阅读说明：本技术 一种可转向的悬挂系统及其工作方法 (Steerable suspension system and working method thereof ) 是由 高毅 王迎冬 杜明忠 于 2021-09-10 设计创作，主要内容包括：本发明涉及一种可转向的悬挂系统,包括转向机构和悬挂机构和固定支架,所述转向机构底部安装有悬挂机构,所述转向机构包括固定支架、悬挂顶撑、转向电机和减速箱,所述固定支架顶侧安装有悬挂顶撑,所述悬挂顶撑底侧固定安装有转向电机,所述固定支架内部固定安装有减速箱,且减速箱输出端与转向电机输出端连接,所述固定支架底侧固定安装有转轴套筒,所述减速箱输出端安装有贯穿,所述转轴套筒的转向轴；悬挂机构内部集成了转向机构,可实现常规悬挂的功能以外,可以通过顶部配置单独的转向电机,实现轮子的180°转向,将悬挂机构与转向机构进行匹配结合。(The invention relates to a steerable suspension system, which comprises a steering mechanism, a suspension mechanism and a fixed support, wherein the bottom of the steering mechanism is provided with the suspension mechanism, the steering mechanism comprises the fixed support, a suspension top support, a steering motor and a reduction gearbox, the top side of the fixed support is provided with the suspension top support, the bottom side of the suspension top support is fixedly provided with the steering motor, the reduction gearbox is fixedly arranged in the fixed support, the output end of the reduction gearbox is connected with the output end of the steering motor, the bottom side of the fixed support is fixedly provided with a rotating shaft sleeve, the output end of the reduction gearbox is provided with a through steering shaft, and the rotating shaft of the rotating shaft sleeve is arranged; the steering mechanism is integrated in the suspension mechanism, so that the conventional suspension function can be realized, an independent steering motor can be configured at the top of the suspension mechanism, the 180-degree steering of the wheels can be realized, and the suspension mechanism and the steering mechanism are combined in a matching manner.)

1. A steerable suspension system is characterized by comprising a steering mechanism, a suspension mechanism and a fixed support (1), wherein the suspension mechanism is mounted at the bottom of the steering mechanism, the steering mechanism comprises the fixed support (1), a suspension shoring (2), a steering motor (3) and a reduction gearbox (4), the suspension shoring (2) is mounted at the top side of the fixed support (1), the steering motor (3) is fixedly mounted at the bottom side of the suspension shoring (2), the reduction gearbox (4) is fixedly mounted in the fixed support (1), the output end of the reduction gearbox (4) is connected with the output end of the steering motor (3), a rotating shaft sleeve (6) is fixedly mounted at the bottom side of the fixed support (1), the output end of the reduction gearbox (4) is provided with a through hole, and a steering shaft (7) of the rotating shaft sleeve (6) is mounted on the output end of the reduction gearbox (4);

the suspension mechanism comprises a damping spring (8), a first steering knuckle (9) and a second steering knuckle (10), the first steering knuckle (9) is sleeved on the outer side of the top end of a rotating shaft sleeve (6), the bottom end of a steering shaft (7) is installed on the second steering knuckle (10), the damping spring (8) is sleeved on the outer side of the bottom end of the steering shaft (7), the end part of the damping spring (8) is respectively connected with the rotating shaft sleeve (6) and the second steering knuckle (10), a damper (20) is installed between the first steering knuckle (9) and the second steering knuckle (10), the first steering knuckle (9) is rotatably connected with one end of a damping upper arm (11), the second steering knuckle (10) is rotatably connected with one end of a damping lower arm (12), the other end of the damping upper arm (11) and the damping lower arm (12) is rotatably connected, and a hub motor (17) is installed on the second steering knuckle (10), and a lower swing arm (18) connected with the frame is arranged on the inner side of the hub motor (17).

2. A steerable suspension system according to claim 1, wherein the top of four of the steering mechanisms are mounted around the frame by means of fixed brackets (1), the output end of the hub motor (17) of the suspension mechanism is mounted and connected with the hub and the tire, and the lower swing arm (18) of the suspension mechanism is connected with the bottom side of the frame by means of mounting brackets (19).

3. A steerable suspension according to claim 1, wherein the fixed bracket (1) has a ball bearing (5) mounted inside the bottom side thereof, and the steering shaft (7) is connected to the inner wall of the ball bearing (5).

4. The steerable suspension system according to claim 1, wherein the steering shaft (7) comprises a shaft sleeve and a shaft body, the top end of the shaft sleeve is connected with the output end of the reduction gearbox (4), the side wall of the shaft sleeve is provided with a sliding groove, the outer side of the top end of the shaft body is provided with a sliding column, and the sliding column is arranged in the sliding groove.

5. A steerable suspension system according to claim 1, wherein one end of the upper shock-absorbing arm (11) is connected to the first steering knuckle (9) via a first mounting shaft (13), one end of the lower shock-absorbing arm (12) is connected to the second steering knuckle (10) via a third mounting shaft (15), the other end of the lower shock-absorbing arm (12) is connected to the other end of the upper shock-absorbing arm (11) via a second mounting shaft (14), the second mounting shaft (14) and the lower shock-absorbing arm (12) are fixed, the second mounting shaft (14) and the upper shock-absorbing arm (11) are connected via a limit bearing, an angle sensor (16) is mounted on the outer side of the other end of the upper shock-absorbing arm (11), and the input end of the angle sensor (16) is connected to the second mounting shaft (14).

6. A steerable suspension system according to claim 1, wherein the top end of the shock absorber (20) is journalled on the first mounting shaft (13) and the bottom end of the shock absorber (20) is journalled on the third mounting shaft (15).

7. Method of operating a steerable suspension system according to any of claims 1-6, characterized in that the method is performed in the following specific operating steps:

the method comprises the following steps: a steering motor (3) on the fixed support (1) works, and a reduction gearbox (4) adjusts the speed to drive a steering shaft (7) to rotate between ball bearings (5) to complete the steering operation of the suspension mechanism;

step two: when the road that jolts goes, the axis body of the steering spindle (7) of connecting on second knuckle (10) this moment moves in the axle sleeve, compress damping spring (8), elastic deformation through damping spring (8) plays the cushioning effect, it is rotatory on first knuckle (9) to shock attenuation upper arm (11) simultaneously, it is rotatory on second knuckle (10) to shock attenuation lower arm (12), the contained angle of the rotation junction of shock attenuation upper arm (11) and shock attenuation lower arm (12) constantly changes this moment, drive shock absorber (20) constantly flexible realization shock attenuation between first installation axle (13) and third installation axle (15).

Technical Field

The invention relates to the technical field of suspension systems, in particular to a steerable suspension system and a working method thereof.

Background

The suspension system is a general term for all force-transmitting connecting devices between a frame and an axle or a wheel of an automobile, and has the functions of transmitting force and moment acting between the wheel and the frame, buffering impact force transmitted to the frame or an automobile body from an uneven road surface and attenuating vibration caused by the impact force so as to ensure smooth running of the automobile.

The existing suspension system and steering system are both of independent design structures, and large-angle steering of four tires and combination with the suspension structure cannot be realized; meanwhile, when the suspension structure works for a long time, once the suspension system has a problem, the problem cannot be known and checked in time.

Disclosure of Invention

The invention solves the problems that the conventional suspension system and the steering system are of independent design structures, and large-angle steering of four tires and combination of the four tires and the suspension structure cannot be realized; meanwhile, when the suspension structure works for a long time, once the suspension system has a problem, the technical problems of knowing and troubleshooting cannot be timely solved.

In order to achieve the purpose, the invention adopts the following technical scheme:

a steerable suspension system comprises a steering mechanism, a suspension mechanism and a fixed support, wherein the bottom of the steering mechanism is provided with the suspension mechanism, the steering mechanism comprises the fixed support, a suspension top support, a steering motor and a reduction gearbox, the top side of the fixed support is provided with the suspension top support, the bottom side of the suspension top support is fixedly provided with the steering motor, the reduction gearbox is fixedly arranged in the fixed support, the output end of the reduction gearbox is connected with the output end of the steering motor, the bottom side of the fixed support is fixedly provided with a rotating shaft sleeve, the output end of the reduction gearbox is provided with a through steering shaft, and the rotating shaft of the rotating shaft sleeve is arranged;

hang the mechanism and include damping spring, first knuckle and second knuckle, pivot sleeve top outside cover is equipped with first knuckle, the steering spindle bottom is installed on the second knuckle, steering spindle bottom outside cover is equipped with damping spring, and the damping spring tip is connected with pivot sleeve and second knuckle respectively, install the bumper shock absorber between first knuckle and the second knuckle, first knuckle rotates with shock attenuation upper arm one end to be connected, the second knuckle rotates with shock attenuation underarm one end to be connected, and the shock attenuation upper arm rotates with the shock attenuation underarm other end to be connected, in-wheel motor is installed to second knuckle bottom side, and in-wheel motor inboard install with connected to frame's lower swing arm.

Preferably, the tops of the four steering mechanisms are arranged around the frame through fixing supports, the output end of a hub motor of the suspension mechanism is connected with a hub and a tire in an installing mode, and a lower swing arm of the suspension mechanism is connected with the bottom side of the frame through an installing support.

Preferably, a ball bearing is installed inside the bottom side of the fixed support, and the steering shaft is connected with the inner wall of the ball bearing.

Preferably, the steering shaft comprises a shaft sleeve and a shaft body, the top end of the shaft sleeve is connected with the output end of the reduction gearbox, a sliding groove is formed in the side wall of the shaft sleeve, a sliding column is arranged on the outer side of the top end of the shaft body, and the sliding column is installed in the sliding groove.

Preferably, shock attenuation upper arm one end and first knuckle are connected through first mounting shaft, shock attenuation underarm one end passes through the third mounting shaft with the second knuckle, the shock attenuation underarm other end and the shock attenuation upper arm other end pass through the second mounting shaft and connect, and second installation axle and shock attenuation underarm are fixed, and second installation axle and shock attenuation upper arm pass through spacing bearing and connect, angle sensor is installed in the shock attenuation upper arm other end outside, and the angle sensor input is connected with the second mounting shaft.

Preferably, the top end of the shock absorber is sleeved on the first mounting shaft, and the bottom end of the shock absorber is sleeved on the third mounting shaft.

The working method of the steerable suspension system comprises the following specific operation steps:

the method comprises the following steps: the steering motor on the fixed support works, and the speed of the reduction gearbox is regulated to drive the steering shaft to rotate between the ball bearings so as to complete the steering operation of the suspension mechanism;

step two: when jolting the road and traveling, the axis body of the steering spindle of connecting on the second knuckle this moment removes in the axle sleeve, compresses damping spring, elastic deformation through damping spring plays the cushioning effect, and the upper arm that subtracts vibration is rotatory on first knuckle simultaneously, and the arm is rotatory on the second knuckle under the shock attenuation, and the contained angle of the rotation junction of the upper arm that subtracts vibration and the lower arm constantly changes this moment, drives the continuous flexible realization shock attenuation of the bumper shock absorber between first installation axle and third installation axle.

The invention has the beneficial effects that: the steering mechanism is integrated in the suspension mechanism, so that the function of conventional suspension can be realized, and besides, a separate steering motor is configured at the top of the suspension mechanism, the 180-degree steering of the wheels can be realized, and the suspension mechanism and the steering mechanism are matched and combined;

simultaneously the axis body of the steering spindle of connecting on the second knuckle removes in the axle sleeve, compress damping spring, elastic deformation through damping spring plays the cushioning effect, the upper arm that simultaneously cushions is rotatory on first knuckle, the lower arm that cushions is rotatory on the second knuckle, the contained angle of the rotation junction of the upper arm that cushions and the lower arm that cushions constantly changes this moment, the shock absorber that drives between first installation axle and the third installation axle constantly stretches out and draws back and realizes the shock attenuation, angle sensor monitors the contained angle change of the upper arm that cushions and the lower arm that cushions this moment, when the deviation appears in the contained angle change, angle sensor transmits the model for the PLC controller this moment, and then control early warning of early warning ware, be convenient for follow-up monitoring maintenance.

Drawings

FIG. 1 is a schematic view of an overall side structure of the present invention;

fig. 2 is another overall structural diagram of the present invention.

Illustration of the drawings:

1. fixing a bracket; 2. hanging a top support; 3. a steering motor; 4. a reduction gearbox; 5. a ball bearing; 6. a rotating shaft sleeve; 7. a steering shaft; 8. a damping spring; 9. a first steering knuckle; 10. a second knuckle; 11. a shock absorbing upper arm; 12. a shock absorbing lower arm; 13. a first mounting shaft; 14. a second mounting shaft; 15. a third mounting shaft; 16. an angle sensor; 17. a hub motor; 18. a lower swing arm; 19. mounting a bracket; 20. a shock absorber.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Specific examples are given below.

Referring to fig. 1 and 2, a steerable suspension system comprises a steering mechanism, a suspension mechanism and a fixed support 1, wherein the bottom of the steering mechanism is provided with the suspension mechanism, the tops of four steering mechanisms are arranged around a frame through the fixed support 1, the output end of a hub motor 17 of the suspension mechanism is connected with a hub and a tire, a lower swing arm 18 of the suspension mechanism is connected with the bottom side of the frame through an installation support 19, the steering mechanism comprises a fixed support 1, a suspension shoring 2, a steering motor 3 and a reduction gearbox 4, the top side of the fixed support 1 is provided with the suspension shoring 2, the bottom side of the suspension shoring 2 is fixedly provided with the steering motor 3, the reduction gearbox 4 is fixedly arranged inside the fixed support 1, the output end of the reduction gearbox 4 is connected with the output end of the steering motor 3, the bottom side of the fixed support 1 is fixedly provided with a rotating shaft sleeve 6, the output end of the reduction gearbox 4 is provided with a through rotating shaft 7 of the rotating shaft sleeve 6, a ball bearing 5 is arranged inside the bottom side of the fixed support 1, a steering shaft 7 is connected with the inner wall of the ball bearing 5, a steering motor 3 on the fixed support 1 works, and a reduction gearbox 4 regulates the speed to drive the steering shaft 7 to rotate between the ball bearing 5, so that the steering operation of the suspension mechanism is completed;

the suspension mechanism comprises a damping spring 8, a first steering knuckle 9 and a second steering knuckle 10, the outer side of the top end of a rotating shaft sleeve 6 is sleeved with the first steering knuckle 9, the bottom end of a steering shaft 7 is installed on the second steering knuckle 10, the outer side of the bottom end of the steering shaft 7 is sleeved with the damping spring 8, the end part of the damping spring 8 is respectively connected with the rotating shaft sleeve 6 and the second steering knuckle 10, a damper 20 is installed between the first steering knuckle 9 and the second steering knuckle 10, the first steering knuckle 9 is rotatably connected with one end of a damping upper arm 11, the second steering knuckle 10 is rotatably connected with one end of a damping lower arm 12, the other ends of the damping upper arm 11 and the damping lower arm 12 are rotatably connected, an in-wheel motor 17 is installed at the bottom side of the second steering knuckle 10, a lower swing arm 18 connected with a vehicle frame is installed at the inner side of the in-wheel motor 17, the steering shaft 7 comprises a shaft sleeve and a shaft body, the top end of the shaft sleeve is connected with the output end of a reduction box 4, a chute is formed in the side wall of the shaft sleeve, and the outer side of the top end of the shaft body is provided with a sliding column which is arranged in a sliding chute, the shaft body of a steering shaft 7 connected on a second steering knuckle 10 moves in the shaft sleeve to compress a damping spring 8, the damping spring 8 has a buffering effect through the elastic deformation of the damping spring 8, one end of a damping upper arm 11 is connected with a first steering knuckle 9 through a first mounting shaft 13, one end of a damping lower arm 12 is connected with the second steering knuckle 10 through a third mounting shaft 15, the other end of the damping lower arm 12 is connected with the other end of the damping upper arm 11 through a second mounting shaft 14, the second mounting shaft 14 is fixed with the damping lower arm 12, the second mounting shaft 14 is connected with the damping upper arm 11 through a limit bearing, an angle sensor 16 is arranged on the outer side of the other end of the damping upper arm 11, the input end of the angle sensor 16 is connected with the second mounting shaft 14, and the angle sensor 16 monitors the change of the included angle between the damping upper arm 11 and the damping lower arm 12, the top suit of bumper shock absorber 20 is on first installation axle 13, and the suit of bumper shock absorber 20 bottom is on third installation axle 15, and shock attenuation upper arm 11 is rotatory on first knuckle 9, and shock attenuation lower arm 12 is rotatory on second knuckle 10, and the contained angle of the rotation junction of shock attenuation upper arm 11 and shock attenuation lower arm 12 constantly changes this moment, drives the continuous flexible realization shock attenuation of bumper shock absorber 20 between first installation axle 13 and third installation axle 15.

The working method of the steerable suspension system comprises the following specific operation steps:

the method comprises the following steps: the steering motor 3 on the fixed support 1 works, and the reduction gearbox 4 regulates the speed to drive the steering shaft 7 to rotate between the ball bearings 5, so that the steering operation of the suspension mechanism is completed;

step two: when the road that jolts goes, the axis body of the steering spindle 7 of connecting on the second knuckle 10 this moment moves in the axle sleeve, compress damping spring 8, elastic deformation through damping spring 8 plays the cushioning effect, the upper shock attenuation arm 11 is rotatory on first knuckle 9 simultaneously, the lower shock attenuation arm 12 is rotatory on second knuckle 10, the contained angle of the rotation junction of upper shock attenuation arm 11 and lower shock attenuation arm 12 constantly changes this moment, it realizes the shock attenuation constantly to drive the continuous flexible bumper shock absorber 20 between first installation axle 13 and third installation axle 15.

The steering mechanism is integrated in the suspension mechanism, so that the function of conventional suspension can be realized, and besides, the top of the suspension mechanism is provided with the single steering motor 3, so that 180-degree steering of the wheels can be realized, and the suspension mechanism and the steering mechanism are matched and combined;

meanwhile, the shaft body of the steering shaft 7 connected to the second steering knuckle 10 moves in the shaft sleeve, the damping spring 8 is compressed, the damping effect is achieved through elastic deformation of the damping spring 8, meanwhile, the damping upper arm 11 rotates on the first steering knuckle 9, the damping lower arm 12 rotates on the second steering knuckle 10, the included angle of the rotating connection position of the damping upper arm 11 and the damping lower arm 12 is constantly changed at the moment, the shock absorber 20 between the first installation shaft 13 and the third installation shaft 15 is driven to constantly stretch and contract to achieve shock absorption, the included angle of the damping upper arm 11 and the damping lower arm 12 is monitored by the angle sensor 16 at the moment, when deviation occurs in the included angle change, the angle sensor 16 with the model of SCA610-CA1H1G transmits the model to the PLC with the model of PLCS7-300, early warning of the early warning device is controlled, and subsequent monitoring and maintenance are facilitated.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.