WO2019052012A1 - 底盘车的悬架组件及底盘车 - Google Patents

底盘车的悬架组件及底盘车 Download PDF

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Publication number
WO2019052012A1
WO2019052012A1 PCT/CN2017/112933 CN2017112933W WO2019052012A1 WO 2019052012 A1 WO2019052012 A1 WO 2019052012A1 CN 2017112933 W CN2017112933 W CN 2017112933W WO 2019052012 A1 WO2019052012 A1 WO 2019052012A1
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WO
WIPO (PCT)
Prior art keywords
frame
assembly
chassis according
suspension assembly
wheel assembly
Prior art date
Application number
PCT/CN2017/112933
Other languages
English (en)
French (fr)
Inventor
黄通尧
冯小龙
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780087322.6A priority Critical patent/CN110325432A/zh
Publication of WO2019052012A1 publication Critical patent/WO2019052012A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D5/00—Power-assisted or power-driven steering
    • B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for
    • B62D63/02—Motor vehicles
    • B62D63/04—Component parts or accessories

Definitions

  • the present invention relates to the field of vehicle technology, and in particular, to a suspension assembly for a chassis and a chassis.
  • a typical chassis car includes a wheel set and a chassis frame.
  • the chassis is over the complex terrain such as gullies and hills, and the hydraulic system can directly drive the chassis to lift.
  • the use of a hydraulic system to drive the chassis up and down is likely to result in a relatively small lifting range of the chassis frame, which cannot accommodate complex terrain.
  • the hydraulic system is easy to cause the overall size of the chassis car to be large, and the adjustable range is small.
  • the use of the hydraulic system on the chassis is not only self-contained, the structure is complicated, and it is not easy to maintain and the cost is high.
  • the invention provides a suspension assembly and a chassis of a chassis.
  • a suspension assembly for a chassis truck for connection between a frame and a wheel assembly, the suspension assembly including a power mechanism driven by the power mechanism a connecting mechanism and a link mechanism connected to both ends of the connecting mechanism, the suspension assembly further comprising a supporting mechanism for movably connecting between the frame and the wheel assembly, the power mechanism capable of driving the The connecting mechanism moves linearly to drive the movement of the two link mechanisms for causing the support mechanism to drive the wheel assembly to raise or lower.
  • the linear moving device includes a guiding member coupled to the driving device, and a moving member slidably assembled to the guiding member, the connecting mechanism is fixedly coupled to the moving member, and the driving device drives the driving device The guide member is rotated such that the connecting mechanism linearly moves up and down along the guide member with the moving member.
  • the link mechanism is rotatably coupled to the connecting mechanism, and the linear motion of the connecting mechanism drives the link mechanism to rotate to drive the support mechanism to rotate around the frame.
  • the link mechanism includes an adjustment assembly rotatably coupled to the connection mechanism, a shock absorbing assembly for pivotally connecting the wheel assembly, and a swing lever for rotatably coupled to the frame.
  • the shock absorbing assembly and the adjustment assembly are rotatably coupled to the same end of the swinging lever.
  • the shock absorbing assembly includes a damper pivotally coupled to the wheel assembly and a damper spring sleeved on the damper, the damper spring being elastically deformed to absorb the transmission of the wheel assembly impact.
  • both ends of the support mechanism are rotatably connected, and the support mechanism constitutes a deformable parallelogram frame.
  • each of the support mechanisms includes an upper support frame and a lower support frame parallel to the upper support frame, and one ends of the upper support frame and the lower support frame are in a first plane, and the other end of the support frame is located at the other end Plane Parallel to the first plane.
  • the connecting mechanism is connected to the power mechanism and linearly reciprocates along the power mechanism, and the connecting mechanism is extended to both sides and hingedly connected with the link mechanism to drive the link mechanism to rotate. .
  • the connecting mechanism comprises a connecting plate
  • the power mechanism penetrates the center of the connecting plate and drives the connecting plate to move linearly
  • the link mechanism is hingedly connected to both ends of the connecting plate.
  • a chassis truck including a frame, a wheel assembly and a suspension assembly as described above, the suspension assembly being assembled to the frame, the wheel assembly being Rotatingly coupled to the suspension assembly.
  • the power mechanism includes a front drive mechanism and a rear drive mechanism
  • the wheel assembly includes two front wheel assemblies coupled to the front drive mechanism and two rear wheel assemblies coupled to the rear drive mechanism
  • the front drive mechanism is configured to drive the two front wheel assemblies to adjust the height
  • the rear drive mechanism is configured to drive the two rear wheel assemblies to adjust the height.
  • one end of the support mechanism of the suspension assembly is rotatably coupled to the frame, and the wheel assembly is rotatably coupled to the other end of the support mechanism.
  • the frame includes an upper panel, a lower panel, and a support beam connecting the upper panel and the lower panel, and the power mechanism of the suspension assembly is at least partially received by the upper panel and the lower Within the space formed between the panels.
  • the wheel assembly includes a mounting bracket, a power component assembled to the mounting bracket, and a moving body drivingly coupled to the power component, the suspension assembly being rotatably coupled to the mounting bracket, the power component driving the Move the subject to move.
  • the suspension assembly of the chassis car transmits the linear movement movement of the power mechanism to the support mechanism through the link mechanism and drives the support mechanism to rotate around the frame, and the wheel assembly realizes the raising or lowering of the movement position with the rotation of the support mechanism, and the swing of the wheel assembly big-amplitude.
  • the adjustment of the suspension assembly allows the wheel assembly to adapt to the undulations of the ground so that the frame can pass over the undulating ground or keep the frame horizontal.
  • Support mechanism Connected to the linkage mechanism, the swing range can be adjusted by the linkage mechanism, and then the range of motion of the wheel assembly is adjusted, the adjustment range is large, and the adjustment range is wide.
  • the chassis car outputs the power of the movement of the wheel assembly through the linear motion mechanism, and adjusts the movement through the link assembly, and the overall volume is small and the flexibility is high.
  • FIG. 1 is a schematic structural view showing a lowered state of a wheel assembly in a chassis vehicle according to an exemplary embodiment of the present invention.
  • FIG. 2 is a structural schematic view showing a state in which a wheel assembly is raised in a chassis vehicle according to an exemplary embodiment of the present invention.
  • Figure 3 is a schematic enlarged view of the structure of Figure 2 in Figure 2.
  • first, second, third, etc. may be used to describe various information in the present invention, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as the second information without departing from the scope of the invention.
  • second information may also be referred to as the first information.
  • word "if” as used herein may be interpreted as "when” or "when” or "in response to determination.”
  • a chassis truck includes a frame 10, a wheel assembly 60, and a suspension assembly assembled to the frame 10 for attachment between the frame 10 and the wheel assembly 60.
  • the wheel assembly 60 is rotatably coupled to the suspension assembly and the wheel assembly 60 is rotated to drive the chassis to move along the ground.
  • the chassis is driven on the road and its movement passes through the undulating slope of the road.
  • the control system controls the suspension assembly to adjust the height of the wheel assembly 60 relative to the frame 10 through the raising or lowering of the front or rear wheel assembly 60 on the frame 10 such that the bottom of the frame 10 is adjusted to the ground.
  • the height between them or the frame 10 is in a horizontal state.
  • the adjustment process is as follows:
  • the control system controls the power mechanism 40 to perform a linear motion, such as outwardly extending or retracting inwardly, and the linkage mechanism 30 moves in accordance with the movement of the power mechanism 40 to perform a corresponding linear movement.
  • the link mechanism 50 is hingedly coupled to the attachment mechanism 30 and drives the wheel assembly 60 and the support mechanism 20 to rotate about the frame 10, and the wheel assembly 60 is raised or lowered.
  • the suspension assembly of the chassis car transmits the linear movement movement of the power mechanism 40 to the support mechanism 20 through the link mechanism 50 and drives the support mechanism 20 to rotate around the frame 10.
  • the wheel assembly 60 realizes an increase in the movement position with the rotation of the support mechanism 20. Or lower. Adjustment of the suspension assembly enables the wheel assembly 60 to accommodate the undulations of the ground so that the frame 10 can pass over the undulating ground or maintain the frame 10 in a horizontal condition.
  • Support machine The structure 20 is connected to the link mechanism 50, and its swing range can be adjusted by the link mechanism 50, and then the range of motion of the wheel assembly 60 is adjusted, the adjustment range is large, and the adjustment range is wide.
  • the chassis car outputs the power of the movement of the wheel assembly 60 through the linear motion mechanism 40, and adjusts the movement through the link assembly, and the overall volume is small and the flexibility is high.
  • the corresponding front drive mechanism and rear drive mechanism are arranged to adjust the two front wheel assemblies and the two rear wheel assemblies.
  • the two front wheel assemblies or the two rear wheel assemblies are connected by a corresponding link mechanism 50.
  • the link mechanism 50 is driven and connected by a front drive mechanism or a rear drive mechanism, and has good synchronism and strong obstacle resistance.
  • the power mechanism 40 is used to drive the connecting mechanism 30 to move linearly, and the structure of the front driving mechanism and the rear driving mechanism may be the same, or a similar structure moving in a straight line.
  • the front drive mechanism and the rear drive mechanism of the power mechanism 40 each include a drive device 41 and a linear moving device 42 connected to the drive device 41, wherein the link mechanism 30 is mounted to the linear move device 42.
  • the driving device 41 is assembled to the frame 10 and drives to connect the linear moving device 42.
  • the connecting mechanism 30 is connected to the linear moving device 42 and goes up and down with the linear moving device 42. Line movement.
  • the connecting mechanism 30 moves with the linear moving device 42 to perform linear reciprocating movement.
  • the linear movement device 42 includes a guide member 421 coupled to the drive unit 41 and a movable member 422 slidably assembled to the guide member 421.
  • the connecting mechanism 30 is fixedly coupled to the moving member 422, and the driving device 41 drives the guiding member 421 to cause the connecting mechanism 30 to move up and down along the guiding member 421 with the moving member 422.
  • the guide member 421 is a screw rod and the moving member 422 is a spindle nut fitted to the screw shaft.
  • the guide member 421 is a gear, and the moving member 422 is a rack that is meshed with the gear.
  • the guide member 421 is a crankshaft, and the moving member 422 is a link that is rotatably coupled to the crankshaft or the like.
  • the working process of the power mechanism 40 will be described by taking the guide member 421 as a screw rod and the moving member 422 as a screw nut attached to the screw rod as an example.
  • the drive unit 41 is drivingly coupled to the lead screw to rotate the lead screw about its own axis.
  • the lead screw nut is mounted on the lead screw, and the lead screw is perpendicular to the frame 10 and protrudes outward.
  • the screw nut is driven to reciprocate up and down along the axis of the screw rod.
  • the screw nut is screwed to the screw rod.
  • the screw rod stops rotating the screw nut stops moving, and the linear movement device 42 moves in an accurate position.
  • the speed of movement of the lead nut on the lead screw is high, so that the response speed of the linear moving device 42 is fast. Accordingly, the attachment mechanism 30 is fixedly attached to the spindle nut and moved and stopped therewith, and the ability to adjust the position of the wheel assembly 60 can be quickly performed, the position adjustment speed of the wheel assembly 60 is greatly improved, and the movement of the chassis is improved. The speed and obstacle-obscuring ability and the adjustment speed of the frame 10 and the ground are maintained.
  • the moving member 422 itself may rotate or be offset. If the screw nut is screwed to the screw, the screw nut is easy to rotate around itself.
  • a limit plane is arranged on the frame 10, and the outer peripheral surface of the screw nut is provided with a corresponding sliding plane to cooperate with the limit plane to realize the lead screw.
  • the moving member 422 is fixedly connected to the connecting mechanism 30, and the torque force is transmitted to the guiding member 421 during the moving of the moving member 422, which affects the movement flexibility of the guiding member 421.
  • the power mechanism 40 further includes at least one guiding post 45 fixed to the frame 10 , and at least one guiding post 45 is parallel to the guiding member 421 and extends through the connecting mechanism 30 .
  • the connecting mechanism 30 is slidably coupled to at least one of the guide posts 45.
  • the connecting mechanism 30 is fixedly coupled to the guiding member 421, and the guiding post 45 extends through the connecting mechanism 30 to restrict the rotation of the moving member 422 and to linearly move the moving member 422 in a direction parallel to the guiding post 45.
  • the power mechanism 40 includes two guiding posts 45.
  • the two guiding posts 45 are fixedly connected to the frame 10 and are located at two sides of the guiding member 421.
  • the connecting mechanism 30 is slidably coupled to the two guiding posts 45.
  • the torque of the coupling mechanism 30 is transmitted to the guide 421 and transmitted to the frame 10 through the guide 421.
  • the radial load transmitted from the link mechanism 30 to the guide member 421 is eliminated, and the guide member 421 is rotated more smoothly.
  • the power mechanism 40 further includes a mounting plate 43 and a fixing post 44 for connecting the frame 10 and the mounting plate 43.
  • the mounting plate 43 is spaced apart from the frame 10, and an active space is formed between the mounting plate 43 and the frame 10.
  • the connecting mechanism 30 is located in the movable space formed between the mounting plate 43 and the frame 10 and moves along the guiding member 421.
  • Both ends of the fixing post 44 are respectively fixed to the mounting plate 43 and the frame 10, so that the positions of the two are relatively stable.
  • the mounting plate 43 has a rectangular shape, and one end of the fixing post 44 is fixed to the four corners of the mounting plate 43, and the other end is fixed to the frame 10.
  • the guide member 421 is inserted into the mounting plate 43 and rotatably coupled to the mounting plate 43.
  • a bearing is disposed therebetween to improve the flexibility of rotation.
  • One end of the guiding post 45 is inserted into the mounting plate 43 and fixedly connected thereto.
  • the two ends of the guiding post 45 are respectively restricted by the mounting plate 43 and the frame 10, and have good stability and strong deformation resistance.
  • the mounting plate 43 can improve the stress of the guide post 45 and the guide member 421, and improve the smoothness of the operation of the power mechanism 40.
  • the connecting mechanism 30 is coupled to the power mechanism 40 and linearly reciprocates along the power mechanism 40.
  • the connecting mechanism 30 is extended to both sides and hingedly coupled to the link mechanism 50 to drive the link mechanism 50 to rotate.
  • the connecting mechanism 30 includes a connecting plate 31.
  • the power mechanism 40 penetrates the center of the connecting plate 31 and drives the connecting plate 31 to move linearly.
  • the link mechanism 50 is hingedly connected to both ends of the connecting plate 31.
  • the link mechanism 30 extends from the moving member 422 toward the wheel assembly 60 to drive the link mechanism 50 to move.
  • the connecting plate 31 is an elongated plate-like structure
  • the moving member 422 is fixed to the central portion of the connecting mechanism 30, and the link mechanism 50 is rotatably connected to the connecting mechanism 30.
  • the power mechanism 40 drives the connecting mechanism 30 to move linearly.
  • the link mechanism 50 is hingedly connected to the connecting mechanism 30 and rotates around the hinge portion of the two.
  • the link mechanism 50 drives the supporting mechanism 20 and the wheel assembly 60. Rotate around the frame 10.
  • the link mechanism 50 converts the linear motion of the link mechanism 30 into the rotational motion of the support mechanism 20, adjusts the swing range of the wheel by the lever principle, controls the overall volume of the chassis and the range of motion of the power mechanism 40, and the power conversion effect is good.
  • the linkage mechanism 50 includes an adjustment assembly 51 rotatably coupled to the linkage mechanism 30, a shock absorbing assembly 53 for pivotally coupling the wheel assembly 60, and a swinging lever 52 for rotatably coupled to the frame 10.
  • the shock absorbing assembly 53 and the adjusting assembly 51 are both rotatably coupled to the same end of the swinging lever 52.
  • One end of the swinging rod 52 is fixedly connected to the frame 10, and the other end is connected to the shock absorbing assembly 53 and the adjusting assembly 51 at the same time.
  • the adjusting component 51 drives the swinging rod 52 to rotate around the frame 10, and the swinging rod 52 drives the shock absorbing assembly 53 to rotate.
  • the support mechanism 20 and the wheel mechanism move.
  • the relative movement position of the wheel assembly 60 is controlled by adjusting the linkage 50.
  • the adjustment assembly 51 and the shock absorbing assembly 53 and the like are adjusted to adjust the relative movement position of the wheel assembly 60.
  • the adjustment assembly 51 can adjust its length to adjust the swing angle between the swinging lever 52 and the connecting mechanism 30, which in turn causes the wheel assemblies 60 on both sides of the frame 10 to move in unison.
  • the adjustment assembly 51 includes an orthodontic rod end joint bearing, an anti-tooth rod end joint bearing, and a front and back tooth screw that connects the orthodontic rod end joint bearing and the anti-tooth rod end joint bearing.
  • the connecting rod mechanism 50 on both sides of the mechanism 30 can be connected with high precision, good motion consistency, and adjustable connecting rod
  • the active stroke of the mechanism 50 adjusts the amplitude of the swing of the wheel assembly 60.
  • the shock absorbing assembly 53 is configured to transmit the power output by the power mechanism 40 to drive the wheel assembly 60 and the support mechanism 20 to move, and the shock absorption is also used to absorb the shock and vibration transmitted by the wheel assembly 60 to the frame 10 .
  • the shock absorbing assembly 53 includes a damper 531 pivotally coupled to the wheel assembly 60 and a damper spring 532 sleeved from the damper 531.
  • the damper spring 532 is elastically deformed to absorb the impact transmitted by the wheel assembly 60. force.
  • the wheel assembly 60 transmits the vibration to the shock absorbing assembly 53, wherein the damper 531 transmits the harmful low frequency vibrations that effectively absorb the wheel assembly 60 to the frame 10 by the damper motion.
  • the damper spring 532 elastically abuts against both ends of the damper 531 to support the damper 531 and to undergo elastic deformation to absorb a part of the impact.
  • one end of the support mechanism 20 is rotatably coupled to the wheel assembly 60 to support
  • the other end of the mechanism 20 is rotatably coupled to the frame 10. Both ends of the support mechanism 20 are rotatably connected, and the support mechanism 20 constitutes a deformable parallelogram frame.
  • the support mechanism 20 constitutes a parallelogram frame which maintains a parallelogram frame structure throughout its rotation.
  • each support mechanism 20 includes an upper support frame 21 and a lower support frame 22 parallel to the upper support frame 21.
  • One ends of the upper support frame 21 and the lower support frame 22 are in a first plane, and the other ends of the two are supported. The plane in which it is located is parallel to the first plane.
  • the length of the upper support frame 21 is the same as the length of the lower support frame 22.
  • Both the upper support frame 21 and the lower support frame 22 are pivotally connected to the frame 10.
  • the upper support frame 21 has a U-shaped structure
  • the lower support frame 22 has a rod-like structure and is provided with two groups, and the width and upper support of the two lower support frames 22
  • the shelves 21 are of equal width.
  • the upper support frame 21 is an integral U-shaped structure.
  • the upper support frame 21 and the lower support frame 22 can also be configured in other shapes, such as a triangle, an H shape, or the like.
  • the linkage 50 is hingedly coupled to the wheel assembly 60 and causes the wheel assembly 60 to rotate.
  • the rotation of the wheel assembly 60 about the linkage 50 causes the support mechanism 20 to rotate about the frame 10.
  • the support mechanism 20 employs a parallelogram frame such that the wheel assembly 60 and the frame 10 assembly are always in a parallel state. When the plane in which the support mechanism 20 and the hinge portion of the frame 10 are located is perpendicular to the ground, the wheel assembly 60 can be made to be perpendicular to the ground at all times.
  • the use of the support mechanism 20 as a parallelogram frame allows the wheel assembly 60 to maintain the same operating angle with the ground during the rotation of the support mechanism 20, and the handling is good.
  • the wheel assembly 60 is used to drive the chassis car movement and control the wheel assembly 60 to be raised or lowered by the linkage 50.
  • the front wheel assembly and the rear wheel assembly of the wheel assembly 60 each include a mounting bracket 61, a power component 62 that is assembled to the mounting bracket 61, and a moving body 63 that is drivingly coupled to the power component 62.
  • the mounting bracket 61 faces the side of the frame 10 and is rotatably coupled to the support mechanism 20, and at the same time, the mounting bracket 61 is rotatably coupled to the link mechanism 50.
  • the power element 62 is assembled to one side of the mounting bracket 61, and is drivingly coupled to the moving body 63 located on the other side of the mounting bracket 61 through the mounting bracket 61, and the power element 62 drives the moving body 63 to move.
  • the moving body 63 is a Mecanum wheel or a circular rolling body.
  • the link mechanism 50 drives the mounting frame 61 to rotate around the support mechanism 20.
  • the height of the moving body 63 relative to the ground By adjusting the height of the moving body 63 relative to the ground, the level of the platform relative to the ground is adjusted, and the adjustment is convenient.
  • the parallelogram frame of the support mechanism 20 enables the Mecanum wheel to rotate. It is always perpendicular to the ground and has good operability.
  • the driving device 41 may be a driving motor, a steering gear and other power components directly connected to the linear moving device 42.
  • the driving device 41 includes a driving motor and a power transmission mechanism that connects the driving motor and the linear moving device 42, wherein the power transmission mechanism may include a timing belt mechanism, a sprocket mechanism, a gear mechanism, and the like that connect the driving motor and the linear moving device 42.
  • the driving motor is assembled on the upper panel 11 and the driving shaft is drivingly connected to the power transmission mechanism through the upper panel 11 , and the power transmission mechanism is disposed in the space formed between the upper panel 11 and the lower panel 12 to effectively protect the operation of the power transmission mechanism. Sex and concealment. By setting the power transmission mechanism, the volume of the frame 10 can be further reduced, and the stability of the chassis during operation can be improved.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Vehicle Body Suspensions (AREA)
  • Transmission Devices (AREA)

Abstract

一种底盘车的悬架组件，悬架组件用于连接于车架(10)和车轮组件(60)之间；悬架组件包括动力机构(40)，由动力机构(40)驱动的连接机构(30)和连接于连接机构两端的连杆机构(50)；悬架组件还包括用于活动连接于车架与车轮组件(60)之间的支撑机构(20)；动力机构(40)能够驱动连接机构(30)直线移动，以带动两个连杆机构(50)运动，用于使支撑机构(20)带动车轮组件(60)抬高或降低；底盘车的悬架组件通过连杆机构(50)将动力机构(40)的直线移动运动传递至支撑机构(20)并带动支撑机构(20)绕车架转动，车轮组件(60)随支撑机构(20)的转动实现运动位置的升高或降低，车轮组件(60)的摆动幅度大。该底盘车的悬架组件通过调节悬架组件使车轮组件能适应地面的起伏，使得车架能越过起伏地面或保持于水平状态。还提供了一种包含该悬架组件的底盘车。

Description

底盘车的悬架组件及底盘车 技术领域
本发明涉及车辆技术领域，尤其涉及一种底盘车的悬架组件及底盘车。
背景技术
移动机器人是一种小巧、灵活、智能的物料搬运与装配对接工具，例如底盘车。移动机器人可应用麦克纳姆轮以实现运载平台的进退、横移及任意复合形式的运动，是一种平面三自由度运动平台，具有场地适应性强、全向运载、智能控制等诸多优点。但由于麦克纳姆轮结构的特殊性，运载平台的四轮需要一致与地面垂直接触，才能保证良好的运动性能。而且，麦克纳姆轮过滤地面传递的振动的能力较差，同时很难越过沟壑、山丘等复杂地形。
一般的底盘车包括轮组和底盘车架。底盘车在翻越通过沟壑、山丘等复杂地形，可采用液压系统直接驱动底盘升降。然而采用液压系统驱动底盘升降易导致底盘车架的升降范围相对较小，无法适应复杂地形。而且采用液压系统易导致底盘车的整体体积庞大，可调节范围小。同时在底盘车上使用液压系统不仅自重大，结构复杂，而且不易于维护，成本高。
发明内容
本发明提供一种底盘车的悬架组件及底盘车。
依据本发明实施例的第一方面，本发明提供一种底盘车的悬架组件，用于连接于车架和车轮组件之间，所述悬架组件包括动力机构，由所述动力机构驱动的连接机构和连接于所述连接机构两端的连杆机构，所述悬架组件还包括用于活动连接于所述车架与所述车轮组件之间的支撑机构，所述动力机构能够驱动所 述连接机构直线移动，以带动两个所述连杆机构运动，用于使所述支撑机构带动车轮组件抬高或降低。
可选地，所述动力机构包括驱动装置及与驱动装置连接的直线移动装置，所述驱动装置用于组装至所述车架，所述连接机构连接至所述直线移动装置并随所述直线移动装置进行上下直线运动。
可选地，所述直线移动装置包括与所述驱动装置连接的导向件、及滑动组装于所述导向件的移动件，所述连接机构与所述移动件固连，所述驱动装置驱动所述导向件转动，以使得所述连接机构随所述移动件沿所述导向件进行上下直线运动。
可选地，所述导向件为丝杆，所述移动件为装配于所述丝杆上的丝杆螺母。
可选地，所述动力机构还包括用于与所述车架固连至少一导向柱，所述至少一导向柱平行于所述导向件且贯穿所述连接机构，所述连接机构与所述至少一导向柱滑动连接。
可选地，所述动力机构还包括安装板、及用于连接所述车架及所述安装板的固定柱，所述连接机构位于所述安装板及车架之间且沿所述导向件移动。
可选地，所述连杆机构可转动连接至所述连接机构，所述连接机构的直线运动带动所述连杆机构转动，用于带动所述支撑机构绕所述车架转动。
可选地，所述连杆机构包括可转动连接至所述连接机构的调节组件、用于枢接连接所述车轮组件的减震组件及用于可转动连接至所述车架的摆动杆，所述减震组件及所述调节组件均可转动连接至所述摆动杆的同一端。
可选地，所述减震组件包括与所述车轮组件枢接连接的阻尼器及套设于所述阻尼器的减震弹簧，所述减震弹簧通过弹性形变以吸收所述车轮组件传递的冲击力。
可选地，所述支撑机构的两端均为可转动的连接，所述支撑机构构成可变形的平行四边形框架。
可选地，每一个所述支撑机构包括上支撑架及平行于所述上支撑架的下支撑架，所述上支撑架及下支撑架的一端处于第一平面，两者的另一端所处的平面 与所述第一平面平行。
可选地，所述连接机构与所述动力机构连接且沿所述动力机构直线往复运动，所述连接机构向两侧外延并与所述连杆机构铰接连接，以带动所述连杆机构转动。
可选地，所述连接机构包括连接板，所述动力机构贯穿所述连接板的中央并带动所述连接板直线移动，所述连杆机构与所述连接板的两端铰接连接。
依据本发明实施例的第二方面，本发明提供一种底盘车，包括车架、车轮组件及如上所述的悬架组件，所述悬架组件组装至所述车架，所述车轮组件可转动连接至所述悬架组件。
可选地，所述动力机构包括前驱动机构及后驱动机构，所述车轮组件包括与所述前驱动机构连接的两前轮组件及与所述后驱动机构连接的两后轮组件，所述前驱动机构用于带动两所述前轮组件调整高度，所述后驱动机构用于带动两所述后轮组件调整高度。
可选地，所述悬架组件的支撑机构的一端可转动连接至所述车架，所述车轮组件可转动连接至支撑机构的另一端。
可选地，所述车架包括上面板、下面板、及连接所述上面板与所述下面板的支撑梁，所述悬架组件的动力机构至少部分容纳于所述上面板与所述下面板之间形成的空间内。
可选地，所述车轮组件包括安装架、组装于安装架的动力元件及与动力元件驱动连接的移动主体，所述悬架组件与所述安装架可转动连接，所述动力元件驱动所述移动主体运动。
可选地，所述移动主体为麦克纳姆轮。
本发明实施例提供的技术方案可以包括以下有益效果：
底盘车的悬架组件通过连杆机构将动力机构的直线移动运动传递至支撑机构并带动支撑机构绕车架转动，车轮组件随支撑机构的转动实现运动位置的升高或降低，车轮组件的摆动幅度大。通过悬架组件的调节使车轮组件能适应地面的起伏，使得车架能越过起伏地面或使车架保持于水平状态。支撑机构 与连杆机构连接，其摆动范围可通过连杆机构进行调节，继而调节车轮组件的运动范围，调节幅度大，调节范围广。底盘车通过直线运动的动力机构输出车轮组件运动的动力，并通过连杆组件进行运动的调节，整体体积小，灵活度高。
附图说明
图1是本发明一示例性实施例示出的底盘车中车轮组件降低状态的结构示意图。
图2是本发明一示例性实施例示出的底盘车中车轮组件抬高状态的结构示意图。
图3是图2中A处的放大结构示意图。
图4是图2中B处的放大结构示意图。
图中，车架10；上面板11；下面板12；支撑梁13；支撑机构20；上支撑架21；下支撑架22；连接机构30；连接板31；动力机构40；驱动装置41；直线移动装置42；导向件421；移动件422；安装板43；固定柱44；导向柱45；连杆机构50；调节组件51；摆动杆52；减震组件53；阻尼器531；减震弹簧532；车轮组件60；安装架61；动力元件62；移动主体63。
具体实施方式
这里将详细地对示例性实施例进行说明，其示例表示在附图中。下面的描述涉及附图时，除非另有表示，不同附图中的相同数字表示相同或相似的要素。以下示例性实施例中所描述的实施例并不代表与本发明相一致的所有实施例。相反，它们仅是与如所附权利要求书中所详述的、本发明的一些方面相一致的装置和方法的例子。
在本发明使用的术语是仅仅出于描述特定实施例的目的，而非旨在限制本发明。在本发明和所附权利要求书中所使用的单数形式的“一种”、“所述”和“该”也旨在包括多数形式，除非上下文清楚地表示其他含义。还应当理解，本文中使用的术语“和/或”是指并包含一个或多个相关联的列出项目的任何或所 有可能组合。
应当理解，尽管在本发明可能采用术语第一、第二、第三等来描述各种信息，但这些信息不应限于这些术语。这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本发明范围的情况下，第一信息也可以被称为第二信息，类似地，第二信息也可以被称为第一信息。取决于语境，如在此所使用的词语“如果”可以被解释成为“在……时”或“当……时”或“响应于确定”。
如图1所示，一种底盘车包括车架10、车轮组件60及组装至车架10的悬架组件，悬架组件用于连接于车架10和车轮组件60之间。车轮组件60可转动连接至悬架组件，并且车轮组件60转动以带动底盘车沿地面移动。
其中，悬架组件包括动力机构40、由动力机构40驱动的连接机构30和连接于连接机构30两端的连杆机构50。悬架组件还包括用于活动连接于车架10与车轮组件60之间的支撑机构20。动力机构40能够驱动连接机构30直线移动，以带动两个连杆机构50运动，用于使支撑机构20带动车轮组件60抬高或降低。
底盘车行驶在路面上，其运动所经过路面具有起伏的坡度。通过调节底盘车的车轮组件60高度以越过该起伏的坡度或者控制车架10在其运动过程中保持相对于地面水平等。控制系统控制悬架组件动作，以调节车轮组件60相对于车架10的高度，通过车架10上前部或后部车轮组件60的升高或降低，以使得调节车架10的底部与地面之间的高度或使车架10处于水平状态。其调节过程如下：控制系统控制动力机构40执行直线运动，如向外伸出或向内缩回，连接机构30随着动力机构40运动进行相应的直线移动动作。连杆机构50铰接连接于连接机构30上并带动车轮组件60及支撑机构20绕车架10转动，车轮组件60抬高或降低。
底盘车的悬架组件通过连杆机构50将动力机构40的直线移动运动传递至支撑机构20并带动支撑机构20绕车架10转动，车轮组件60随支撑机构20的转动实现运动位置的升高或降低。通过悬架组件的调节使车轮组件60能适应地面的起伏，使得车架10能越过起伏地面或使车架10保持于水平状态。支撑机 构20与连杆机构50连接，其摆动范围可通过连杆机构50进行调节，继而调节车轮组件60的运动范围，调节幅度大，调节范围广。底盘车通过直线运动的动力机构40输出车轮组件60运动的动力，并通过连杆组件进行运动的调节，整体体积小，灵活度高。
如图1和图2所示，在一实施例中，动力机构40包括前驱动机构及后驱动机构。车轮组件60包括与前驱动机构连接的两前轮组件及与后驱动机构连接的两后轮组件，底盘车的两前轮组件及两后轮组件通过与各自连接的一个连杆机构50驱动以进行高度的调整，提高车轮组件60高度调节的一致性。两前轮组件及两后轮组件根据路况需分别调整车轮组件60的高度，前驱动机构用于带动两前轮组件调整高度，后驱动机构用于带动两后轮组件调整高度，调节灵活，互相干扰少。
动力机构40通过调节车轮组件60的两前轮组件及两后轮组件，可以实现底盘车的前部高度调节及后部高度调节。在又一实施例中，动力机构包括左驱动机构和右驱动机构，车轮组件60包括与左驱动机构连接的两左轮组件及与右驱动机构连接的两右轮组件。底盘车的两左轮组件及两右轮组件通过与各自连接的一个连杆机构50驱动以进行底盘车的高度调整，提高车轮组件60同一侧前后方向的高度调节的一致性。
设置相应的前驱动机构及后驱动机构对应调节两前轮组件及两后轮组件，在底盘车移动过程中，根据路况相应调整前轮组件及后轮组件的高度，保持底盘车分别的越过起伏地面，并保持车架10的平稳移动。两前轮组件或两后轮组件通过相应的连杆机构50连接，该连杆机构50通过前驱动机构或后驱动机构驱动连接，同步性好，越障能力强。
动力机构40用于带动连接机构30直线移动，前驱动机构及后驱动机构的结构可相同，或相似的以直线移动的结构。动力机构40的前驱动机构及后驱动机构均包括驱动装置41及与驱动装置41连接的直线移动装置42，其中连接机构30安装至直线移动装置42。驱动装置41组装至车架10并驱动连接直线移动装置42，连接机构30连接至直线移动装置42并随直线移动装置42进行上下直 线运动。
在驱动装置41驱动直线移动装置42进行直线往复移动过程中，连接机构30随直线移动装置42运动，以进行直线往复移动。
在一实施例中，直线移动装置42包括与驱动装置41连接的导向件421及滑动组装于导向件421的移动件422。连接机构30与移动件422固连，驱动装置41驱动导向件421以使得连接机构30随移动件422沿导向件421进行上下直线运动。例如，导向件421为丝杆，移动件422为装配于丝杆上的丝杆螺母。或者导向件421为齿轮，移动件422为与齿轮啮合连接的齿条。又或者导向件421为曲轴，移动件422为转动连接于曲轴上的连杆等。
以导向件421为丝杆，移动件422为装配于丝杆上的丝杆螺母为例对动力机构40的工作过程进行说明。驱动装置41与丝杆驱动连接，以使得丝杆绕自身轴线旋转。丝杆螺母装配于丝杆上，丝杆垂直于车架10并向外凸出。丝杆旋转过程中带动丝杆螺母沿丝杆的轴线做上下直线往复运动。丝杆螺母与丝杆螺旋连接，当丝杆停止转动时，丝杆螺母停止移动，直线移动装置42的移动位置精确。丝杆螺母在丝杆上的移动速度高，使得直线移动装置42的响应速度快。相应地，连接机构30固连与丝杆螺母上并随其移动及停止，能快速执行调节车轮组件60运动位置的能力，极大的提高了车轮组件60的位置调节速度，提高底盘车的移动速度及越障能力及调节车架10与地面保持水平的调节速度。
移动件422沿导向件421的直线运动过程中，移动件422本身会有旋转或偏移。如丝杆螺母与丝杆之间螺旋连接，丝杆螺母易绕自身转动。当丝杆螺母需要进行稳定的直线转动时，需设置限制其转动，如在车架10上设置限位平面，丝杆螺母的外周面设置相应的滑动平面与限位平面配合，以实现丝杠螺母的直线运动。或者设置平行于丝杆的导向柱45，引导丝杆螺母做直线运动。同时，移动件422与连接机构30固连，在移动件422移动过程中将扭矩力传递至导向件421，影响导向件421的运动灵活性。
如图2和图3所示，在一实施例中，动力机构40还包括用于与车架10固连至少一导向柱45，至少一导向柱45平行于导向件421且贯穿连接机构30， 连接机构30与至少一导向柱45滑动连接。
连接机构30与导向件421固连，导向柱45贯穿连接机构30，可以限制移动件422的转动，使移动件422沿平行于导向柱45的方向直线移动。在一实施例中，动力机构40包括两导向柱45，两导向柱45与车架10固定连接且位于导向件421的两侧，连接机构30与两导向柱45滑动连接。连接机构30的扭矩力传递至导向件421，并通过导向件421传递至车架10。消除了连接机构30传递至导向件421的径向载荷，导向件421旋转更加顺畅。
为进一步提高动力机构40运转的平稳性。动力机构40还包括安装板43及用于连接车架10及安装板43的固定柱44。安装板43与车架10间隔设置，在安装板43与车架10之间形成一活动空间，连接机构30位于安装板43及车架10之间形成的活动空间内且沿导向件421移动。
固定柱44的两端分别固连至安装板43与车架10上，使两者的位置相对稳定。例如，安装板43呈矩形，固定柱44的一端固连与安装板43的四角上，另一端固连至车架10上。导向件421穿插至安装板43并与安装板43转动连接，为进一步提高两者的转动灵活性，两者之间设置有轴承，以提高转动的灵活性。导向柱45的一端穿插至安装板43并与之固定连接，导向柱45的两端分别受安装板43及车架10的限制，稳定性好，抗形变能力强。安装板43可以改善导向柱45及导向件421的受力情况，提高动力机构40运行的平稳性。
可选地，连接机构30与动力机构40连接且沿动力机构40直线往复运动，连接机构30向两侧外延并与连杆机构50铰接连接，以带动连杆机构50转动。连接机构30包括连接板31，动力机构40贯穿连接板31的中央并带动连接板31直线移动，连杆机构50与连接板31的两端铰接连接。连接机构30自移动件422向车轮组件60方向延伸，以带动连杆机构50运动。在一实施例中，连接板31为一长条形板状结构，移动件422固连于连接机构30的中央部位，连杆机构50可转动连接至连接机构30。
动力机构40驱动连接机构30作直线运动，连杆机构50铰接连接至连接机构30并绕两者的铰接部位转动，连杆机构50带动支撑机构20及车轮组件60 绕车架10转动。连杆机构50将连接机构30的直线运动转换成支撑机构20的转动运动，利用杠杆原理调节车轮的摆动范围，控制底盘车的整体体积及动力机构40的运动范围，动力转换效果好。
在一实施例中，连杆机构50包括可转动连接至连接机构30的调节组件51、用于枢接连接车轮组件60的减震组件53及用于可转动连接至车架10的摆动杆52，减震组件53及调节组件51均可转动连接至摆动杆52的同一端。摆动杆52的一端与车架10固连，另一端同时连接减震组件53及调节组件51，调节组件51带动摆动杆52绕车架10转动，摆动杆52带动减震组件53转动，以使得支撑机构20及车轮机构运动。
在底盘车的组装过程中，通过调节连杆机构50以控制车轮组件60的相对运动位置。如调节调节组件51及减震组件53等以调整车轮组件60的相对运动位置。其中，调节组件51可调节自身的长度，从而调整摆动杆52与连接机构30之间的摆动角度，继而使得车架10两侧的车轮组件60运动一致。在一实施例中，调节组件51包括正牙杆端关节轴承、反牙杆端关节轴承、及连接正牙杆端关节轴承与反牙杆端关节轴承的正反牙螺杆。调节正反牙螺杆与正牙杆端关节轴承及反牙杆端关节轴承的安装距离，可以连接机构30两侧的连杆机构50的安装精度高，行动一致性好，同时也可调节连杆机构50的活动行程，调整车轮组件60的摆动幅度。
减震组件53用于传递动力机构40输出的动力以带动车轮组件60及支撑机构20运动，同时减震还用以吸收车轮组件60传递至车架10的冲击及震动。在一实施例中，减震组件53包括与车轮组件60枢接连接的阻尼器531及套设于阻尼器531的减震弹簧532，减震弹簧532通过弹性形变以吸收车轮组件60传递的冲击力。车轮组件60在复杂地面上运行并受冲击后，车轮组件60将该振动传递至减震组件53，其中，阻尼器531通过阻尼运动将有效吸收车轮组件60传递给车架10的有害低频振动。同时，减震弹簧532弹性抵接在阻尼器531两端，以支撑阻尼器531及通过弹性形变以吸收部分冲击。
如图2和图4所示，支撑机构20的一端与车轮组件60可转动连接，支撑 机构20的另一端与车架10可转动连接。支撑机构20的两端均为可转动的连接，支撑机构20构成可变形的平行四边形框架。支撑机构20构成平行四边形框架，在其转动过程中，其始终保持平行四边形框架结构。
在一实施例中，每一个支撑机构20包括上支撑架21及平行于上支撑架21的下支撑架22，上支撑架21及下支撑架22的一端处于第一平面，两者的另一端所处的平面与第一平面平行。上支撑架21的长度与下支撑架22的长度相同。上支撑架21及下支撑架22均与车架10枢接连接。为提高车辆运转的平稳性及提高支撑机构20的刚性，上支撑架21呈“U”字形结构，下支撑架22呈杆状结构且设有两组，两下支撑架22的宽度与上支撑架21的宽度相等。上支撑架21为一体式U形结构，在其他实施方式中，上支撑架21及下支撑架22也可设成其他形状，如三角形、H形等。
连杆机构50与车轮组件60铰接连接并带动车轮组件60转动，车轮组件60绕连杆机构50转动过程中，支撑机构20绕车架10转动。支撑机构20采用平行四边形框架，使得车轮组件60与车架10组件之间始终处于平行状态。当支撑机构20与车架10的铰接部位所处的平面垂直于地面时，可使得车轮组件60始终垂直于地面。将支撑机构20设为平行四边形框架可以使车轮组件60在支撑机构20转动过程中，保持与地面的运行角度不变，操控性好。
车轮组件60用于驱动底盘车移动，并且通过连杆机构50控制车轮组件60抬高或降低。在一实施例中，车轮组件60的前轮组件及后轮组件均包括安装架61、组装于安装架61的动力元件62及与动力元件62驱动连接的移动主体63。安装架61朝向车架10一侧并与支撑机构20可转动连接，同时，安装架61与连杆机构50可转动连接。动力元件62组装于安装架61的一侧，并贯穿安装架61与位于安装架61另一侧的移动主体63驱动连接，动力元件62驱动移动主体63运动。其中，移动主体63为麦克纳姆轮或圆形的滚动体。
连杆机构50带动安装架61绕支撑机构20转动，通过调节移动主体63相对于地面的高度来调节平台相对与地面的水平度，调节方便。当移动主体63采用麦克纳姆轮时，支撑机构20的平行四边形框架，能使麦克纳姆轮在转动过程 中始终垂直于地面，操作性好。
车架10为底盘车的整体框架结构，车轮组件60位于车架10的两侧构成四点支撑以使车架10悬空。在一实施例中，车架10包括上面板11、下面板12、及连接上面板11与下面板12的支撑梁13，上面板11与下面板12之间具有中空的空间。悬架组件的动力机构40至少部分容纳于上面板11与下面板12之间形成的空间内。如动力机构40中的驱动装置41设于该空间内，直线移动装置42中的导向件421穿过上面板11，并与驱动装置41驱动连接，设置动力机构40以降低底盘车的体积。其中，驱动装置41可以为直接与直线移动装置42连接的驱动电机、舵机及其它动力元件。或者驱动装置41包括与驱动电机及连接驱动电机与直线移动装置42的动力传输机构，其中动力传输机构可包括连接驱动电机与直线移动装置42的同步带机构、链轮机构、齿轮机构等。驱动电机组装于上面板11且驱动轴贯穿上面板11与动力传输机构驱动连接，将动力传输机构设于上面板11与下面板12之间形成的空间内，有效保护该动力传输机构的运行可靠性及隐蔽性。通过设置动力传输机构可进一步降低车架10的体积，提高底盘车运行时的稳定性。
在不冲突的情况下，上述的实施例及实施例中的特征可以相互组合。以上仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所做的任何修改、等同替换、改进等，均应包含在本发明保护的范围之内。

Claims (31)

  1. 一种底盘车的悬架组件，用于连接于车架和车轮组件之间，其特征在于，所述悬架组件包括动力机构，由所述动力机构驱动的连接机构和连接于所述连接机构两端的连杆机构，所述悬架组件还包括用于活动连接于所述车架与所述车轮组件之间的支撑机构，所述动力机构能够驱动所述连接机构直线移动，以带动两个所述连杆机构运动，用于使所述支撑机构带动车轮组件抬高或降低。
  2. 根据权利要求1所述的底盘车的悬架组件，其特征在于，所述动力机构包括驱动装置及与驱动装置连接的直线移动装置，所述驱动装置用于组装至所述车架，所述连接机构连接至所述直线移动装置并随所述直线移动装置进行上下直线运动。
  3. 根据权利要求2所述的底盘车的悬架组件，其特征在于，所述直线移动装置包括与所述驱动装置连接的导向件、及滑动组装于所述导向件的移动件，所述连接机构与所述移动件固连，所述驱动装置驱动所述导向件转动，以使得所述连接机构随所述移动件沿所述导向件进行上下直线运动。
  4. 根据权利要求3所述的底盘车的悬架组件，其特征在于，所述导向件为丝杆，所述移动件为装配于所述丝杆上的丝杆螺母。
  5. 根据权利要求3所述的底盘车的悬架组件，其特征在于，所述动力机构还包括用于与所述车架固连至少一导向柱，所述至少一导向柱平行于所述导向件且贯穿所述连接机构，所述连接机构与所述至少一导向柱滑动连接。
  6. 根据权利要求3所述的底盘车的悬架组件，其特征在于，所述动力机构还包括安装板、及用于连接所述车架及所述安装板的固定柱，所述连接机构位于所述安装板及车架之间且沿所述导向件移动。
  7. 根据权利要求1所述的底盘车的悬架组件，其特征在于，所述连杆机构可转动连接至所述连接机构，所述连接机构的直线运动带动所述连杆机构转动，用于带动所述支撑机构绕所述车架转动。
  8. 根据权利要求7所述的底盘车的悬架组件，其特征在于，所述连杆机构 包括可转动连接至所述连接机构的调节组件、用于枢接连接所述车轮组件的减震组件及用于可转动连接至所述车架的摆动杆，所述减震组件及所述调节组件均可转动连接至所述摆动杆的同一端。
  9. 根据权利要求8所述的底盘车的悬架组件，其特征在于，所述减震组件包括与所述车轮组件枢接连接的阻尼器及套设于所述阻尼器的减震弹簧，所述减震弹簧通过弹性形变以吸收所述车轮组件传递的冲击力。
  10. 根据权利要求1所述的底盘车的悬架组件，其特征在于，所述支撑机构的两端均为可转动的连接，所述支撑机构构成可变形的平行四边形框架。
  11. 根据权利要求10所述的底盘车的悬架组件，其特征在于，每一个所述支撑机构包括上支撑架及平行于所述上支撑架的下支撑架，所述上支撑架及下支撑架的一端处于第一平面，两者的另一端所处的平面与所述第一平面平行。
  12. 根据权利要求1所述的底盘车的悬架组件，其特征在于，所述连接机构与所述动力机构连接且沿所述动力机构直线往复运动，所述连接机构向两侧外延并与所述连杆机构铰接连接，以带动所述连杆机构转动。
  13. 根据权利要求12所述的底盘车的悬架组件，其特征在于，所述连接机构包括连接板，所述动力机构贯穿所述连接板的中央并带动所述连接板直线移动，所述连杆机构与所述连接板的两端铰接连接。
  14. 一种底盘车，包括车架、车轮组件和悬架组件，所述悬架组件组装至所述车架，所述车轮组件可转动连接至所述悬架组件，其特征在于，所述悬架组件包括动力机构，由所述动力机构驱动的连接机构和连接于所述连接机构两端的连杆机构，所述悬架组件还包括用于活动连接于所述车架与所述车轮组件之间的支撑机构，所述动力机构能够驱动所述连接机构直线移动，以带动两个所述连杆机构运动，用于使所述支撑机构带动车轮组件抬高或降低。
  15. 根据权利要求14所述的底盘车，其特征在于，所述动力机构包括驱动装置及与驱动装置连接的直线移动装置，所述驱动装置用于组装至所述车架，所述连接机构连接至所述直线移动装置并随所述直线移动装置进行上下直线运动。
  16. 根据权利要求15所述的底盘车，其特征在于，所述直线移动装置包括 与所述驱动装置连接的导向件、及滑动组装于所述导向件的移动件，所述连接机构与所述移动件固连，所述驱动装置驱动所述导向件转动，以使得所述连接机构随所述移动件沿所述导向件进行上下直线运动。
  17. 根据权利要求16所述的底盘车，其特征在于，所述导向件为丝杆，所述移动件为装配于所述丝杆上的丝杆螺母。
  18. 根据权利要求16所述的底盘车，其特征在于，所述动力机构还包括用于与所述车架固连至少一导向柱，所述至少一导向柱平行于所述导向件且贯穿所述连接机构，所述连接机构与所述至少一导向柱滑动连接。
  19. 根据权利要求16所述的底盘车，其特征在于，所述动力机构还包括安装板、及用于连接所述车架及所述安装板的固定柱，所述连接机构位于所述安装板及车架之间且沿所述导向件移动。
  20. 根据权利要求14所述的底盘车，其特征在于，所述连杆机构可转动连接至所述连接机构，所述连接机构的直线运动带动所述连杆机构转动，用于带动所述支撑机构绕所述车架转动。
  21. 根据权利要求20所述的底盘车，其特征在于，所述连杆机构包括可转动连接至所述连接机构的调节组件、用于枢接连接所述车轮组件的减震组件及用于可转动连接至所述车架的摆动杆，所述减震组件及所述调节组件均可转动连接至所述摆动杆的同一端。
  22. 根据权利要求21所述的底盘车，其特征在于，所述减震组件包括与所述车轮组件枢接连接的阻尼器及套设于所述阻尼器的减震弹簧，所述减震弹簧通过弹性形变以吸收所述车轮组件传递的冲击力。
  23. 根据权利要求14所述的底盘车，其特征在于，所述支撑机构的两端均为可转动的连接，所述支撑机构构成可变形的平行四边形框架。
  24. 根据权利要求23所述的底盘车，其特征在于，每一个所述支撑机构包括上支撑架及平行于所述上支撑架的下支撑架，所述上支撑架及下支撑架的一端处于第一平面，两者的另一端所处的平面与所述第一平面平行。
  25. 根据权利要求14所述的底盘车，其特征在于，所述连接机构与所述动 力机构连接且沿所述动力机构直线往复运动，所述连接机构向两侧外延并与所述连杆机构铰接连接，以带动所述连杆机构转动。
  26. 根据权利要求25所述的底盘车，其特征在于，所述连接机构包括连接板，所述动力机构贯穿所述连接板的中央并带动所述连接板直线移动，所述连杆机构与所述连接板的两端铰接连接。
  27. 根据权利要求14-26任一项所述的底盘车，其特征在于，所述动力机构包括前驱动机构及后驱动机构，所述车轮组件包括与所述前驱动机构连接的两前轮组件及与所述后驱动机构连接的两后轮组件，所述前驱动机构用于带动两所述前轮组件调整高度，所述后驱动机构用于带动两所述后轮组件调整高度。
  28. 根据权利要求14-26任一项所述的底盘车，其特征在于，所述悬架组件的支撑机构的一端可转动连接至所述车架，所述车轮组件可转动连接至支撑机构的另一端。
  29. 根据权利要求28所述的底盘车，其特征在于，所述车架包括上面板、下面板、及连接所述上面板与所述下面板的支撑梁，所述悬架组件的动力机构至少部分容纳于所述上面板与所述下面板之间形成的空间内。
  30. 根据权利要求27所述的底盘车，其特征在于，所述车轮组件包括安装架、组装于安装架的动力元件及与动力元件驱动连接的移动主体，所述悬架组件与所述安装架可转动连接，所述动力元件驱动所述移动主体运动。
  31. 根据权利要求30所述的底盘车，其特征在于，所述移动主体为麦克纳姆轮。
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