CN113460184B - Separation joint mechanism capable of being used for wheel-leg type vehicle suspension - Google Patents
Separation joint mechanism capable of being used for wheel-leg type vehicle suspension Download PDFInfo
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- CN113460184B CN113460184B CN202110743533.9A CN202110743533A CN113460184B CN 113460184 B CN113460184 B CN 113460184B CN 202110743533 A CN202110743533 A CN 202110743533A CN 113460184 B CN113460184 B CN 113460184B
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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
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Abstract
The invention discloses a separation joint mechanism for a wheel-leg type vehicle suspension, which comprises an electromagnetic pin arranged on the outer side of a thigh motor mounting seat, wherein the thigh motor mounting seat is fixedly connected with a vehicle body, a thigh motor is arranged on one side of the thigh motor mounting seat, the thigh motor is in transmission connection with the upper end part of a thigh movably arranged in the thigh motor mounting seat, a suspension mechanism is arranged in the upper end part of the thigh, one side of the suspension mechanism is connected with a vibration damping mechanism of a driving belt wheel, and the driving belt wheel is in transmission connection with the shank motor; a plurality of first slotted holes arranged along the axial direction are formed in the upper end portion of the thigh motor mounting seat and the upper end portion of the thigh, a telescopic portion is arranged on the lower portion of the electromagnetic pin, and the tail end of the telescopic portion can sequentially penetrate through the first slotted holes in the upper end portion of the thigh motor mounting seat and the first slotted holes in the upper end portion of the thigh and is abutted to a torsion spring supporting seat of the suspension mechanism. The invention realizes the active control of the separation and combination of the wheel-leg type vehicle suspension, thereby achieving the suspension function during wheel type movement and realizing vibration reduction; the purpose of suspension is not acted when the leg type moves.
Description
Technical Field
The invention relates to the technical field of wheel-leg type vehicle auxiliary devices, in particular to a separation and connection mechanism capable of being used for a wheel-leg type vehicle suspension.
Background
As a platform with multiple motion modes, the wheel-leg type vehicle has the rapidity of the wheel type vehicle and the high maneuverability of a foot type platform, and is a novel mobile platform with wide application prospect. When in wheeled motion, the wheel-legged vehicle can be impacted from the ground, which requires the wheel-legged vehicle to need a buffer and damping system to eliminate the impact of the road surface, so that the common wheeled platform can be provided with a suspension system; when the leg type vehicle moves, the wheel leg type vehicle can carry out flexible control on the motor, and meanwhile, the tire has certain rigidity, so that the reaction force of the ground can be reduced, and the requirements on a buffering and vibration damping system are lower in the leg type moving state.
Most of the existing wheel-leg type mobile platforms do not have a damping system or realize buffer damping by arranging a spring or a torsion spring between a hip joint and a knee joint. For example: in a wheel-leg robot for field detection in CN112519914A, legs comprise support leg oil cylinders, support legs and auxiliary wheels, the legs are driven by hydraulic pressure, and a damping system is not designed; in the leg structure of the wheel-leg robot in CN111846000A, the energy storage spring is connected in parallel with the thigh link and the second shank transmission link, and the damping is performed by this form.
When the wheel-leg type mobile platform without the vibration reduction system moves in a wheel type manner, the action of the ground can generate larger impact on the stability and balance of the vehicle body, so that the platform shakes and topples; the scheme that the springs are arranged between the hip joint and the knee joint is adopted, the impact on the ground can be buffered under the wheel type movement, but when the platform moves in a leg type, the springs can be used as resistance elements to influence the control of a driving system on the leg joint, so that the problems of energy consumption increase, inaccurate control precision and the like are caused.
Disclosure of Invention
The invention aims to provide a separating and jointing mechanism for a wheel-leg type vehicle suspension, which is used for solving the problems in the prior art and realizing the active control of the separation and the combination of the wheel-leg type vehicle suspension, thereby achieving the purposes of realizing the vibration reduction of the wheel-type motion suspension and the non-action of the leg-type motion suspension.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a separation joint mechanism for a wheel-leg type vehicle suspension, which comprises an electromagnetic pin fixedly arranged on the outer side of a thigh motor mounting seat, wherein the thigh motor mounting seat is fixedly connected with a vehicle body of a wheel-leg type vehicle; all set up a plurality of first slotted holes that set up along the axial on thigh motor mount pad and the thigh upper end, the electromagnetism round pin lower part is provided with the pars contractilis, the pars contractilis end can pass in proper order the first slotted hole of thigh motor mount pad and thigh upper end, and with the torsional spring supporting seat butt of suspension mechanism to it is fixed to realize thigh motor mount pad, thigh and torsional spring supporting seat three's circumference, and thigh motor machinery locks, and the torsional spring supporting seat is fixed, and the damping mechanism who is connected with suspension mechanism this moment can exert the damping effect.
Optionally, the telescopic part comprises a push rod arranged at the bottom of the electromagnetic pin, a connecting block is mounted at the tail end of the push rod, and the connecting block can sequentially penetrate through the thigh motor mounting seat and the first long round hole at the upper end of the thigh and is abutted against the torsion spring supporting seat of the suspension mechanism; an elastic piece is arranged between one end of the push rod, which is close to the connecting block, and the electromagnetic pin. When the electromagnetic pin is powered off, the push rod moves downwards, the elastic piece stretches, and under the action of auxiliary thrust of the elastic piece, the tail end of the connecting block is abutted against a torsional spring supporting seat of the suspension mechanism, so that circumferential fixing of a thigh motor mounting seat, a thigh and the torsional spring supporting seat is realized, a thigh motor is mechanically locked, the torsional spring supporting seat is fixed, and a vibration damping mechanism connected with the suspension mechanism can play a vibration damping role; when the electromagnetic pin is electrified, the push rod moves in the reverse direction under the action of electromagnetic force, the elastic piece is compressed, the connecting block is pulled out of the first long round hole, the circumferential fixing of the thigh motor mounting seat, the thigh and the torsion spring supporting seat disappears, the thigh swing arm and the thigh motor can rotate freely, and the vibration reduction mechanism rotates along with the shank motor.
Optionally, the elastic element is a spring sleeved on the push rod, a circular flange is arranged on the push rod, one end of the spring is fixedly connected with the circular flange, the other end of the spring is fixedly connected with the electromagnetic pin, so that the spring can be limited by the circular flange, the circular flange and the push rod can be of an integrated structure and can also be of a fixed connection structure in interference fit, and the circular flange can move up and down along with the push rod synchronously to further drive the spring to compress or stretch.
Optionally, a rectangular groove is formed in the tail end of the push rod, and second long round holes circumferentially arranged along the push rod are formed in two side walls of the rectangular groove; the connecting block is characterized in that a connecting plate is integrally formed at one end of the connecting block, a connecting hole is formed in the connecting plate, the connecting plate is arranged in the rectangular groove, and the connecting plate is connected with the push rod through a pin inserted into the second long round hole and the connecting hole. The design of the second long round hole is beneficial to reducing the stress of the connecting block under some conditions and prolonging the service life of the connecting block.
Optionally, the electromagnetic pin is fixedly connected with the thigh motor mounting base through an electromagnetic pin support; the electromagnetic pin support comprises a vertical plate and a horizontal plate which are vertically arranged, the bottom of the vertical plate is fixedly connected with the thigh motor mounting seat, a mounting groove is formed in the horizontal plate, and the electromagnetic pin is fixedly arranged at the mounting groove. The vertical section of the electromagnetic pin support is of an inverted L-shaped structure, and the horizontal section of the electromagnetic pin support is located above the first long circular hole, so that the electromagnetic pin is fixed conveniently and the push rod is aligned with the first long circular hole, and the electromagnetic pin is prevented from inclining.
Compared with the prior art, the invention achieves the following technical effects:
the separation and connection mechanism for the wheel-leg type vehicle suspension provided by the invention realizes the active control of the separation and connection of the wheel-leg type vehicle suspension, thereby achieving the suspension effect during wheel type movement, realizing the buffer of ground impact, realizing vibration reduction, avoiding the shaking and overturning of a vehicle body, avoiding the suspension failure during leg type movement and avoiding the influence on the control of a driving system on leg joints. The electromagnetic pin is fixedly connected with the vehicle body through the electromagnetic pin support, and the support structure of the electromagnetic pin has the advantages that the electric pin and the first long circular hole are well aligned, and meanwhile, interference on operation at a joint is avoided. The second slotted hole is beneficial to reducing the stress of the connecting block under some conditions, and the service life of the connecting block is prolonged.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a breakaway engagement mechanism of the present invention that can be used in a wheel-legged vehicle suspension;
FIG. 2 is a partial cross-sectional view of a disconnect coupling mechanism that can be used with a wheel-legged vehicle suspension in accordance with the present invention;
FIG. 3 is a schematic diagram of an electromagnetic pin according to the present invention;
FIG. 4 is an exploded view of the electromagnetic pin of the present invention;
the suspension mechanism comprises a 100-position separating and connecting mechanism, a 1-position thigh motor mounting seat, a 2-position electromagnetic pin, a 3-position electromagnetic pin support, a 301-position vertical plate, a 302-position horizontal plate, a 4-position first long circular hole, a 5-position thigh motor, a 6-position thigh upper end portion, a 7-position suspension mechanism, a 8-position torsion spring supporting seat, a 9-position push rod, a 10-position connecting block, an 11-position elastic piece, a 12-position circular flange, a 13-position rectangular groove, a 14-position second long circular hole, a 15-position connecting plate and a 16-position pin, wherein the separating and connecting mechanism can be used for a wheel-leg type vehicle suspension.
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.
The invention aims to provide a separating and jointing mechanism for a wheel-leg type vehicle suspension, which is used for solving the problems in the prior art and realizing the active control of the separation and the combination of the wheel-leg type vehicle suspension, thereby achieving the purposes of realizing the vibration reduction of the wheel-type motion suspension and the non-action of the leg-type motion suspension.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1 to 4, the present invention provides a separation and engagement mechanism 100 for a wheel-leg type vehicle suspension, including an electromagnetic pin 2 fixedly disposed on an outer side of a thigh motor mounting base 1, wherein the electromagnetic pin 2 is fixedly connected with the thigh motor mounting base 1 through an electromagnetic pin bracket 3, and a plurality of first oblong holes 4 axially disposed are formed in the thigh motor mounting base; electromagnetism round pin support 3 includes vertical board 301 and the horizontal plate 302 of perpendicular setting, vertical board 301 bottom and thigh motor mount pad 1 fixed connection, has seted up the mounting groove on the horizontal plate 302, electromagnetism round pin 2 fixed setting in mounting groove department. The vertical section of the electromagnetic pin support 3 is of an inverted L-shaped structure, and the horizontal section of the electromagnetic pin support is located above the first long circular hole 4, so that the electromagnetic pin 2 is fixed and aligned with the first long circular hole conveniently, and the electromagnetic pin 2 is prevented from inclining. The thigh motor mounting seat 1 is fixedly connected with a vehicle body of the wheel-leg vehicle, a thigh motor 5 is mounted on one side of the thigh motor mounting seat 1, and the thigh motor 5 is in transmission connection with a thigh upper end portion 6 movably arranged in the thigh motor mounting seat 1; a plurality of first long round holes 4 arranged along the axial direction are formed in the upper end part 6 of the thigh, a suspension mechanism 7 is arranged in the upper end part 6 of the thigh, the suspension mechanism 7 comprises a vibration damping system, one side of the suspension mechanism 7 is connected with a vibration damping mechanism of a driving belt wheel, and the driving belt wheel is in transmission connection with a shank motor; the 2 lower parts of electromagnetism round pin are provided with the pars contractilis, and the pars contractilis end can pass thigh motor mount pad 1 and the first slotted hole 4 of thigh upper end 6 in proper order to with the 8 butts of torsional spring supporting seat of suspension mechanism 7, thereby realize that thigh motor mount pad 1, thigh and 8 three's of torsional spring supporting seat circumference are fixed, thigh motor 5 mechanical lock dies, torsional spring supporting seat 8 is fixed, the damping mechanism who is connected with suspension mechanism 7 this moment can exert the damping effect. The axial motion of thigh motor mount pad 1, thigh is retrained by thigh motor construction bolt etc. and torsional spring supporting seat 8 links to each other with the shank motor through parts such as torsional spring, wear-resisting cover.
Specifically, the telescopic part comprises a push rod 9 arranged at the bottom of the electromagnetic pin 2, a connecting block 10 is arranged at the tail end of the push rod 9, and the connecting block 10 can sequentially penetrate through the thigh motor mounting seat 1 and the first long circular hole 4 of the upper thigh end part 6 and is abutted against a torsion spring supporting seat 8 of the suspension mechanism 7, so that the connecting block 10 is circumferentially fixed and axially unstressed when being inserted; an elastic part 11 is arranged between one end of the push rod 9 close to the connecting block 10 and the electromagnetic pin 2. When the electromagnetic pin 2 is powered off, the push rod 9 moves downwards, the elastic piece 11 stretches, and under the action of the auxiliary thrust of the elastic piece 11, the tail end of the connecting block 10 is abutted against the torsion spring supporting seat 8 of the suspension mechanism 7, so that the circumferential fixation of the thigh motor mounting seat 1, the thigh and the torsion spring supporting seat 8 is realized, the thigh motor 5 is mechanically locked, the torsion spring supporting seat 8 is fixed, and at the moment, the vibration damping system of the suspension mechanism 7 can play a vibration damping role; when the electromagnetic pin 2 is electrified, the push rod 9 moves in the reverse direction under the action of electromagnetic force, the elastic piece 11 is compressed, the connecting block 10 is pulled out of the first long circular hole 4, the circumferential fixation among the thigh motor mounting seat 1, the thigh and the torsion spring supporting seat 8 disappears, the thigh swing arm and the thigh motor 5 can rotate freely, and the vibration reduction mechanism rotates along with the shank motor.
In different embodiments, the connecting block 10 may not be provided, and only the push rod 9 is lengthened, so that the lengthened end of the push rod 9 abuts against the torsion spring supporting seat 8 of the suspension mechanism, and circumferential fixation of the thigh motor mounting seat 1, the thigh and the torsion spring supporting seat 8 is achieved.
The elastic part 11 is a spring sleeved on the push rod 9, the push rod 9 is provided with a circular flange 12, one end of the spring is fixedly connected with the circular flange 12, and the other end of the spring is fixedly connected with the electromagnetic pin 2, so that the spring can be limited by the circular flange 12, the circular flange 12 and the push rod can be of an integrated structure or a fixed connection structure in interference fit, and the circular flange 12 can move up and down synchronously along with the push rod 9 to drive the spring to compress or stretch; meanwhile, the specific shape of the circular flange 12 is not limited to a circular shape, but may be other structures as long as it functions to connect and restrain the spring.
A rectangular groove 13 or a groove with other shapes is formed in the tail end of the push rod 9, and second long round holes 14 arranged along the circumferential direction of the push rod are formed in two side walls of the rectangular groove 13; one end of the connecting block 10 is provided with a connecting plate 15 with a triangular structure, the connecting block 10 can be integrally formed or fixedly connected with the connecting plate 15, or the upper end of the connecting block 10 is provided with a flat or wedge-shaped structure provided with a connecting hole, so that the connecting block 10 can be connected with the tail end of the push rod 9; a connecting hole is formed in the connecting plate 15, the connecting plate 15 is arranged in the rectangular groove 13, and the connecting plate 15 is connected with the push rod 9 through a pin 16 inserted into the second long round hole 14 and the connecting hole. The design of the second oblong hole 14 is beneficial to reducing the stress of the connecting block 10 in some cases and prolonging the service life of the connecting block 10.
The working principle of the invention is as follows: when the swing arms of the thighs and the calves rotate to a certain fixed angle under the control of respective motors, the electromagnetic pins are powered off, the push rod 9 drives the pins 16 and the connecting block 10 to move downwards, the springs extend under the action of self elasticity, and then the connecting block 10 is driven to be inserted into the first long circular hole 4 of the thigh motor mounting seat 1 and the first long circular hole 4 at the upper end of the thigh and abut against the torsion spring supporting seat 8, the thigh motor mounting seat 1 is fixed on a vehicle body, so that circumferential fixation of the thigh motor mounting seat 1, the thigh and the torsion spring supporting seat 8 is realized, the thigh motor 5 is mechanically locked, the torsion spring supporting seat 8 is fixed, and a damping mechanism connected with the suspension mechanism can play a role at the moment; the impact on the ground is buffered, the vibration is reduced, and the vehicle body is prevented from shaking and overturning. When the electromagnetic pin 2 is electrified, under the action of electromagnetic force, the pin 16 moves upwards, the spring is compressed, the connecting block 10 is pulled out of the first long circular hole 4, the circumferential fixation among the thigh motor mounting seat 1, the thigh and the torsion spring supporting seat 8 disappears, the thigh swing arm and the thigh motor 5 can rotate freely, and the vibration reduction mechanism rotates along with the shank motor, so that the influence on the control of a driving system on the leg joint is avoided.
In the description of the present invention, it should be noted that the terms "center", "top", "bottom", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (3)
1. A decoupling engagement mechanism usable with a wheel-legged vehicle suspension, characterized in that: the leg motor mounting seat is fixedly connected with a vehicle body of a wheel-leg vehicle, a leg motor is mounted on one side of the leg motor mounting seat, the leg motor is in transmission connection with the upper end portion of a leg movably arranged in the leg motor mounting seat, a suspension mechanism is arranged in the upper end portion of the leg, one side of the suspension mechanism is connected with a vibration damping mechanism of a driving pulley, and the driving pulley is in transmission connection with the leg motor; a plurality of first long round holes arranged along the axial direction are formed in the upper end part of each of the thigh motor mounting seat and the thigh, a telescopic part is arranged at the lower part of the electromagnetic pin, and the tail end of the telescopic part can sequentially penetrate through the first long round holes in the upper end parts of the thigh motor mounting seat and the thigh and is abutted against a torsion spring supporting seat of the suspension mechanism; the telescopic part comprises a push rod arranged at the bottom of the electromagnetic pin, the tail end of the push rod is provided with a connecting block, and the connecting block can sequentially penetrate through the thigh motor mounting seat and a first long round hole in the upper end part of a thigh and is abutted against a torsion spring supporting seat of the suspension mechanism; an elastic part is arranged between one end of the push rod close to the connecting block and the electromagnetic pin; the electromagnetic pin is fixedly connected with the thigh motor mounting seat through an electromagnetic pin support; the electromagnetic pin support comprises a vertical plate and a horizontal plate which are vertically arranged, the bottom of the vertical plate is fixedly connected with the thigh motor mounting seat, a mounting groove is formed in the horizontal plate, and the electromagnetic pin is fixedly arranged at the mounting groove.
2. The disconnect engagement mechanism that can be used for a wheel-leg vehicle suspension according to claim 1, characterized in that: the elastic piece is a spring sleeved on the push rod, a circular flange is arranged on the push rod, one end of the spring is fixedly connected with the circular flange, and the other end of the spring is fixedly connected with the electromagnetic pin.
3. The disconnect engagement mechanism that can be used for a wheel-leg vehicle suspension according to claim 1, characterized in that: the tail end of the push rod is provided with a rectangular groove, and two side walls of the rectangular groove are provided with second long round holes arranged along the circumferential direction of the push rod; the connecting block is characterized in that a connecting plate is integrally formed at one end of the connecting block, a connecting hole is formed in the connecting plate, the connecting plate is arranged in the rectangular groove, and the connecting plate is connected with the push rod through a pin inserted into the second long round hole and the connecting hole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110743533.9A CN113460184B (en) | 2021-07-01 | 2021-07-01 | Separation joint mechanism capable of being used for wheel-leg type vehicle suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110743533.9A CN113460184B (en) | 2021-07-01 | 2021-07-01 | Separation joint mechanism capable of being used for wheel-leg type vehicle suspension |
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| Publication Number | Publication Date |
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| CN113460184A CN113460184A (en) | 2021-10-01 |
| CN113460184B true CN113460184B (en) | 2022-06-07 |
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| CN202110743533.9A Active CN113460184B (en) | 2021-07-01 | 2021-07-01 | Separation joint mechanism capable of being used for wheel-leg type vehicle suspension |
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| KR101484943B1 (en) * | 2008-05-30 | 2015-01-21 | 삼성전자 주식회사 | Walking Robot |
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2021
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| CN107571702A (en) * | 2017-09-13 | 2018-01-12 | 北京理工大学 | A kind of rocker arm suspension, wheel leg type motor platform and unmanned control system |
| CN107651041A (en) * | 2017-10-30 | 2018-02-02 | 山东大学 | A kind of single leg structure of electronic quadruped robot |
| CN111591363A (en) * | 2020-05-27 | 2020-08-28 | 中国人民解放军国防科技大学 | High-integration wheel leg composite mechanism and carrying platform |
| CN111731405A (en) * | 2020-07-10 | 2020-10-02 | 腾讯科技（深圳）有限公司 | Robot |
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