, 쇽업소버의 로워암 마운팅 지지점이 슬라이드 조인트로 구성되고, 스티어링 시스템의 타이로드와 상기 로워암 마운팅 지지점이 연결 링크를 통해 지지되도록 하여 자동차의 선회시에 링크의 스트로크비(레버비)가 가변되도록 함으로써, 선회시의 범프량의 증대에 따라 승차감이 유리하도록 휠레이트가 조절되므로 자동차의 승차감 및 선회능력 향상에 능동적으로 대처할 수 있는 자동차용 현가장치를 제공하고자 한다. Therefore, the present invention has been invented to solve the above problems, the lower arm mounting support of the shock absorber is composed of a slide joint, the tie rod and the lower arm mounting support of the steering system is supported through a connecting link By changing the stroke ratio (lever ratio) of the link when the vehicle is turning, the wheel rate is adjusted so that the riding comfort is advantageous according to the increase in the amount of bumps during the turning, so that the vehicle can actively cope with improving the riding comfort and turning ability of the vehicle. To provide a suspension.

상기와 같은 목적을 달성하기 위하여 본 발명은 더블 위시본 타입의 자동차용 현가장치에 있어서,In order to achieve the above object, the present invention is a double wishbone type vehicle suspension device,

쇽업소버(100)의 로워암 마운팅 지지점(110)은 가이드홀(11)을 매개로 로워암(300)에 링크 연결된 슬라이드 조인트로 구성되고, 스티어링 시스템의 타이로드(200)와 연결 링크(10)를 매개로 지지되도록 구성된 것을 특징으로 한다.The lower arm mounting support 110 of the shock absorber 100 is composed of a slide joint linked to the lower arm 300 via the guide hole 11, and the tie rod 200 and the connecting link 10 of the steering system. Characterized in that configured to be supported by the media.

바람직한 실시예로서, 상기 연결 링크(10)는 범프량이 증대되는 방향으로 휠레이트가 증가하도록 구성된 것을 특징으로 한다. In a preferred embodiment, the connection link 10 is characterized in that the wheel rate is increased in the direction in which the bump amount is increased.

이상에서 본 바와 같이, 본 발명에 따른 자동차용 현가장치에 의하면, 선회시의 범프량의 증대에 따라 승차감이 유리하도록 휠레이트가 조절되므로 자동차의 승차감 및 선회능력 향상에 능동적으로 대처할 수 있는 효과가 있다.As described above, according to the vehicle suspension apparatus according to the present invention, since the wheel rate is adjusted so that the riding comfort is advantageous according to the increase of the bump amount at the time of turning, the effect that can actively cope with the improvement of the riding comfort and turning ability of the vehicle have.

이하, 첨부도면을 참조하여 본 발명의 구성에 대해 상세하게 설명하면 다음과 같다. Hereinafter, the configuration of the present invention with reference to the accompanying drawings in detail.

첨부한 도 1은 본 발명에 따른 자동차용 현가장치를 나타내는 개략도이고, 도 2는 본 발명에 따른 좌선회 조향 입력시 우측휠의 범프 작동상태를 나타내는 작동도이며, 도 3은 본 발명에 따른 우선회 조향 입력시 우측휠의 리바운드 작동상태를 나타내는 작동도이다. 1 is a schematic view showing a suspension device for a vehicle according to the present invention, Figure 2 is an operation diagram showing the bump operation state of the right wheel when the left turning steering input according to the present invention, Figure 3 is a priority according to the present invention This is an operation diagram showing the rebounding operation status of the right wheel when the steering input is input.

본 발명은 더블 위시본 타입의 자동차용 현가장치에 있어서, 쇽업소버(100)의 로워암 마운팅 지지점(110)이 슬라이드 조인트로 구성되고, 스티어링 시스템의 타이로드(200)와 상기 로워암 마운팅 지지점(110)이 연결 링크(10)를 통해 지지되도록 되어 있다.The present invention is a double wishbone type vehicle suspension device, the lower arm mounting support 110 of the shock absorber 100 is composed of a slide joint, the tie rod 200 of the steering system and the lower arm mounting support ( 110 is adapted to be supported through the connecting link 10.

즉, 상기 쇽업소버(100) 하단부의 로워암 마운팅 지지점(110)이 로워암(300)의 커넥터에 링크 연결되어 있는 바, 상기 커넥터의 링크 연결부는 가이드홀(11)이 형성되어 쇽업소버(100) 하단부의 로워암 마운팅 지지점(110)은 좌우 슬라이드 이동하도록 되어 있다.That is, the lower arm mounting support 110 of the lower end of the shock absorber 100 is connected to the connector of the lower arm 300, and the link connecting portion of the connector is formed with a guide hole 11 so that the shock absorber 100 The lower arm mounting support 110 at the lower end is configured to slide left and right.

또한, 상기 쇽업소버(100) 하단부의 로워암 마운팅 지지점(110)은 스티어링 시스템의 타이로드(200)와 연결 링크(10)를 매개로 지지되어 있는 바, 이는 스티어링 시스템의 조향 운동이 로워암 마운팅 지지점(110)에 전달되도록 하기 위함이다.In addition, the lower arm mounting support 110 at the lower end of the shock absorber 100 is supported by the tie rod 200 and the connection link 10 of the steering system, which is a steering arm steering motion of the lower arm mounting. This is to be transmitted to the support point (110).

이와 같이 자동차의 스티어링 시스템의 랙 조향력이 타이로드(200)에 전달될 경우, 그 전달력은 너클(400)을 조향시킬 뿐만 아니라, 쇽업소버(100)의 로워암 마운팅 지지점(110)을 슬라이드 이동하도록 자동차용 현가장치가 구성될 경우, 자동차의 좌,우 선회시 링크의 스트로크 비(쇽업소버의 레버비)가 가변된다.As such, when the rack steering force of the steering system of the vehicle is transmitted to the tie rod 200, the transmission force not only steers the knuckle 400, but also slides the lower arm mounting support 110 of the shock absorber 100. When the vehicle suspension is configured so that the stroke ratio (the lever ratio of the shock absorber) of the link during the left and right turning of the vehicle is variable.

즉, 쇽업소버(100)의 스프링에 의한 스프링 정수인 휠레이트는 차체와 휠 까지의 전체 로워암(300)의 길이에 대한 차체에서 쇽업소버(100)의 로워암 마운팅 지지점(110)까지의 길이 값에 비례하는 바, 도 2에 도시된 바와 같이, 자동차의 좌선회시 타이로드(200)는 우측휠을 반시계 방향으로 회전시키게 되므로 상기 타이로드(200)가 휠방향으로 이동하게 되면서 연결 링크(10)를 매개로 쇽업소버(100)의 로워암 마운팅 지지점(110)을 가이드홀(11)을 따라 휠방향으로 이동시키게 됨으로써, 자동차의 우측휠은 범프 작동상태가 된다.That is, the wheel rate, which is a spring constant by the spring of the shock absorber 100, is a length value from the vehicle body to the lower arm mounting support point 110 of the shock absorber 100 to the length of the entire lower arm 300 to the body and the wheel. As shown in FIG. 2, since the tie rod 200 rotates the right wheel counterclockwise in a left turn of the vehicle, the tie rod 200 moves in the wheel direction, thereby connecting the link ( By moving the lower arm mounting support 110 of the shock absorber 100 in the direction of the wheel along the guide hole 11 through 10), the right wheel of the vehicle is in a bump operation state.

이와 같이 상기 차체에서 쇽업소버(100)의 로워암 마운팅 지지점(110)까지의 길이가 상대적으로 증가하게 될 경우, 휠레이트 또한 상술한 바와 같이 비례하므로 증가하게 된다.As such, when the length from the vehicle body to the lower arm mounting support point 110 of the shock absorber 100 is relatively increased, the wheel rate is also proportionally increased as described above.

반대로, 도 3에 도시된 바와 같이, 자동차의 우선회시 타이로드(200)는 우측휠을 시계방향으로 회전시키게 되므로 상기 타이로드(200)가 휠의 반대방향, 즉 차체 방향으로 이동하게 되면서 연결 링크(10)를 매개로 쇽업소버(100)의 로워암 마운팅 지지점(110)을 가이드홀(11)을 따라 차체 방향으로 이동시키게 됨으로써, 자 동차의 우측휠은 리바운드 작동상태가 된다. On the contrary, as shown in FIG. 3, since the tie rod 200 rotates the right wheel clockwise, the tie rod 200 moves in the opposite direction of the wheel, that is, in the vehicle body direction. By moving the lower arm mounting support point 110 of the shock absorber 100 through the link 10 in the vehicle body direction along the guide hole 11, the right wheel of the vehicle is in a rebound operation state.

이와 같이 상기 차체에서 쇽업소버(100)의 로워암 마운팅 지지점(110)까지의 길이가 상대적으로 감소하게 될 경우, 휠레이트 또한 상술한 바와 같이 비례하므로 감소하게 된다.As such, when the length from the vehicle body to the lower arm mounting support point 110 of the shock absorber 100 is relatively reduced, the wheel rate is also proportionally reduced as described above.

따라서, 자동차의 우측휠의 범프량이 증대될수록 휠레이트가 증가하게 됨을 알 수 있으며, 마찬가지로 좌측휠도 범프량이 증대됨을 예측할 수 있어 휠레이트가 증가하게 됨을 예상할 수 있다. Therefore, it can be seen that as the bump amount of the right wheel of the vehicle increases, the wheel rate increases. Likewise, the left wheel can also be predicted that the bump amount increases, so that the wheel rate increases.

이에 본 발명은 자동차의 선회 시 링크의 스트로크비(레버비)가 선회 방향에 따라 적정하게 가변되도록 함으로써, 선회시의 범프량의 증대에 따라 승차감이 유리하도록 휠레이트가 조절되므로 자동차의 승차감 및 선회능력 향상에 능동적으로 대처할 수 있게 된다. In the present invention, the stroke ratio (lever ratio) of the link during the turning of the vehicle is appropriately changed according to the turning direction, and the wheel rate is adjusted so that the riding comfort is advantageous as the bump amount increases during the turning, so that the ride comfort and turning of the vehicle Actively cope with the improvement of skills.

이상에서는 본 발명의 바람직한 실시예에 대하여 도시하고 또한 설명하였으나, 본 발명은 상기한 실시예에 한정되지 않으며, 특허청구범위에서 청구된 본 발명의 요지를 벗어남이 없이 당해 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자라면 누구든지 다양한 변형 실시가 가능한 것은 물론이고, 그와 같은 변경은 기재된 청구범위 내에 있게 된다.Although the above has been shown and described with respect to the preferred embodiments of the present invention, the present invention is not limited to the above-described embodiment, in the technical field to which the present invention pertains without departing from the spirit of the invention as claimed in the claims. Various modifications can be made by those skilled in the art, and such changes will fall within the scope of the claims set forth.

도 1은 본 발명에 따른 자동차용 현가장치를 나타내는 개략도,1 is a schematic view showing a vehicle suspension according to the present invention,

도 2는 본 발명에 따른 좌선회 조향 입력시 우측휠의 범프 작동상태를 나타내는 작동도,2 is an operation diagram showing the bump operation state of the right wheel when turning steering input according to the present invention,

도 3은 본 발명에 따른 우선회 조향 입력시 우측휠의 리바운드 작동상태를 나타내는 작동도이다. 3 is an operation diagram showing a rebound operation state of the right wheel when the priority steering input according to the present invention.

*도면의 주요 부분에 대한 부호의 설명** Description of the symbols for the main parts of the drawings *

10 : 연결 링크 11 : 가이드홀10: connection link 11: guide hole

Claims (2)

더블 위시본 타입의 자동차용 현가장치에 있어서,In the double wishbone type automobile suspension system, 쇽업소버(100)의 로워암 마운팅 지지점(110)은 가이드홀(11)을 매개로 로워암(300)에 링크 연결된 슬라이드 조인트로 구성되고, 스티어링 시스템의 타이로드(200)와 연결 링크(10)를 매개로 지지되도록 구성된 것을 특징으로 하는 자동차용 현가장치.The lower arm mounting support 110 of the shock absorber 100 is composed of a slide joint linked to the lower arm 300 via the guide hole 11, and the tie rod 200 and the connecting link 10 of the steering system. Vehicle suspension, characterized in that configured to be supported by the medium. 제1항에 있어서,The method of claim 1, 상기 연결 링크(10)는 범프량이 증대되는 방향으로 휠레이트가 증가하도록 구성된 것을 특징으로 하는 자동차용 현가장치.The connection link 10 is a vehicle suspension, characterized in that configured to increase the wheel rate in the direction of increasing bump amount.
KR1020070129377A 2007-12-12 2007-12-12 Car suspension KR100907777B1 (en)

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Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9132711B2 (en) 2013-12-18 2015-09-15 Hyundai Motor Company Vehicle having shock absorber mounting angle variation structure
PL423575A1 (en) * 2017-11-24 2019-06-03 Politechnika Koszalinska Mechanism of a rockerless suspension and steering of the wheeled vehicles wheels
CN111731063A (en) * 2020-06-19 2020-10-02 武汉科技大学 Method and structure for preventing and controlling side-tipping of double-cross-arm independent suspension of vehicle body
CN114537066A (en) * 2022-01-28 2022-05-27 安徽工程大学 Adjustable suspension mechanism capable of enhancing terrain adaptability of mobile robot

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KR20160145870A (en) 2015-06-10 2016-12-21 대원강업주식회사 An active suspension system, the load of the spring adjustment shaft as
KR20160145871A (en) 2015-06-10 2016-12-21 대원강업주식회사 Possible adjustment of the spring load axis rotated through active seat suspension system board

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KR20060089058A (en) * 2005-02-03 2006-08-08 현대자동차주식회사 Suspension of automobile

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9132711B2 (en) 2013-12-18 2015-09-15 Hyundai Motor Company Vehicle having shock absorber mounting angle variation structure
PL423575A1 (en) * 2017-11-24 2019-06-03 Politechnika Koszalinska Mechanism of a rockerless suspension and steering of the wheeled vehicles wheels
CN111731063A (en) * 2020-06-19 2020-10-02 武汉科技大学 Method and structure for preventing and controlling side-tipping of double-cross-arm independent suspension of vehicle body
CN114537066A (en) * 2022-01-28 2022-05-27 安徽工程大学 Adjustable suspension mechanism capable of enhancing terrain adaptability of mobile robot

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