The invention discloses a six-wheel unmanned ground vehicle with an active and passive switchable suspension. Six suspension assemblies of the same structure are distributed on the left side and the right side of the frame at equal intervals in three pairs, tires are installed on the peripheries of hubs, hub motors are installed on the hubs, steering knuckles are installed on the hub motors, actuator supports are fixedly connected to the frame, upper cross arms and lower cross arms are arranged in parallel at intervals, and the two ends of the upper cross arms and the two ends of the lower cross arms are hinged to the frame and the steering knuckles respectively. The two ends of the suspension oil cylinder are connected with the actuator support and the lower cross arm respectively. The active and passive switchable suspension hydraulic system can achieve switching of a rigid locking mode, a passive independent suspension mode, a semi-active independent suspension mode, an active suspension mode and a passive interconnection suspension mode of a suspension according to working condition requirements. By using the active and passive switchable suspension hydraulic system, the multi-mode switching of the suspension is realized according to working condition requirements, so that more stable driving quality is provided, the shaking and bumping of a vehicle body are reduced, and the energy consumption of the hydraulic suspension is reduced.
本发明公开了一种具有主被动可切换悬架的六轮无人地面车辆。车架左右两侧等间距分布着三对共六个结构相同的悬架总成,轮胎安装在轮毂外周,轮毂安装有轮毂电机,转向节安装在轮毂电机上,作动器支架固定连接在车架上,上、下横臂平行间隔设置,上、下横臂的两端分别与车架和转向节铰接,悬架油缸的两端分别与作动器支架和下横臂连接;主被动可切换悬架液压系统可根据工况要求实现悬架的刚性闭锁模式、被动独立悬架模式、半主动独立悬架模式、主动悬架模式与被动互联悬架模式的切换。本发明通过使用主被动可切换悬架液压系统,根据工况要求实现悬架多模式的切换,以提供更稳定的行驶质量,减少车身晃动和颠簸,降低液压悬架的能耗。
Six-wheel unmanned ground vehicle with active and passive switchable suspension
一种具有主被动可切换悬架的六轮无人地面车辆
2024-07-30
Patent
Electronic Resource
Chinese
IPC: | B60G VEHICLE SUSPENSION ARRANGEMENTS , Radaufhängungen und Federungen für Fahrzeuge |
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