CN112407088B - Integrated walking steering drive axle - Google Patents
Integrated walking steering drive axle Download PDFInfo
- Publication number
- CN112407088B CN112407088B CN202011319556.9A CN202011319556A CN112407088B CN 112407088 B CN112407088 B CN 112407088B CN 202011319556 A CN202011319556 A CN 202011319556A CN 112407088 B CN112407088 B CN 112407088B
- Authority
- CN
- China
- Prior art keywords
- rotating arm
- joint
- arm
- ankle joint
- gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The invention discloses an integrated walking steering drive axle, which comprises an upper rotating arm, a leg joint, a middle rotating arm, a knee joint, an ankle joint and a bottom wheel walking device, wherein the upper rotating arm is connected with the leg joint; the leg joint is positioned between the vehicle body connecting piece and the upper rotating arm and is hinged with the upper rotating arm; the knee joint is connected with an upper rotating arm and a middle rotating arm, and the middle rotating arm is hinged with the upper rotating arm through the knee joint; the ankle joint is connected with a middle rotating arm and a bottom wheel walking device, the bottom wheel walking device is hinged to the middle rotating arm through the ankle joint, and the bottom wheel walking device is controlled to perform steering motion and driving motion. The invention integrates the functions of walking, steering and driving, adopts a three-section structure, and changes the relative positions of two rotating arms which are jointed through a joint motor, thereby enabling the walking amphibious vehicle to run on the road, run on the land and sail on the water surface.
Description
Technical Field
The invention belongs to the technical field of vehicles, and particularly relates to an integrated walking steering drive axle.
Background
With the continuous development of society and science and technology, people have higher and higher dependence on automobiles, and meanwhile, the driving requirements on automobiles are also higher and higher. Due to the convenience and the practicability of the automobile, many people can use the automobile as a preferred mode for traveling by themselves. However, when the vehicle encounters road conditions such as rivers, water accumulation, pits or bosses and the like, which are not enough for the vehicle to run, the vehicle must run around the road. If a multifunctional automobile design is provided, the running of the automobile on the land, the floating navigation of the ship on the water surface and the walking of the robot are combined, so that the advantages of the three can be optimized and integrated, the novelty and the practicability are rapidly popularized, and a huge economic effect is generated. On the other hand, the obstacle crossing capability of the automobile is greatly improved.
Based on the new type of automobile, it is necessary to design the axle to meet the driving conditions of the walking amphibious automobile.
Disclosure of Invention
Aiming at the problems in the prior art, the invention mainly aims to provide a structural design of an integrated walking steering drive axle. The joint structure, the walking device and the postures of the walking steering drive axle under three working conditions are highlighted. The walking steering drive axle integrates the functions of walking, steering and driving, and can realize three movement postures.
In order to solve the technical problems, the invention adopts the following technical scheme: an integrated walking steering drive axle comprises an upper rotating arm, a leg joint, a middle rotating arm, a knee joint, an ankle joint and a bottom wheel walking device; wherein the content of the first and second substances,
the leg joint is positioned between the vehicle body connecting piece and the upper rotating arm and is hinged with the upper rotating arm;
the knee joint is connected with an upper rotating arm and a middle rotating arm, and the middle rotating arm is hinged with the upper rotating arm through the knee joint;
the ankle joint is connected with a middle rotating arm and a bottom wheel walking device, the bottom wheel walking device is hinged to the middle rotating arm through the ankle joint, and the bottom wheel walking device is controlled to perform steering motion and driving motion.
Furthermore, the leg joint comprises a leg joint motor and a leg joint bearing, an inner stator of the leg joint motor is connected with a fastener for a vehicle body connecting piece and matched with the leg joint bearing for the upper rotating arm, and an outer rotor of the leg joint motor is matched with the inner side of the upper rotating arm through a spline.
Further, the knee joint comprises a knee joint motor and a knee joint bearing, an inner stator of the knee joint motor is connected with the upper rotating arm through a fastening piece, the knee joint bearing is arranged between the inner stator and the upper rotating arm and used for matching, and an outer rotor is matched with the inner side of the middle rotating arm through a spline.
Furthermore, the ankle joint comprises an ankle joint shell, an ankle joint motor, an input planetary gear structure, an output planetary gear structure, a steering brake, a drum brake, an output rotating shaft gear and an output rotating shaft, wherein the outer end of the ankle joint motor is connected with the middle rotating arm through a fastener, the motor shell is matched with the ankle joint shell through a motor bearing, the rotating shaft of the motor is directly used as the sun gear input of the input planetary gear mechanism, the other end of the ankle joint shell is matched with the middle rotating arm through the ankle joint bearing, and an end cover is used for axially positioning the ankle joint bearing; the planet carrier of input planetary gear structure with the planet carrier fixed connection of output planetary gear structure, input planetary gear structure and output planetary gear structure all with the epaxial output shaft gear engagement of output pivot, bottom wheel running gear is connected in the output pivot, it is right that drum brake installs on the middle part swinging boom the ankle joint shell brakies, it is right to turn to the stopper the output pivot is brakied.
Further, the input planetary gear structure comprises a first outer gear ring, a first planet gear, a motor input gear and a first planet carrier, and the output planetary gear structure comprises a second outer gear ring, a second planet gear, a second sun gear and a second planet carrier; the first outer gear ring is fixedly connected with the inner ring of the first gear ring bevel gear, the second outer gear ring is fixedly connected with the second gear ring bevel gear, the first planet carrier, the second planet carrier and the ankle joint shell are fixedly connected together, and the motor input gear is fixedly connected to a motor shaft of the ankle joint motor.
Further, the drum brake includes a brake cylinder and a brake shoe mounted on the central rotating arm.
Further, bottom wheel running gear includes foot control arm, shock absorber, guide arm, running gear, semi-axis and wheel, and output pivot lower extreme is connected with foot control arm with spline fit, and two preceding round holes of foot control arm link to each other through the upper end of round pin axle with the shock absorber, and two back round holes link to each other through the upper end of round pin axle with the guide arm, and the lower extreme of shock absorber, the lower extreme and running gear and the wheel of guide arm are all installed on the semi-axis.
Further, running gear includes the air pump, three-way valve and rubber child, running gear's middle part fixed connection be in on the semi-axis, be equipped with the air chamber in the rubber child, air chamber and evacuation pipeline in air pump, the rubber child are connected respectively to the three-way valve, the air chamber in the air pump is aerifyd the rubber child, and evacuation pipeline is right air chamber in the rubber child exhausts.
Furthermore, a control arm bearing, an upper thrust bearing and a lower thrust bearing are arranged between the ankle joint shell and the foot control arm, the control arm bearing is used for bearing radial force, and the upper thrust bearing and the lower thrust bearing bear axial force.
Further, still include the stopper, the stopper is installed at upper portion swinging boom inboard, the stopper has injectd the maximum rotation angle of middle part swinging boom, prevents that the part from colliding.
Compared with the prior art, the invention has the beneficial effects that:
the three-section type walking steering drive axle of the invention well combines the wheels of the automobile with the walking arm of the robot, so that the automobile has lower barycenter height and better smoothness in the running process, the three-section type walking steering drive axle has flexibility and reliability in the running process, and the folding characteristic of the integrated type walking steering drive axle also reduces the power loss in the running process.
Drawings
FIG. 1 is a schematic structural diagram of an integrated walking steering drive axle according to the present invention;
FIG. 2 is a schematic structural diagram of a leg joint of the integrated walking steering drive axle;
FIG. 3 is a schematic view of a knee joint structure of the integrated walking steering drive axle of the present invention;
FIG. 4 is a schematic cross-sectional view of an ankle joint structure of the integrated walking steering drive axle of the present invention;
FIG. 5 is a perspective view of the ankle joint structure of the integrated walking steering drive axle according to the present invention;
FIG. 6 is a schematic view of the ankle joint mechanism of the integrated walking steer-drive axle of the present invention;
FIG. 7 is a schematic view of the integrated walking device of the walking steering driving axle of the invention in an uninflated state;
FIG. 8 is a schematic view of the inflation state of the integrated walking steering drive axle walking device of the present invention;
FIG. 9 is a schematic view of a walking steer-drive axle in a driving position according to the present invention;
FIG. 10 is a schematic view of a walking steering drive axle in a walking position according to the present invention;
FIG. 11 is a schematic view of a walking steer-drive axle in a sailing attitude according to the present invention;
in the figure: 1-leg joint, 2-upper swivel arm, 3-stop block, 4-knee joint, 5-middle swivel arm, 6-ankle joint, 7-steering brake, 8-foot control arm, 9-shock absorber, 10-guide arm, 11-running gear, 12-half shaft, 13-wheel, 14-body link, 15-leg joint motor, 16-leg joint bearing, 17-knee joint bearing, 18-knee joint motor, 19-brake cylinder, 20-ankle joint bearing, 21-end cap, 22-brake shoe, 23-output planetary gear mechanism, 24-ankle joint housing, 25-ankle joint motor, 26-input planetary gear mechanism, 27-motor bearing, 28-output shaft, 29-control arm bearing, 30-upper thrust bearing, 31-lower thrust bearing, 32-air pump, 33-three-way valve, 34-rubber tire, 35-drum brake, 36-first external gear ring, 37-first planet gear, 38-motor input gear, 39-first planet carrier, 40-second external gear ring, 41-second planet gear, 42-second sun gear, 43-second planet carrier, 44-output rotating shaft gear, 45-first ring gear bevel gear, 46-second ring gear bevel gear.
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.
It is to be noted that the experimental methods described in the following embodiments are all conventional methods unless otherwise specified, and the reagents and materials, if not otherwise specified, are commercially available; in the description of the present invention, the terms "lateral", "longitudinal", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.
Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present application, it is further noted that, unless expressly stated or limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.
The invention will be further explained with reference to the accompanying drawings and embodiments, and the invention provides an integrated walking steering drive axle, as shown in fig. 1, the structure schematic diagram of the integrated walking steering drive axle mainly includes a leg joint 1, an upper rotating arm 2, a limiting block 3, a knee joint 4, a middle rotating arm 5, an ankle joint 6, a steering brake 7, a foot control arm 8, a shock absorber 9, a guide arm 10, a walking device 11, a half shaft 12, wheels 13, and the like. The leg joint 1 is positioned between the vehicle body connecting piece 14 and the upper rotating arm 2, the limiting block 3 is installed on the inner side of the upper rotating arm 2, the knee joint 4 is connected with the upper rotating arm 2 and the middle rotating arm 5, and the ankle joint 6 is connected with the middle rotating arm 5 and the foot control arm 8. A steering brake 7 is mounted on the foot control arm 8 for limiting relative rotation of the foot control arm 8 and the ankle housing 24. The front two round holes of the foot control arm 8 are connected with the upper end of the shock absorber 9 through a pin shaft, and the rear two round holes are connected with the upper end of the guide arm 10 through a pin shaft. The lower end of the shock absorber 9, the lower end of the guide arm 10, and the running gear 11 and the wheels 13 are mounted on the axle shaft 12.
As shown in fig. 2, the leg joint structure of the integrated walking steering drive axle mainly includes an upper rotating arm 2, a car body connector 14, a leg joint motor 15, and a leg joint bearing 16. The inner stator of the leg joint motor 15 is connected with the vehicle body connecting piece 14 by a fastener, and is matched with the leg joint bearing 16 for the upper rotating arm 2, and the outer rotor thereof is matched with the inner side of the upper rotating arm 2 by a spline.
As shown in fig. 3, the knee joint structure of the integrated walking steering drive axle mainly includes an upper rotating arm 2, a middle rotating arm 5, a knee joint bearing 17, and a knee joint motor 18. The inner stator of the knee joint motor 18 is connected with the upper rotating arm 2 by a fastener, a knee joint bearing 17 is arranged between the inner stator and the upper rotating arm for matching, and the outer rotor is matched with the inner side of the middle rotating arm 5 by a spline.
As shown in fig. 4 and 5, the ankle joint structure of the integrated walking steering drive axle mainly includes a middle rotating arm 5, a steering brake 7, a drum brake 35, a foot control arm 8, an ankle joint bearing 20, an end cover 21, an output planetary gear mechanism 23, an ankle joint housing 24, an ankle joint motor 25, an input planetary gear mechanism 26, a motor bearing 27, an output rotating shaft 28, a control arm bearing 29, an upper thrust bearing 30 and a lower thrust bearing 31. Wherein the drum brake 35 comprises a brake cylinder 19 and brake shoes 22. The outer end of the ankle joint motor 25 is connected with the middle rotating arm 5 through a fastener, meanwhile, the motor shell is matched with the ankle joint shell 24 through a motor bearing 27, and the rotating shaft of the motor is directly used as the sun gear input of the input planetary gear mechanism 26. The other end of the ankle housing 24 is fitted with the middle pivot arm 5 using an ankle bearing 20 and an end cap 21 is used to axially locate the ankle bearing 20. The brake cylinder 19 and brake shoe 22 are mounted on the central swivel arm 5 and can brake the ankle joint housing 24. An output shaft gear 44 on the output shaft 28 is engaged with the input planetary gear mechanism 26 and the output planetary gear mechanism 23, and the lower end thereof is spline-fitted to the foot control arm 8, so that steering power can be transmitted. The steering brake 7 is mounted on the foot control arm 8 and limits the relative rotation of the foot control arm 8 and the ankle joint housing 24. A control arm bearing 29, an upper thrust bearing 30 and a lower thrust bearing 31 are arranged between the ankle joint shell 24 and the foot control arm 8, the control arm bearing 29 is used for bearing radial force, and the upper thrust bearing 30 and the lower thrust bearing 31 are used for bearing axial force. Two planetary gear mechanisms are used because the meshing of the output shaft 28 is more secure, the force is more uniform, and the arrangement of the mechanisms is more reasonable.
As shown in fig. 6, the ankle joint mechanism of the integrated walking steering drive axle mainly includes a middle rotating arm 5, a steering brake 7, an ankle joint housing 24, an ankle joint motor 25, an output rotating shaft 28, a drum brake 35, a first external gear ring 36, a first planet wheel 37, a motor input gear 38, a first planet carrier 39, a second external gear ring 40, a second planet wheel 41, a second sun wheel 42, and a second planet carrier 43. The first external gear ring 36 is fixedly connected with the inner ring of the first gear ring bevel gear 45, the second external gear ring 40 is fixedly connected with the second gear ring bevel gear 46, and the first planet carrier 39, the second planet carrier 43 and the ankle joint housing 24 are fixedly connected together. When the integrated walking steering drive axle needs to rotate the output rotating shaft 28 without rotating the ankle joint housing 24, the steering brake 7 is released and the drum brake 35 is locked. This corresponds to the first carrier 39 and the second carrier 43 being locked. The motor input gear 38 rotates to drive the first planetary gear 37 to rotate, and the first external gear ring 36 rotates to drive the output rotating shaft 28 and the second external gear ring 40 to rotate. The second planetary gears 41 and the second sun gear 42 both idle on their rotational shafts. When the integrated walking steer drive axle needs to turn the ankle joint housing 24 without rotating the output shaft 28, the steer brake 7 is locked and the drum brake 35 is released. At this time, the rotation of the output shaft 28 is locked, and the output shaft 28, the first outer ring gear 36, the second outer ring gear 40, the first planetary gear 37, the second planetary gear 41, the second sun gear 42, and the motor input gear 38 are constantly engaged, so that the motor output gear 38 rotates the ankle joint housing 24 without the rotation of the output shaft 28.
As shown in fig. 7 and 8, the walking device of the integrated walking steer-drive axle mainly includes an air pump 32, a three-way valve 33, and a rubber tire 34. In the automobile driving posture, air in the rubber tire 34 needs to be exhausted, and an air chamber of the rubber tire 34 and an exhaust pipeline are communicated by using a valve core of the three-way valve 33. When the automobile is switched to a walking posture, the valve core of the three-way valve 33 is communicated with the air chamber and the air inlet pipeline of the rubber tire 34, the air pump 32 works, after the air pump is filled with air, the valve core of the three-way valve 33 tightly closes the air chamber of the rubber tire 34, and the air pump 32 stops working.
As shown in fig. 9, the walking steer-drive axle in the driving posture is schematically shown. Because the longitudinal height of the walking steering drive axle is overlarge in a fully extended state, the relative position of each rotating arm must be changed, and the vertical distance between the walking steering drive axle and an automobile mounting point to the ground is reduced. Under the driving posture, the middle rotating arm 5 rotates to the inner side of the upper rotating arm 2, the height of the mass center of the whole vehicle is effectively reduced, and the driving stability of the vehicle is improved. The limiting block 3 limits the maximum rotation angle of the middle rotating arm 5 to prevent collision of components. The ankle joint motor 25 can adjust the angle of the output rotating shaft 28 with the vertical direction of the ground, and a certain caster angle of the main pin is ensured. The drum brake 35 is locked, and the ankle joint motor 25 controls the rotation of the foot control arm 8, so that the steering capacity of the automobile is ensured. In order to make the automobile run smoothly, the leg joint motor 15 and the knee joint motor 18 are locked. When the vehicle is impacted by the road surface, the wheels 13 jump up and down around the rotation center of the guide arm 10. In order to alleviate the impact, a shock absorber 9 is installed between the wheel 13 and the foot control arm 8. The traveling device 11 is deflated to prevent interference with the traveling of the vehicle.
As shown in fig. 10, the walking posture is a schematic structural diagram of the walking steering drive axle. In the walking posture of the automobile, the leg joint motor 15 drives the upper rotating arm 2 to swing back and forth around the rotating center of the upper rotating arm, so that the motion of human thighs is simulated. The knee joint motor 18 drives the middle rotating arm 5 to swing in cooperation with the upper rotating arm 2 so as to simulate the motion of the human lower leg. The steering brake 7 is locked, and the ankle joint motor 25 drives the foot control arm 8 to rotate, so that the walking device 11 is ensured to be in contact with the ground. When the automobile is running, the running gear 11 is inflated, and the foot control arm 8 is rotated in the negative direction by a certain angle to ground the rubber tire 34. The damper 9 is locked rigidly, since the balancing of the vehicle is impaired if the half-shaft 12 is allowed to jump relative to the pivot arm. The damping function is now mainly performed by the rubber tires 34 and the cab suspension system.
As shown in fig. 11, the walking steer-drive axle is schematically shown in the sailing position. In order to reduce the resistance of the walking steer-drive axle to the vehicle when navigating, the axle needs to be lifted. The upper swing arm 2 is swung to a position approximately horizontal to the road surface, the middle swing arm 5 is swung to the inside of the upper swing arm 2, and the foot control arm 8 is swung to the upper side of the upper swing arm 2. Meanwhile, each rotating motor, the hub motor and the damper 9 are locked. The stopper 3 prevents collision of the parts.
In summary, in the embodiment of the present application, the integrated walking steering drive axle is divided into three major parts, i.e., a three-section walking steering drive axle. The first part is a leg joint and an upper rotating arm, the second part is a knee joint and a middle rotating arm, and the third part is an ankle joint, a wheel and a walking device. The automobile mainly switches running, walking and sailing postures of the automobile through relative rotation among the upper rotating arm, the middle rotating arm, the ankle joint and the foot control arm. The reason for designing the walking steering drive axle into three-section type is to use the motor between each rotating arm to represent the joint of the leg of the human body in order to simulate the leg structure of the human body. The motors at the leg part and the knee joint adopt outer rotor motors, the inner stator is connected with the rotating arm through a fastener, and the outer rotor is meshed with the inner side of the other rotating arm through a spline. Under different working conditions, the ankle joint motor can control the rotation of the foot control arm by controlling the steering of the vehicle through the transmission mechanism while keeping a certain angle between the wheel kingpin and the normal direction of the ground. The foot control arm is connected with the half shaft, the walking device and the wheels through the guide arm, and a shock absorber is further arranged between the foot control arm and the half shaft, the walking device and the wheels for buffering and damping shock.
The foregoing examples are provided for illustration and description of the invention only and are not intended to limit the invention to the scope of the described examples. Furthermore, it will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that many variations and modifications may be made in accordance with the teachings of the present invention, all of which fall within the scope of the invention as claimed.
Claims (9)
1. An integrated walking steering drive axle, which is characterized in that: comprises an upper rotating arm, a leg joint, a middle rotating arm, a knee joint, an ankle joint and a bottom wheel walking device; wherein the content of the first and second substances,
the leg joint is positioned between the vehicle body connecting piece and the upper rotating arm and is hinged with the upper rotating arm;
the knee joint is connected with an upper rotating arm and a middle rotating arm, and the middle rotating arm is hinged with the upper rotating arm through the knee joint;
the ankle joint is connected with a middle rotating arm and a bottom wheel walking device, the bottom wheel walking device is hinged with the middle rotating arm through the ankle joint, the ankle joint controls the bottom wheel walking device to perform steering motion and driving motion, the ankle joint comprises an ankle joint shell, an ankle joint motor, an input planetary gear structure, an output planetary gear structure, a steering brake, a drum brake, an output rotating shaft gear and an output rotating shaft, the outer end of the ankle joint motor is connected with the middle rotating arm through a fastener, meanwhile, the motor shell is matched with the ankle joint shell through a motor bearing, the rotating shaft of the motor is directly used as the sun gear input of the input planetary gear mechanism, the other end of the ankle joint shell is matched with the middle rotating arm through the ankle joint bearing, and an end cover is used for axially positioning the ankle joint bearing; the planet carrier of input planetary gear structure with the planet carrier fixed connection of output planetary gear structure, input planetary gear structure and output planetary gear structure all with the epaxial output shaft gear engagement of output pivot, bottom wheel running gear is connected in the output pivot, it is right that drum brake installs on the middle part swinging boom the ankle joint shell brakies, it is right to turn to the stopper the output pivot is brakied.
2. An integrated walking steering drive axle according to claim 1, wherein: the leg joint comprises a leg joint motor and a leg joint bearing, an inner stator of the leg joint motor is connected with a fastener for a vehicle body connecting piece and matched with the leg joint bearing for the upper rotating arm, and an outer rotor of the leg joint motor is matched with the inner side of the upper rotating arm through a spline.
3. An integrated walking steering drive axle according to claim 1, wherein: the knee joint comprises a knee joint motor and a knee joint bearing, an inner stator of the knee joint motor is connected with the upper rotating arm through a fastener, the knee joint bearing is arranged between the inner stator and the upper rotating arm and used for matching, and an outer rotor is matched with the inner side of the middle rotating arm through a spline.
4. An integrated walking steering drive axle according to claim 1, wherein: the input planetary gear structure comprises a first outer gear ring, a first planet gear, a motor input gear and a first planet carrier, and the output planetary gear structure comprises a second outer gear ring, a second planet gear, a second sun gear and a second planet carrier; the first outer gear ring is fixedly connected with the inner ring of the first gear ring bevel gear, the second outer gear ring is fixedly connected with the second gear ring bevel gear, the first planet carrier, the second planet carrier and the ankle joint shell are fixedly connected together, and the motor input gear is fixedly connected to a motor shaft of the ankle joint motor.
5. An integrated walking steering drive axle according to claim 1, wherein: the drum brake includes a brake cylinder and a brake shoe mounted on the central swivel arm.
6. An integrated walking steering drive axle according to claim 1, wherein: the bottom wheel walking device comprises a foot control arm, a shock absorber, a guide arm, a walking device, a half shaft and wheels, wherein the lower end of an output rotating shaft is connected with the foot control arm in a spline fit mode, the front two round holes of the foot control arm are connected with the upper end of the shock absorber through a pin shaft, the rear two round holes are connected with the upper end of the guide arm through a pin shaft, and the lower end of the shock absorber, the lower end of the guide arm, the walking device and the wheels are all installed on the half shaft.
7. An integrated walking steering drive axle according to claim 6, wherein: running gear includes air pump, three-way valve and rubber child, running gear's middle part fixed connection be in on the semi-axis, be equipped with the air chamber in the rubber child, air chamber and evacuation pipeline in air pump, the rubber child are connected respectively to the three-way valve, the air chamber in the air pump is to the rubber child is aerifyd, and evacuation pipeline is right air chamber in the rubber child exhausts.
8. An integrated walking steering drive axle according to claim 6, wherein: a control arm bearing, an upper thrust bearing and a lower thrust bearing are arranged between the ankle joint shell and the foot control arm, the control arm bearing is used for bearing radial force, and the upper thrust bearing and the lower thrust bearing bear axial force.
9. An integrated walking steering drive axle according to claim 6, wherein: the limiting block is arranged on the inner side of the upper rotating arm, the limiting block limits the maximum rotating angle of the middle rotating arm, and part collision is prevented.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011319556.9A CN112407088B (en) | 2020-11-23 | 2020-11-23 | Integrated walking steering drive axle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011319556.9A CN112407088B (en) | 2020-11-23 | 2020-11-23 | Integrated walking steering drive axle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112407088A CN112407088A (en) | 2021-02-26 |
| CN112407088B true CN112407088B (en) | 2021-12-17 |
Family
ID=74778681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011319556.9A Active CN112407088B (en) | 2020-11-23 | 2020-11-23 | Integrated walking steering drive axle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112407088B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599822A (en) * | 2016-02-06 | 2016-05-25 | 武汉大学 | Under-actuated biped walking robot based on flexible drivers |
| CN107901052A (en) * | 2016-07-12 | 2018-04-13 | 陈勇波 | A kind of water feeding machine device people |
| CN108556957A (en) * | 2018-06-07 | 2018-09-21 | 合肥工业大学 | A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents |
| CN209008723U (en) * | 2018-10-16 | 2019-06-21 | 北京康力优蓝机器人科技有限公司 | A kind of wheeled biped robot |
| CN110450878A (en) * | 2019-08-20 | 2019-11-15 | 电子科技大学 | It is a kind of it is novel can Omni-mobile wheel biped robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU2001259610A1 (en) * | 2000-05-09 | 2001-11-20 | Hasbro, Inc. | Self-stabilizing walking apparatus that is capable of being reprogrammed or puppeteered |
-
2020
- 2020-11-23 CN CN202011319556.9A patent/CN112407088B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105599822A (en) * | 2016-02-06 | 2016-05-25 | 武汉大学 | Under-actuated biped walking robot based on flexible drivers |
| CN107901052A (en) * | 2016-07-12 | 2018-04-13 | 陈勇波 | A kind of water feeding machine device people |
| CN108556957A (en) * | 2018-06-07 | 2018-09-21 | 合肥工业大学 | A kind of collapsible legs portion mechanism for can be changed the unmanned ground moving system of born of the same parents |
| CN209008723U (en) * | 2018-10-16 | 2019-06-21 | 北京康力优蓝机器人科技有限公司 | A kind of wheeled biped robot |
| CN110450878A (en) * | 2019-08-20 | 2019-11-15 | 电子科技大学 | It is a kind of it is novel can Omni-mobile wheel biped robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112407088A (en) | 2021-02-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6880651B2 (en) | Articulated vehicle, an articulation device and a drive transmission | |
| CA2693511C (en) | Vehicle suspension system | |
| US20070151780A1 (en) | Suspension tilting module for a wheeled vehicle and a wheeled vehicle equipped with such a suspension tilting module | |
| CN101920730B (en) | Spherical double-wheel bidirectional car | |
| CN107215386B (en) | The electric vehicle system that a kind of four motorized wheels and independent omnidirectional turn to | |
| CN208576616U (en) | Wheel-track combined mobile robot | |
| KR102031827B1 (en) | Driving stabilization device for vehicle | |
| CN111619296A (en) | Suspension system for wheel train movement device and automobile | |
| US20090280718A1 (en) | Three wheeled toy vehicle | |
| CN207758501U (en) | A kind of land, water and air three are dwelt automobile | |
| CN110395070B (en) | Multifunctional wheel and axle system applied to amphibious principle combat tank | |
| CN216185444U (en) | Four-wheel-drive four-rotation robot wheel train structure | |
| CN209274718U (en) | The full circle swinging mobile chassis that four motorized wheels turn to | |
| CN112407088B (en) | Integrated walking steering drive axle | |
| CN213322544U (en) | Active side-tipping system | |
| CN112623059B (en) | Wheel-leg mechanism of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set | |
| CN209870097U (en) | Electric automobile | |
| CN111186270B (en) | Electric wheel independent suspension structure with four control arms | |
| EP4019310B1 (en) | Independent drive module | |
| CN210000022U (en) | Electric drive axle and vehicle | |
| JP4442753B2 (en) | Car | |
| CN1241499A (en) | Automobile with the functions of car, boat and sledge | |
| CN112550509B (en) | Foot joint structure of wheeled walking vehicle steering drive axle | |
| CN113183699B (en) | Mountain cross-country amphibious motorcycle | |
| CN213292543U (en) | Kart with improved throttle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |