CN108394270A - A kind of rocker arm suspension, wheel leg type motor platform - Google Patents
A kind of rocker arm suspension, wheel leg type motor platform Download PDFInfo
- Publication number
- CN108394270A CN108394270A CN201810387781.2A CN201810387781A CN108394270A CN 108394270 A CN108394270 A CN 108394270A CN 201810387781 A CN201810387781 A CN 201810387781A CN 108394270 A CN108394270 A CN 108394270A
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- connecting shaft
- rocking arm
- clutch
- wheel
- row
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- 239000000725 suspension Substances 0.000 title claims abstract description 50
- 230000005540 biological transmission Effects 0.000 claims abstract description 64
- 230000009467 reduction Effects 0.000 claims abstract description 32
- 239000006247 magnetic powder Substances 0.000 claims description 4
- 238000013016 damping Methods 0.000 abstract description 5
- 230000000694 effects Effects 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 230000017525 heat dissipation Effects 0.000 abstract description 2
- 210000000515 tooth Anatomy 0.000 description 15
- 238000010586 diagram Methods 0.000 description 12
- 238000000034 method Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 2
- 239000006096 absorbing agent Substances 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000009355 double cropping Methods 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000009401 outcrossing Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
- B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/04—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and mechanical damper or dynamic damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2200/00—Indexing codes relating to suspension types
- B60G2200/10—Independent suspensions
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- 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
- B60G2200/422—Driving wheels or live axles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/13—Torsion spring
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Retarders (AREA)
Abstract
The invention discloses a kind of rocker arm suspension, wheel leg type motor platforms.The first reduction planetary row, vehicle wheel drive clutch, rocking arm driving clutch, sun gear control clutch, gear ring control clutch and damper unit are equipped in the transmission case of the present invention, by will drive rocking arm with driving two kinds of Function Couplings of wheel together with, vehicle volume and weight smaller, in the case where driving wheel mode state, damper unit torsion-bar spring and the effect of the elastic damping of blade damper effectively reduce road vibration, blade damper, which is fixed on vehicle frame, is conducive to damper heat dissipation, extends working life；In the case where driving rocking arm mode state, rocking arm can obtain accurate movement position and movement velocity, eliminate the mechanical interferences with driving wheel pattern.Platform of the present invention includes several above-mentioned rocker arm suspensions being arranged in parallel in vehicle frame both sides, which increases the obstacle climbing ability of platform, and can reduce the steering drag under pivot stud driving cycle.
Description
Technical field
The invention belongs to technical field of vehicle more particularly to a kind of single input double acting rocker arm suspension and wheel leg type are motor-driven
Platform.
Background technology
Vehicle technology is in high speed development, and one of important directions are miniaturizations, and specific requirement is not drop
Under the premise of low major function, complete vehicle quality reduces, size reduces and load capacity has a certain upgrade.This is motor-driven to nobody
The design of platform proposes very big challenge, and one of countermeasure is the high miniaturization function of designing unit's volumetric power density
Component, and in current fast-developing transition period, the high miniaturization functional component market of Reliability comparotive is also immature, also reaches
Less than the requirement of application equipment, so a feasible countermeasure is by main functional unit Integration Design, reduce superfluous
Remaining part part reaches the target of entire vehicle design miniaturization.
Wheel leg type motor platform combines the movement of nature biotechnology leg formula to the cross-country traveling ability of obstacle and the height of wheel type movement
Mobility, it is characterized in that by multigroup wheel leg type mechanism, according to the barrer types according to certain action sequence combination leg formula movement
Achieve the purpose that crossing over blockage with wheel type movement.
Invention content
The primary purpose of the present invention is that provide a kind of single input double acting rocker arm suspension, which drives rocking arm and vehicle
Wheel drive is coupled, it is intended to solve the problems, such as that wheel leg type motor platform minimizes.
Another object of the present invention is to provide a kind of wheel leg type motor platform, the platform include it is multiple be arranged in parallel it is upper
Single input double acting rocker arm suspension and wheel are stated, is formed by the movement of leg formula and wheel type movement that control multigroup rocker arm suspension dynamic
Make sequence, wheel leg type motor platform may be implemented and cross various obstacles.
The invention is realized in this way a kind of rocker arm suspension, which includes power unit, transmission case, double acting planet
Row and rocking arm；The first reduction planetary row, vehicle wheel drive clutch, rocking arm driving clutch, the sun are equipped in the transmission case
Wheel control clutch and gear ring control clutch；Wherein,
The gear ring of the first reduction planetary row is fixed on the inside of transmission case, gear ring, the sun gear of the first reduction planetary row
It is engaged with its planet carrier, which is connect by the first connecting shaft with power unit power output end, and the planet
Frame axle center is connect with the second one end of the connecting shaft；Far from power unit direction, the second connecting shaft other end successively with vehicle
The rotating plate of wheel drive clutch, the rotating plate of rocking arm driving clutch are fixedly connected, and the driven disc of vehicle wheel drive clutch connects
It is connected on third one end of the connecting shaft, the driven disc of rocking arm driving clutch is connected to the fourth connecting shaft one end；The fourth connecting shaft
The movable plate of sun gear control clutch is connected on the axial wall of outside, and transmission case inside corresponding position is equipped with and sun gear
Control the compatible stator of movable plate of clutch；
The stator of gear ring control clutch, the movable plate and double cropping of the gear ring control clutch are equipped on the inside of the transmission case
It is connected with the gear ring of planet row, the sun gear of the double acting planet row is connect with the fourth connecting shaft other end, the double acting
Sun gear external tooth, the gear ring internal tooth of planet row are engaged with the assembling of its planet carrier, the planet carrier and the 5th of the double acting planet row
One end of the connecting shaft connects, and the 5th connecting shaft other end is connect with the rocking arm；
The third connecting shaft other end is mounted on rocking arm after sequentially passing through the fourth connecting shaft, the 5th hollow axle center of connecting shaft
On, and the third connecting shaft is located at the axis body in rocking arm and is equipped with first pulley.
Preferably, the rocker arm suspension further includes damper unit, and the damper unit includes torsion-bar spring, blade damper
And vibration-reduction gear；Wherein,
The body of rod of the torsion-bar spring is equipped with vibration-reduction gear, and torsion-bar spring one end is equipped with blade damper, torsion bar bullet
The other end of spring is fixed；The outer tooth engagement of gear ring of the vibration-reduction gear and double acting planet row.
Preferably, the rocking arm further includes the second belt wheel and the 6th connecting shaft；6th connecting shaft is mounted on rocking arm
It is interior, and the 6th one end of the connecting shaft is stretched out as power output end outside rocking arm, the 6th connecting shaft is located on the axis body in rocking arm
Equipped with the second belt wheel；The first pulley is connect with the second belt wheel by transmission belt or driving chain.
Preferably, it is additionally provided with brake in the rocking arm；The stator of the brake is fixed on the inside of shearer ranging arm, and institute
The movable plate for stating brake is fixed on third connecting shaft.
Preferably, the vehicle wheel drive clutch, rocking arm driving clutch, sun gear control clutch, gear ring control from
Clutch type includes but not limited to wet clutch, dry clutch, electromagnetic clutch, magnetic powder cluth, tooth set, synchronizer.
The present invention further discloses a kind of wheel leg type motor platform, which includes vehicle frame and is symmetrically mounted on vehicle frame
Several rocker arm suspensions and wheel of two opposite sides；
The suspension includes power unit, transmission case, double acting planet row and rocking arm；Subtract equipped with first in the transmission case
Fast planet row, vehicle wheel drive clutch, rocking arm driving clutch, sun gear control clutch and gear ring control clutch；Its
In,
The gear ring of the first reduction planetary row is fixed on the inside of transmission case, gear ring, the sun gear of the first reduction planetary row
It is engaged with its planet carrier, which is connect by the first connecting shaft with power unit power output end, and the planet
Frame axle center is connect with the second one end of the connecting shaft；Far from power unit direction, the second connecting shaft other end successively with vehicle
The rotating plate of wheel drive clutch, the rotating plate of rocking arm driving clutch are fixedly connected, and the driven disc of vehicle wheel drive clutch connects
It is connected on third one end of the connecting shaft, the driven disc of rocking arm driving clutch is connected to the fourth connecting shaft one end；The fourth connecting shaft
The movable plate of sun gear control clutch is connected on the axial wall of outside, and transmission case inside corresponding position is equipped with and sun gear
Control the compatible stator of movable plate of clutch；
The stator of gear ring control clutch, the movable plate and double cropping of the gear ring control clutch are equipped on the inside of the transmission case
It is connected with the gear ring of planet row, the sun gear of the double acting planet row is connect with the fourth connecting shaft other end, the double acting
Sun gear external tooth, the gear ring internal tooth of planet row are engaged with the assembling of its planet carrier, the planet carrier and the 5th of the double acting planet row
One end of the connecting shaft connects, and the 5th connecting shaft other end is connect with the rocking arm；
The third connecting shaft other end is mounted on rocking arm after sequentially passing through the fourth connecting shaft, the 5th hollow axle center of connecting shaft
On, and the third connecting shaft is located at the axis body in rocking arm and is equipped with first pulley；
The power unit, transmission case, double acting planet row are respectively positioned in vehicle frame, and the rocking arm and wheel are located at outside vehicle frame
Side is fixed on vehicle frame by bearing on the axis body of the 5th connecting shaft.
Preferably, the rocker arm suspension further includes damper unit, and the damper unit includes torsion-bar spring, blade damper
And vibration-reduction gear；Wherein,
The body of rod of the torsion-bar spring is equipped with vibration-reduction gear, the gear ring external tooth of the vibration-reduction gear and double acting planet row
Engagement；
The stator of the blade damper is fixed on vehicle frame, and the movable plate of the blade damper and torsion-bar spring one end
Connection, the torsion-bar spring other end are fixed in vehicle frame.
Preferably, the motor platform further includes wheel；
The wheel further includes the second belt wheel and the 6th connecting shaft；6th connecting shaft is mounted in rocking arm, and the
Six one end of the connecting shaft are stretched out outside rocking arm as power output end and are connect with wheel, and the 6th connecting shaft is located at the axis in rocking arm
Body is equipped with the second belt wheel；The first pulley is connect with the second belt wheel by transmission belt or driving chain.
Preferably, it is additionally provided with brake in the rocking arm；The stator of the brake is fixed on the inside of shearer ranging arm, and institute
The movable plate for stating brake is fixed on third connecting shaft.
Preferably, the second reduction planetary built in the wheel is arranged, the planetary gear and its sun of the second reduction planetary row
Wheel, gear ring engagement, the gear ring of the second reduction planetary row are fixed on the inside of shearer ranging arm, the sun gear of the second reduction planetary row and the
Six connection axis connections, the planet carrier of the second reduction planetary row are connect with wheel.
Compared with the prior art the shortcomings that and deficiency, the invention has the advantages that：
(1) in rocker arm suspension of the present invention, will driving rocking arm and drive two kinds of Function Couplings of wheel together with, reduce it
The occupied space and quality of intermediate transmission component realize entire vehicle design miniaturization；
(2) in rocker arm suspension of the present invention, in driving wheel mode state, damper unit torsion-bar spring and blade subtract
The elastic damping effect of device of shaking effectively reduces road vibration, protects the important component in vehicle frame；
(3) in rocker arm suspension of the present invention, in driving wheel mode state, blade damper, which is fixed on vehicle frame, to be had
It radiates conducive to damper, extends working life；
(4) in rocker arm suspension of the present invention, in driving rocking arm mode state, damper unit torsion-bar spring and blade subtract
The device that shakes is not involved in work, and rocking arm can obtain accurate movement position and movement velocity；
(5) in rocker arm suspension of the present invention, in driving rocking arm mode state, the movement position realization for adjusting rocking arm is whole
When vehicle posture changing, the transmission mechanism of wheel to vehicle wheel drive clutch is in free state, avoids driving wheel drive machine
The interference of structure and driving rocking-arm driving mechanism, i.e., when between centers at least two groups rocking arm adjusts movement position simultaneously, wheel can also be certainly
By rotating, movement interlocking will not occur, and the rotation status of wheel can be controlled by brake, realization is adjusted on ramp
Vehicle posture；
(6) in wheel leg type motor platform of the present invention, the vehicular attitude of platform can be voluntarily adjusted according to different operating modes, met
To the obstacle climbing ability for increasing platform in the case of obstacle；
(7) in wheel leg type motor platform of the present invention, under in situ Turning travel operating mode, driving wheel is adjusted, part is made to drive
Driving wheel is liftoff, reduces the steering drag under pivot stud driving cycle.
Description of the drawings
Fig. 1 is the internal structure schematic diagram of rocker arm suspension of the present invention；
Fig. 2 is the enlarged structure schematic diagram of part A in Fig. 1；
Fig. 3 is the enlarged structure schematic diagram of part B in Fig. 1；
Fig. 4 is the enlarged structure schematic diagram of C portion in Fig. 1；
Fig. 5 is the structural schematic diagram of wheel leg type motor platform of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As shown in Figures 1 to 3, wherein Fig. 1 is the internal structure schematic diagram of rocker arm suspension of the present invention, and Fig. 2 is part A in Fig. 1
Enlarged structure schematic diagram, Fig. 3 is the enlarged structure schematic diagram of part B in Fig. 1.
The invention discloses a kind of rocker arm suspension, the suspension include power unit 15, transmission case 1, double acting planet row 9 with
And rocking arm 18；2, vehicle wheel drive clutch 3 is arranged equipped with the first reduction planetary, rocking arm drives clutch 4, too in the transmission case 1
Sun wheel control clutch 5 and gear ring control clutch 6；Wherein,
First reduction planetary row (the first reduction planetary row 2 include sun gear 2-1, planetary gear 2-2, planet carrier 2-3 and
Gear ring 2-4) gear ring 2-4 be fixed on the inside of transmission case 1, gear ring 2-4, the sun gear 2-1 of the first reduction planetary row 2 with its row
Carrier 2-3 engagements, the axle center sun gear 2-1 is connect by the first connecting shaft 26 with 15 power output end of power unit, and the row
The axle center carrier 2-3 is connect with 24 one end of the second connecting shaft；Far from 15 direction of power unit, second connecting shaft 24 is another
End drives the rotating plate 4-1 of clutch 4 to be fixedly connected with the rotating plate 3-1 of vehicle wheel drive clutch 3, rocking arm successively, and wheel drives
The driven disc 3-2 of dynamic clutch 3 is connected to 7 one end of third connecting shaft, and the driven disc 4-2 of rocking arm driving clutch 4 is connected to the
Four connecting shafts, 8 one end；The movable plate 5-2 of sun gear control clutch 5, and institute are connected on 8 outside axial wall of the fourth connecting shaft
It states 1 inside corresponding position of transmission case and is equipped with stator 5-1 compatible with the sun gear control movable plate 5-2 of clutch 5；
1 inside of the transmission case is equipped with the stator 6-1 of gear ring control clutch 6, the movable plate of the gear ring control clutch 6
6-2 and double acting planet row 9 (double acting planet row 9 includes sun gear 9-1, planetary gear 9-2, planet carrier 9-3 and gear ring 9-4)
The sun gear 9-1 of gear ring 9-4 connections, the double acting planet row 9 is connect with 8 other end of the fourth connecting shaft, the double acting row
Sun gear 9-1 external tooths, the gear ring 9-4 internal tooths of star row 9 is engaged with the 9-3 assemblings of its planet carrier, the planet of the double acting planet row 9
Frame 9-3 is connect with 25 one end of the 5th connecting shaft, and 25 other end of the 5th connecting shaft is connect with the rocking arm 18；
7 other end of third connecting shaft sequentially passes through the fourth connecting shaft 8, the 5th connecting shaft is mounted on behind 25 hollow axle center
On rocking arm 18, and the third connecting shaft 7 is located at the axis body in rocking arm 18 and is equipped with first pulley 16.
In embodiments of the present invention, the first connecting shaft 26 is equipped with bearing with transmission case 1,18 housing junction of rocking arm, this
Belong to common setting, repeats no more.
In embodiments of the present invention, the shell of power unit 15 can be fixed on the shell of transmission case 1, power unit 15
Including but not limited to alternating current generator, servo motor, hydraulic motor etc., the first connecting shaft 26 can be driven persistently to turn in the prior art
Dynamic power output device may be incorporated for explaining the power unit 15 of the present invention.
In embodiments of the present invention, the vehicle wheel drive clutch 3, rocking arm driving clutch 4, sun gear control clutch
5, gear ring control 6 type of clutch include but not limited to wet clutch, dry clutch, electromagnetic clutch, magnetic powder cluth,
Tooth set, synchronizer.
In embodiments of the present invention, rocker arm suspension would generally be equipped with damper unit (including vibration-reduction gear 10, blade damper
11, torsion-bar spring 12), for absorbing vibration in 18 vibration processes of rocking arm.It can be equally used for this hair with existing vibration absorber
Bright rocker arm suspension, for example, the transmission case 1 of rocker arm suspension is directly anchored on damper unit etc..To make this rocker arm suspension
Structure it is more firm and simplify, the present invention further provides technical solution in, the damper unit includes torsion-bar spring 12, blade
Damper 11 and vibration-reduction gear 10；Wherein, the body of rod of the torsion-bar spring 12 is equipped with vibration-reduction gear 10, and torsion-bar spring 12
One end is equipped with blade damper 11；The outer tooth engagement of the vibration-reduction gear 10 and the gear ring 9-4 of double acting planet row 9.
In embodiments of the present invention, a kind of rocker arm suspension disclosed in this invention further includes that the second belt wheel 20 and the 6th connects
Spindle 21；6th connecting shaft 21 is mounted in rocking arm 18, and 21 one end of the 6th connecting shaft is shaken as power output end stretching
Outside arm 18, the 6th connecting shaft 21 is located at the axis body in rocking arm 18 and is equipped with the second belt wheel 20；The first pulley 16 and
Two belt wheels 20 are connected by transmission belt or driving chain 19.Finally driving the 6th connects for the transmission of first pulley 16 and the second belt wheel 20
Spindle 21 does power output.Further, it for ease of the control to speed, in embodiments of the present invention, is additionally provided in rocking arm 18
Brake 17；Brake 17 includes stator (label is omitted in figure) and movable plate (label is omitted in figure), and 17 stator of brake is fixed
In 18 case inside of rocking arm, 17 movable plate of brake is fixed in third connecting shaft 7.
In the actual application of the present invention, rocker arm suspension includes two kinds of driving wheel pattern and driving rocking arm pattern
Operating mode.
In driving wheel pattern, vehicle wheel drive clutch 3 and sun gear control clutch 5 engage, and rocking arm drives clutch
Device 4 and gear ring control clutch 6 detach, and power transmission route is that power unit 15 reaches the first deceleration row through the first connecting shaft 26
Star row 2, continues on through vehicle wheel drive clutch 3 by third connecting shaft 7 and reaches first pulley 16, then pass through the second band by transmission belt 19
Wheel 20 reaches the 6th connecting shaft 21 and does power output.In such a mode since sun gear control clutch 5 combines, double acting row
The sun gear 9-1 of star row 9 is maintained static, and the transmission path vibrated caused by road bump is to be transferred to the 5th company by rocking arm 18
Spindle 25, then planet carrier 9-3 is reached, vibration-reduction gear 10 is then reached by gear ring 9-4, torsion-bar spring 12 is finally reached and blade subtracts
Shake device 11, and the vibrational energy caused by road bump so is finally absorbed by torsion-bar spring 12 and blade damper 11.
In driving rocking arm pattern, rocking arm drives clutch 4 and gear ring control clutch 6 to engage, vehicle wheel drive clutch 3
It is detached with sun gear control clutch 5, power transmission route is that power unit 15 reaches the first deceleration row through the first connecting shaft 26
Star row 2 continues on through rocking arm driving clutch 4 and reaches double acting planet row 9 by the fourth connecting shaft 8, then through planet carrier 9-3 by the 5th
Connecting shaft 25 reaches rocking arm 18, and finally driving rocking arm 18 rotates power unit 15.In such a mode, gear ring controls clutch 6
In conjunction with, then gear ring 9-4 is fixed, and the working method of double acting planet row 9 is sun gear 9-1 inputs, and planet carrier 9-3 is exported,
Torsion-bar spring 12 and blade damper 11 do not work at this time, and power unit 15 and the transmission of rocking arm 18 are positive drive, can be obtained
Accurate movement position and movement velocity.
The present invention by will drive rocking arm 18 with driving two kinds of Function Couplings of wheel together with, reduce in-between driving section
The occupied space and quality of part realize entire vehicle design miniaturization.In the case where driving wheel mode state, damper unit torsion bar
The effect of the elastic damping of spring 12 and blade damper 11 effectively reduces road vibration, protects the important component in vehicle frame；
It drives under wheel mode state, blade damper 11, which is fixed on vehicle frame, is conducive to damper heat dissipation, extends working life；
In addition, in driving rocking arm mode state, damper unit torsion-bar spring 12 and blade damper 11 are not involved in work, rocking arm energy
Enough obtain accurate movement position and movement velocity.
As shown in Fig. 1~5, wherein Fig. 1 is the internal structure schematic diagram of rocker arm suspension of the present invention, and Fig. 2 is part A in Fig. 1
Enlarged structure schematic diagram, Fig. 3 is the enlarged structure schematic diagram of part B in Fig. 1, and Fig. 4 is that the enlarged structure of C portion in Fig. 1 is shown
It is intended to；Fig. 5 is the structural schematic diagram of wheel leg type motor platform of the present invention.
The present invention further discloses wheel leg type motor platform, which includes vehicle frame 14 and is symmetrically mounted on vehicle frame 14
Several rocker arm suspensions of two opposite sides；
The suspension includes power unit 15, transmission case 1, double acting planet row 9 and rocking arm 18；It is set in the transmission case 1
Have the first reduction planetary row 2 (the first reduction planetary row 2 include sun gear 2-1, planetary gear 2-2, planet carrier 2-3 and gear ring 2-4),
Vehicle wheel drive clutch 3, rocking arm driving clutch 4, sun gear control clutch 5 and gear ring control clutch 6；Wherein,
The gear ring 2-4 of the first reduction planetary row 2 is fixed on 1 inside of transmission case, the gear ring 2- of the first reduction planetary row
4, sun gear 2-1 is engaged with its planet carrier 2-3, and the axle center sun gear 2-1 is dynamic by the first connecting shaft 26 and power unit 15
Power output end connects, and the axle center planet carrier 2-3 is connect with 24 one end of the second connecting shaft；On separate 15 direction of power unit,
Second connecting shaft, 24 other end drives the active of clutch 4 with the rotating plate 3-1 of vehicle wheel drive clutch 3, rocking arm successively
Piece 4-1 is fixedly connected, and the driven disc 3-2 of vehicle wheel drive clutch 3 is connected to 7 one end of third connecting shaft, and rocking arm drives clutch 4
Driven disc 4-2 be connected to 8 one end of the fourth connecting shaft；Be connected on 8 outside axial wall of the fourth connecting shaft sun gear control from
The movable plate 5-2 of clutch 5, and 1 inside corresponding position of the transmission case is equipped with the movable plate 5-2 phases that clutch 5 is controlled with sun gear
The stator 5-1 of adaptation；
1 inside of the transmission case is equipped with the stator 6-1 of gear ring control clutch 6, the movable plate of the gear ring control clutch 6
6-2 and double acting planet row 9 (double acting planet row 9 includes sun gear 9-1, planetary gear 9-2, planet carrier 9-3 and gear ring 9-4)
The sun gear 9-1 of gear ring 9-4 connections, the double acting planet row 9 is connect with 8 other end of the fourth connecting shaft, the double acting row
Sun gear 9-1 external tooths, the gear ring 9-4 internal tooths of star row 9 is engaged with the 9-3 assemblings of its planet carrier, the planet of the double acting planet row 9
Frame 9-3 is connect with 25 one end of the 5th connecting shaft, and 25 other end of the 5th connecting shaft is connect with the rocking arm 18；
7 other end of third connecting shaft sequentially passes through the fourth connecting shaft 8, the 5th connecting shaft is mounted on behind 25 hollow axle center
On rocking arm 18, and the third connecting shaft 7 is located at the axis body in rocking arm 18 and is equipped with first pulley 16；
The power unit 15, transmission case 1, double acting planet row 9 are respectively positioned in vehicle frame 14, and the rocking arm 18 is located at vehicle frame
On the outside of 14, it is fixed on vehicle frame 14 by bearing 13 on the axis body of the 5th connecting shaft 25.
In embodiments of the present invention, more specifically, the motor platform further includes wheel 23；The rocking arm 18 further includes
Two belt wheels 20 and the 6th connecting shaft 21；6th connecting shaft 21 is mounted in rocking arm 18, and 21 one end of the 6th connecting shaft is done
It stretches out outside rocking arm 18 for power output end and is connect with wheel 23, set on the axis body that the 6th connecting shaft 21 is located in rocking arm 18
There is the second belt wheel 20；The first pulley 16 is connect with the second belt wheel 20 by transmission belt or driving chain 19.
In embodiments of the present invention, rocker arm suspension would generally be equipped with damper unit, for being inhaled in 18 vibration processes of rocking arm
Receive vibration.The rocker arm suspension of the present invention can be equally used for existing vibration absorber, for example, the transmission case 1 of rocker arm suspension is straight
It connects and is fixed on damper unit etc..For keep this rocker arm suspension structure more firm and simplify, the present invention further provides technology
In scheme, the rocker arm suspension further includes damper unit, the damper unit include torsion-bar spring 12, blade damper 11 and
Vibration-reduction gear 10；Wherein, the body of rod of the torsion-bar spring 12 is equipped with vibration-reduction gear 10, the vibration-reduction gear 10 and double acting row
The outer tooth engagements of gear ring 9-4 of star row 9；The stator of the blade damper 11 is fixed on vehicle frame 14, and the blade damper
11 movable plate is connect with 12 one end of torsion-bar spring, and 12 other end of the torsion-bar spring is fixed in vehicle frame 14.
In embodiments of the present invention, a kind of rocker arm suspension disclosed in this invention further includes that the second belt wheel 20 and the 6th connects
Spindle 21；6th connecting shaft 21 is mounted in rocking arm 18, and 21 one end of the 6th connecting shaft is shaken as power output end stretching
Outside arm 18, the 6th connecting shaft 21 is located at the axis body in rocking arm 18 and is equipped with the second belt wheel 20；The first pulley 16 and
Two belt wheels 20 are connected by transmission belt or driving chain 19.Finally driving the 6th connects for the transmission of first pulley 16 and the second belt wheel 20
Spindle 21 does power output.Further, it for ease of the control to speed, in embodiments of the present invention, is additionally provided in rocking arm 18
Brake 17；Brake 17 includes stator and movable plate, and 17 stator of brake is fixed on 18 case inside of rocking arm, 17 movable plate of brake
It is fixed in third connecting shaft 7.
In embodiments of the present invention, the first connecting shaft 26 is equipped with bearing with transmission case 1,18 housing junction of rocking arm, this
Belong to common setting, repeats no more.
In embodiments of the present invention, the shell of power unit 15 can be fixed on the shell of transmission case 1, power unit 15
Including but not limited to alternating current generator, servo motor, hydraulic motor etc., the first connecting shaft 26 can be driven persistently to turn in the prior art
Dynamic power output device may be incorporated for explaining the power unit 15 of the present invention.
In embodiments of the present invention, the vehicle wheel drive clutch 3, rocking arm driving clutch 4, sun gear control clutch
5, gear ring control 6 type of clutch include but not limited to wet clutch, dry clutch, electromagnetic clutch, magnetic powder cluth,
Tooth set, synchronizer.
In embodiments of the present invention, the second reduction planetary row 22 built in the wheel 23, the second reduction planetary row 22 include
Sun gear 22-1, planetary gear 22-2, planet carrier 22-3 and gear ring 22-4, planetary gear 22-2 are nibbled with sun gear 22-1 and gear ring 22-4
It closes, gear ring 22-4 is fixed on 18 case inside of rocking arm, and sun gear 22-1 is connect with the 6th connecting shaft 21, planet carrier 22-3 and wheel
23 connections.
In the actual application of the present invention, rocker arm suspension includes two kinds of driving wheel pattern and driving rocking arm pattern
Operating mode.
In driving wheel pattern, vehicle wheel drive clutch 3 and sun gear control clutch 5 combine, and rocking arm drives clutch
Device 4 and gear ring control clutch 6 detach, and power transmission route is that power unit 15 reaches the first deceleration row through the first connecting shaft 26
Star row 2, continues on through vehicle wheel drive clutch 3 by third connecting shaft 7 and reaches belt wheel 16, then reached by belt wheel 20 by transmission belt 19
6th connecting shaft 21 finally reaches wheel 23, the rotation of 15 final driven wheel 23 of power unit by the second reduction planetary row 22.
Since sun gear control clutch 5 combines under this pattern, the sun gear 9-1 of double acting planet row 9 is maintained static, is run by road surface
The transmission path vibrated caused by winnowing with a dustpan is to be transferred to rocking arm 18 by wheel 23, then reach planet carrier 9-3 by the 5th connecting shaft 25, so
Vibration-reduction gear 10 is reached by gear ring 9-4 afterwards, torsion-bar spring 12 and blade damper 11 is finally reached, is caused in this way by road bump
Vibrational energy finally absorbed by torsion-bar spring 12 and piece damper 11.
In driving rocking arm pattern, rocking arm drives clutch 4 and gear ring control clutch 6 to combine, vehicle wheel drive clutch 3
It is detached with sun gear control clutch 5, power transmission route is that power unit 15 reaches the first deceleration row through the first connecting shaft 26
Star row 2 continues on through rocking arm driving clutch 4 and reaches double acting planet row 9 by the fourth connecting shaft 8, then through planet carrier 9-3 by the 5th
Connecting shaft 25 reaches rocking arm 18, and finally driving rocking arm 18 rotates power unit 15.In such a mode, gear ring controls clutch 6
In conjunction with, then gear ring 9-4 is fixed, and the working method of double acting planet row 9 is sun gear 9-1 inputs, and planet carrier 9-3 is exported,
Torsion-bar spring 12 and blade damper 11 do not work at this time, and power unit 15 and the transmission of rocking arm 18 are positive drive, can be obtained
Accurate movement position and movement velocity.
In embodiments of the present invention, 14 both sides of vehicle frame arrange several rocker arm suspensions, that is, wheel leg type by parallel way
Robot.When encountering obstacle in travel route, vehicle can be moved in conjunction with leg formula and wheel type movement carrys out crossing over blockage.
In embodiments of the present invention, the use of wheel leg type motor platform cooperation single input double acting rocker arm suspension, wheel 23
When adjusting driving by transmission case 1 by power unit 15, damper unit torsion-bar spring 12 and blade damper 11 can be well
Play damping effect；When rocking arm 18 adjusts driving by power unit 15 by transmission case 1, damper unit torsion-bar spring 12 and blade
The elastic damping effect of damper 11 can obtain mechanical isolation, and rocking arm 18 can obtain accurate movement position and movement speed
Degree.
Wheel leg type motor platform can voluntarily adjust the vehicular attitude of platform according to different operating modes in the present invention, encounter obstacle
In the case of increase the obstacle climbing ability of platform；In addition, adjusting driving wheel under Turning travel operating mode in situ, part being made to drive
It takes turns liftoff, reduces the steering drag under pivot stud driving cycle.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of rocker arm suspension, which is characterized in that the suspension includes power unit, transmission case, double acting planet row and rocking arm；
The first reduction planetary row, vehicle wheel drive clutch, rocking arm driving clutch, sun gear control clutch are equipped in the transmission case
And gear ring controls clutch；Wherein,
The gear ring of first reduction planetary row is fixed on the inside of transmission case, the gear ring of the first reduction planetary row, sun gear with
Its planet carrier engages, which is connect by the first connecting shaft with power unit power output end, and the planet carrier shaft
The heart is connect with the second one end of the connecting shaft；Far from power unit direction, the second connecting shaft other end drives with wheel successively
The rotating plate of dynamic clutch, the rotating plate of rocking arm driving clutch are fixedly connected, and the driven disc of vehicle wheel drive clutch is connected to
The driven disc of third one end of the connecting shaft, rocking arm driving clutch is connected to the fourth connecting shaft one end；On the outside of the fourth connecting shaft
The movable plate of sun gear control clutch is connected on axial wall, and corresponding position is equipped with and sun gear control on the inside of the transmission case
The compatible stator of movable plate of clutch；
The stator of gear ring control clutch, the movable plate and double acting row of the gear ring control clutch are equipped on the inside of the transmission case
The gear ring connection of star row, the sun gear of the double acting planet row are connect with the fourth connecting shaft other end, the double acting planet
Sun gear external tooth, the gear ring internal tooth of row is engaged with the assembling of its planet carrier, and the planet carrier of the double acting planet row is connect with the 5th
Axis one end connects, and the 5th connecting shaft other end is connect with the rocking arm；
The third connecting shaft other end is mounted on after sequentially passing through the fourth connecting shaft, the 5th hollow axle center of connecting shaft on rocking arm,
And the third connecting shaft is located at the axis body in rocking arm and is equipped with first pulley.
2. rocker arm suspension as described in claim 1, which is characterized in that the rocker arm suspension further includes damper unit, described to subtract
The unit that shakes includes torsion-bar spring, blade damper and vibration-reduction gear；Wherein,
The body of rod of the torsion-bar spring is equipped with vibration-reduction gear, and torsion-bar spring one end is equipped with blade damper, torsion-bar spring
The other end is fixed；The outer tooth engagement of gear ring of the vibration-reduction gear and double acting planet row.
3. rocker arm suspension as claimed in claim 2, which is characterized in that the rocking arm further includes the second belt wheel and the 6th connection
Axis；6th connecting shaft is mounted in rocking arm, and the 6th one end of the connecting shaft is stretched out as power output end outside rocking arm, and described the
Six connecting shafts are located at the axis body in rocking arm and are equipped with the second belt wheel；The first pulley passes through transmission belt or transmission with the second belt wheel
Chain connects.
4. rocker arm suspension as claimed in claim 3, which is characterized in that be additionally provided with brake in the rocking arm；The brake
Stator be fixed on the inside of shearer ranging arm, and the movable plate of the brake is fixed on third connecting shaft.
5. rocker arm suspension as claimed in claim 4, which is characterized in that the vehicle wheel drive clutch, rocking arm driving clutch,
Sun gear controls clutch, gear ring control clutch type includes but not limited to wet clutch, dry clutch, electromagnetic clutch
Device, magnetic powder cluth, tooth set, synchronizer.
6. a kind of wheel leg type motor platform, which is characterized in that the platform includes vehicle frame and is symmetrically mounted on vehicle frame two opposite sides
Several rocker arm suspensions and wheel；
The suspension includes power unit, transmission case, double acting planet row and rocking arm；The first deceleration is equipped in the transmission case to go
Star row, vehicle wheel drive clutch, rocking arm driving clutch, sun gear control clutch and gear ring control clutch；Wherein,
The gear ring of first reduction planetary row is fixed on the inside of transmission case, the gear ring of the first reduction planetary row, sun gear with
Its planet carrier engages, which is connect by the first connecting shaft with power unit power output end, and the planet carrier shaft
The heart is connect with the second one end of the connecting shaft；Far from power unit direction, the second connecting shaft other end drives with wheel successively
The rotating plate of dynamic clutch, the rotating plate of rocking arm driving clutch are fixedly connected, and the driven disc of vehicle wheel drive clutch is connected to
The driven disc of third one end of the connecting shaft, rocking arm driving clutch is connected to the fourth connecting shaft one end；On the outside of the fourth connecting shaft
The movable plate of sun gear control clutch is connected on axial wall, and corresponding position is equipped with and sun gear control on the inside of the transmission case
The compatible stator of movable plate of clutch；
The stator of gear ring control clutch, the movable plate and double acting row of the gear ring control clutch are equipped on the inside of the transmission case
The gear ring connection of star row, the sun gear of the double acting planet row are connect with the fourth connecting shaft other end, the double acting planet
Sun gear external tooth, the gear ring internal tooth of row is engaged with the assembling of its planet carrier, and the planet carrier of the double acting planet row is connect with the 5th
Axis one end connects, and the 5th connecting shaft other end is connect with the rocking arm；
The third connecting shaft other end is mounted on after sequentially passing through the fourth connecting shaft, the 5th hollow axle center of connecting shaft on rocking arm,
And the third connecting shaft is located at the axis body in rocking arm and is equipped with first pulley；
The power unit, transmission case, double acting planet row are respectively positioned in vehicle frame, and the rocking arm and wheel are located at frame outside,
It is fixed on vehicle frame by bearing on the axis body of 5th connecting shaft.
7. wheel leg type motor platform as claimed in claim 6, which is characterized in that the rocker arm suspension further includes damper unit,
The damper unit includes torsion-bar spring, blade damper and vibration-reduction gear；Wherein,
The body of rod of the torsion-bar spring is equipped with vibration-reduction gear, and the gear ring external tooth of the vibration-reduction gear and double acting planet row is nibbled
It closes；
The stator of the blade damper is fixed on vehicle frame, and the movable plate of the blade damper connects with torsion-bar spring one end
It connects, the torsion-bar spring other end is fixed in vehicle frame.
8. wheel leg type motor platform as claimed in claim 7, which is characterized in that the motor platform further includes wheel；
The wheel further includes the second belt wheel and the 6th connecting shaft；6th connecting shaft is mounted in rocking arm, and the 6th connects
Spindle one end is stretched out outside rocking arm as power output end and is connect with wheel, and the 6th connecting shaft is located on the axis body in rocking arm
Equipped with the second belt wheel；The first pulley is connect with the second belt wheel by transmission belt or driving chain.
9. wheel leg type motor platform as claimed in claim 8, which is characterized in that be additionally provided with brake in the rocking arm；It is described
The stator of brake is fixed on the inside of shearer ranging arm, and the movable plate of the brake is fixed on third connecting shaft.
10. wheel leg type motor platform as claimed in claim 9, which is characterized in that the second reduction planetary built in the wheel is arranged,
The planetary gear of the second reduction planetary row is engaged with its sun gear, gear ring, and the gear ring of the second reduction planetary row is fixed on rocking arm
Case inside, the sun gear of the second reduction planetary row connect axis connection, the planet carrier and wheel of the second reduction planetary row with the 6th
Connection.
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| CN201810387781.2A CN108394270A (en) | 2018-04-26 | 2018-04-26 | A kind of rocker arm suspension, wheel leg type motor platform |
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| CN108953514A (en) * | 2018-08-23 | 2018-12-07 | 吉林大学 | A kind of active planetary gear train barrier-surpassing robot of double clutches and its control method |
| CN109591533A (en) * | 2019-01-17 | 2019-04-09 | 武汉市炫能清洁能源科技有限公司 | Arm-type twist mode Active suspension |
| CN109606736A (en) * | 2018-12-06 | 2019-04-12 | 哈尔滨工业大学 | A kind of single-motor double swing rod swing mechanism, celestial body vehicle and moving method |
| CN109606735A (en) * | 2018-12-06 | 2019-04-12 | 哈尔滨工业大学 | A kind of single-motor double swing rod swing mechanism, celestial body vehicle and moving method |
| CN110329026A (en) * | 2019-06-26 | 2019-10-15 | 武汉理工大学 | A kind of energy separately adjustable suspension of both arms posture of active |
| CN111976861A (en) * | 2020-08-28 | 2020-11-24 | 东北林业大学 | Wheel and mechanical leg joint multiplexing motor transmission system and driving method |
| CN112623059A (en) * | 2020-11-16 | 2021-04-09 | 北京理工大学前沿技术研究院 | Wheel-leg mechanism of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN114889386A (en) * | 2022-05-11 | 2022-08-12 | 东风德纳车桥有限公司 | Height-adjustable independent suspension and chassis system |
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| CN110329026B (en) * | 2019-06-26 | 2021-05-04 | 武汉理工大学 | Active energy feedback type suspension with two independently-adjusted arms and postures |
| CN111976861A (en) * | 2020-08-28 | 2020-11-24 | 东北林业大学 | Wheel and mechanical leg joint multiplexing motor transmission system and driving method |
| CN111976861B (en) * | 2020-08-28 | 2022-04-22 | 东北林业大学 | Wheel and mechanical leg joint multiplexing motor transmission system and driving method |
| CN112623059A (en) * | 2020-11-16 | 2021-04-09 | 北京理工大学前沿技术研究院 | Wheel-leg mechanism of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN112623059B (en) * | 2020-11-16 | 2022-04-01 | 北京理工大学前沿技术研究院 | Wheel-leg mechanism of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN114889386A (en) * | 2022-05-11 | 2022-08-12 | 东风德纳车桥有限公司 | Height-adjustable independent suspension and chassis system |
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