CN114771685A - Additional leg type walking device suitable for all-wheel-drive vehicle and control method - Google Patents

Additional leg type walking device suitable for all-wheel-drive vehicle and control method Download PDF

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Publication number
CN114771685A
CN114771685A CN202210464401.7A CN202210464401A CN114771685A CN 114771685 A CN114771685 A CN 114771685A CN 202210464401 A CN202210464401 A CN 202210464401A CN 114771685 A CN114771685 A CN 114771685A
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China
Prior art keywords
gear
shaft
twenty
clutch
forty
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CN202210464401.7A
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CN114771685B (en
Inventor
李想
王继新
索喆
邢辉达
张康华
孔维康
冯晨龙
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Jilin University
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Jilin University
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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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  • Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Rehabilitation Tools (AREA)

Abstract

The invention discloses an additional leg type walking device suitable for a full-drive vehicle and a control method. The wheels of the full-drive vehicle provide power for the device, the power is transmitted through a primary transmission device, a secondary transmission device and a tertiary transmission device in the walking device, the clutch is connected or separated through a control signal, and all parts of the walking module are controlled to rotate or lock in different directions, so that the walking gait of the leg type walking device is controlled.

Description

Additional leg type walking device suitable for all-wheel-drive vehicle and control method
Technical Field
The invention relates to the technical field of travelling mechanisms, in particular to an additional leg type travelling device suitable for a full-drive vehicle.
Background
The leg type walking device has good ground adaptability and excellent maneuverability, and is often applied to a carrying platform for special purposes. The existing leg type walking device mainly adopts an electric drive mode and a hydraulic drive mode, and the energy of the existing leg type walking device comes from a power device carried by the carrying platform. Due to the limitations of the power output and the driving mode of the carrying platform, the design redundancy of a power system and an operation control system of the carrying platform is large, and the flexibility, the practicability and the application range of the leg type walking device are restricted. Therefore, the innovative design of the driving mode, the transmission mechanism and the walking control operation method of the leg type walking device becomes a research focus in the technical field of walking mechanisms.
Disclosure of Invention
In order to solve the problems, the invention provides an additional leg type walking device suitable for a full-drive vehicle and a control method.
The invention provides an additional leg type walking device suitable for a full-drive vehicle, which comprises a walking module, a longitudinal connecting module and a transverse connecting module, wherein the walking module is arranged on the walking module;
the number of the walking modules is equal to that of wheels of a vehicle borne by the walking device, and a plurality of groups of walking modules form a bearing platform through longitudinal connecting modules and transverse connecting modules;
the walking module comprises a supporting frame, a roller unit, a rubber elastic coupling, a primary transmission device, a leg unit and a swinging rotating shaft;
the support frame is provided with two roller units, and the wheels are supported between the two roller units;
one end of the rubber elastic coupling is connected with an input shaft of the primary transmission device, and the other end of the rubber elastic coupling is connected with the center of the wheel;
the output shaft of the primary transmission device is connected with the leg unit;
the leg unit is hinged with the support frame through a swinging rotating shaft;
the leg unit comprises a base section, a thigh rod, a shank rod, a secondary transmission device and a tertiary transmission device.
Preferably:
the roller unit comprises a roller, a roller shaft, a ratchet wheel, a pawl and a connecting key;
the roller is arranged on the roller shaft and rotates around the roller shaft;
the ratchet wheel is circumferentially fixed with the roller through a connecting key;
the pawl is installed on the support frame, and the pawl contacts with the ratchet, according to the direction of rotation, positive unlocking, reverse locking.
Preferably:
the base section is hinged with the support frame through a swinging rotating shaft;
one end of the thigh rod is hinged with the base section, and the other end of the thigh rod is hinged with the shank rod;
the secondary transmission device is arranged on the base section and drives the thigh rod;
the three-stage transmission device is arranged on the thigh rod and drives the shank rod.
Preferably:
the primary transmission device is provided with a first input shaft, a first intermediate shaft, a second intermediate shaft, a first output shaft, a second output shaft and a first transmission shaft;
the first input shaft is provided with a first gear and a second gear;
the intermediate shaft I is provided with a locking device III, a gear IV, a gear V and a gear VI, and is also provided with a clutch I and a clutch II, wherein the clutch I is arranged between the locking device III and the gear IV, and the clutch II is arranged between the gear V and the gear VI;
a seventh gear and an eighth gear are arranged on the second intermediate shaft;
a ninth gear and a thirteen bevel gear are arranged on the first output shaft;
the second output shaft is a hollow shaft, is coaxial with the first output shaft and is sleeved on the first output shaft;
a gear ten, a gear eleven and a bevel gear twelve are arranged on the output shaft II;
the first transmission shaft VI is arranged on the base section, and fourteen bevel gears, fifteen bevel gears and sixteen gears are arranged on the first transmission shaft VI;
the first gear is meshed with the ninth gear, the second gear is meshed with the fourth gear, the fifth gear is meshed with the tenth gear, the sixth gear is meshed with the seventh gear, the eighth gear is meshed with the eleventh gear, the fourteenth gear is meshed with the thirteenth gear, the fifteenth gear is meshed with the twelfth gear, and the fifteenth gear is fixed on the base joint.
Preferably:
the secondary transmission device is provided with: the device comprises an input shaft II, an intermediate shaft III, an intermediate shaft IV, an intermediate shaft V, an intermediate shaft VI, an output shaft III, an output shaft IV, a transmission shaft II and a transmission shaft III;
a gear seventeen, a gear twenty one and a gear twenty two are arranged on the input shaft II;
eighteen gears and nineteen bevel gears are arranged on the third intermediate shaft;
a gear twenty-three, a gear twenty-four and a bevel gear twenty-five are arranged on the intermediate shaft IV;
the middle shaft five is provided with a locking device twenty-six, a gear twenty-seven, a gear twenty-eight and a gear twenty-nine, and is also provided with a clutch three and a clutch four, the clutch three is arranged between the locking device twenty-six and the gear twenty-seven, and the clutch four is arranged between the gear twenty-eight and the gear twenty-nine;
the six intermediate shafts are fixed on the box body of the transmission device, and the thirty gears and the thirty-one gears are arranged on the shafts;
a bevel gear thirty-two and a synchronous pulley thirty-three are arranged on the output shaft III, the synchronous pulley thirty-three is connected with a synchronous pulley thirty-four through a synchronous belt I, the synchronous pulley thirty-four is arranged on a transmission shaft II, and the transmission shaft II is connected with a thigh rod through a key;
a bevel gear twenty and a synchronous pulley thirty-five are arranged on the output shaft IV, the synchronous pulley thirty-five is connected with a synchronous pulley thirty-six through a synchronous belt II, and the synchronous pulley thirty-six is arranged on a transmission shaft III;
the third transmission shaft is arranged in the thigh rod shaft hole and can freely rotate in the thigh rod shaft hole, and the third transmission shaft is provided with a thirty-seven synchronous belt pulley;
the thigh rod is hinged with the base section through a transmission shaft II and a transmission shaft III;
the gear seventeen is meshed with the gear sixteen, the gear eighteen is meshed with the gear twenty-one, the bevel gear nineteen is meshed with the bevel gear twenty-two, the gear twenty-two is meshed with the gear twenty-seven, the gear twenty-three is meshed with the gear twenty-eight, the gear twenty-four is meshed with the gear thirty-one, the bevel gear twenty-five is meshed with the bevel gear thirty-two, and the gear twenty-nine is meshed with the gear thirty.
Preferably:
the tertiary transmission is provided with: an input shaft III, a middle shaft VII, an output shaft V and a transmission shaft IV;
the third input shaft is provided with a thirty-eight synchronous belt wheel, a thirty-nine gear and a forty gear;
a gear forty-one and a gear forty-two are arranged on the intermediate shaft seven;
the output shaft is provided with a gear forty-three, a gear forty-four, a locking device forty-five and a synchronous pulley forty-six, and is also provided with a clutch five and a clutch six, wherein the clutch five is arranged between the gear forty-three and the gear forty-four, and the clutch six is arranged between the gear forty-four and the locking device forty-five;
the synchronous belt wheel thirty-eight is connected with the synchronous belt wheel thirty-seven through a synchronous belt three, a gear thirty-nine is meshed with a gear forty-one, a gear forty-four is meshed with a gear forty-four, and a gear forty-twelve is meshed with a gear forty-three;
a synchronous belt pulley forty-seven is arranged on the transmission shaft IV and is connected with a synchronous belt pulley forty-six through a synchronous belt IV;
the transmission shaft IV is connected with the shank rod, the shank rod rotates along with the transmission shaft IV, and the shank rod is hinged with the thigh rod through the transmission shaft IV.
The invention also provides a control method of the additional leg type walking device suitable for the all-wheel-drive vehicle, which is characterized by comprising the following steps:
(1) controlling the first clutch to be engaged with the fourth gear, and controlling the second clutch to be engaged with the fifth gear, so that the base section rotates forwards;
controlling the first clutch to be engaged with the fourth gear and the second clutch to be engaged with the sixth gear to enable the base section to rotate backwards;
and controlling the first clutch to be engaged with the locking device, and controlling the second clutch to be engaged with the sixth gear, so that the base section is locked.
(2) Controlling the third clutch to be engaged with twenty-seven gears and the fourth clutch to be engaged with twenty-eight gears, so that the thigh rod rotates downwards;
controlling the third clutch to be engaged with twenty-seven gears and the fourth clutch to be engaged with twenty-nine gears, so that the thigh rod rotates upwards;
and controlling the third clutch to be engaged with twenty-six locking devices and the fourth clutch to be engaged with twenty-nine gears, so that the thigh rod is locked.
(3) Controlling the fifth clutch to be connected with a forty-fourth gear, so that the shank rod rotates inwards;
controlling the fifth clutch to be connected with the forty-three gear to enable the shank rod to rotate outwards;
and controlling the fifth clutch to be disconnected from the forty-three gear and the forty-four gear, and controlling the sixth clutch to be engaged with the forty-five locking device so as to lock the shank.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention provides an additional leg type walking device suitable for a full-drive vehicle, which takes the wheel rotation of the full-drive vehicle running on the leg type walking device as a power source to provide driving force for the leg type walking device, and can match the full-drive vehicles with different wheel diameters by adjusting the position of a supporting roller.
2. The additional leg type walking device suitable for the all-wheel-drive vehicle is simple in walking control and operation, and can control the walking gait of the leg type walking device by controlling the on-off of the power transmission of the transmission system; the walking speed of the leg type walking device is controlled by controlling the opening degree of an accelerator of the full-drive vehicle.
3. The invention provides an additional leg type walking device suitable for an all-wheel-drive vehicle.
4. The leg type walking device is simple in structure, convenient and flexible to use, and all modules of the leg type walking device can be transported along with a vehicle after being disassembled.
Drawings
The drawings are only for purposes of illustrating particular embodiments and are not to be construed as limiting the invention.
FIG. 1 is a schematic diagram of an overall structure shown in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a walking module according to an embodiment of the present invention;
fig. 3 is a schematic structural view of a support frame in the walking module according to the embodiment of the invention;
FIG. 4-1 is a schematic diagram illustrating a roller unit structure in a walking module according to an embodiment of the present invention;
FIG. 4-2 is a cross-sectional view A-A of FIG. 4-1;
FIG. 5-1 is a schematic view of a leg unit structure in a walking module according to an embodiment of the present invention;
FIG. 5-2 is a cross-sectional view B-B of FIG. 5-1;
FIG. 5-3 is a cross-sectional view C-C of FIG. 5-1;
FIG. 5-4 is a cross-sectional view D-D of FIG. 5-1;
FIG. 6 is a schematic diagram of a transmission according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram illustrating a longitudinal connection module according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a lateral expansion module according to an embodiment of the present invention;
fig. 9 is a schematic structural view of a traveling apparatus suitable for a 4 × 4 vehicle according to an embodiment of the present invention;
fig. 10 is a schematic view illustrating an initial posture and a standing posture of the leg walking device according to the embodiment of the present invention.
In the figure:
1-a walking module; 2-longitudinal connecting module; 3-transverse connection module; 4-a connecting pin; 5-vehicle wheels; 6-fixing the bolt.
1.1-a support; 1.2-roller unit; 1.3-a primary transmission device; 1.4-rubber elastic coupling; 1.5-leg unit; 1.6-swinging the rotating shaft.
1.1.1-roller axle hole; 1.1.2-pawl fixing hole; 1.1.3-base section fixing holes; 1.1.4-first-stage transmission fixing hole; 1.1.5-transverse connection head; 1.1.6-transverse fixing pin hole; 1.1.7-longitudinal fixing pin holes; 1.1.8-auxiliary ramp.
1.2.1-roller shaft; 1.2.2-rollers; 1.2.3-ratchet; 1.2.4-linkage; 1.2.5-pawl.
1.5.1-mer; 1.5.2-two-stage transmission; 1.5.3-thigh bar; 1.5.4 three-stage transmission; 1.5.5-shank; 1.5.6-side cover.
I, an input shaft I; II, intermediate shaft I; III, intermediate shaft II; IV-output shaft I; v-the second output shaft.
VII, inputting a second shaft; VIII, a middle shaft III; IX-jackshaft four; x-jackshaft five; XI-jackshaft six; XII-output shaft III; XIII-output shaft four.
XVI-input shaft three; VII-jackshaft VII; x VIII-output shaft five.
VI, a first transmission shaft; XIV-transmission shaft II; an X V-transmission shaft III; xix-drive shaft four.
2.1-longitudinal connecting hole; 2.2-longitudinal connecting pin holes; 3.1-transverse connection hole; 3.2-transverse connecting pin hole.
G1-Gear one; G2-Gear two; g3-locking device III; G4-Gear four; G5-Gear five; g6-gear six; G7-Gear seven; g8-gear eight; G9-Gear nine; g10-gear ten; g11-gear eleven; g12-bevel gear twelve; g13-bevel thirteen; g14-bevel gear fourteen; g15-bevel fifteen; g16-gear sixteen; g17-gear seventeen; g18-gear eighteen; g19-bevel gear nineteen; g20-bevel gear twenty; g21-gear twenty one; g22-gear twenty two; g23-gear twenty-three; g24-gear twenty-four; g25-bevel twenty-five; g26-locking means twenty-six; g27-gear twenty-seven; g28-gear twenty-eight; g29-gear twenty-nine; g30-gear thirty; g31-gear thirty-one; g32-bevel gear thirty-two; g33-thirty-three timing pulleys; g34-thirty-four timing pulleys; g35-timing pulley thirty-five; g36-synchronous pulley thirty-six; G37-Tri-seventeen synchronous pulleys; g38-synchronous pulley thirty-eight; g39-gear thirty-nine; g40-gear forty; g41-gear forty-one; g42-gear forty-two; g43-gear forty-three; g44-gear forty-four; g45-locking means forty-five; g46-synchronous pulley forty-six; g47-synchronous pulley forty-seven.
B1-synchronous belt I; b2-synchronous belt II; b3-synchronous belt III; b4-synchronous belt four.
C1-Clutch one; C2-Clutch two; C3-Clutch III; C4-Clutch four; C5-Clutch five; c6 — clutch six.
Detailed Description
The invention is described in detail below with reference to the figures and examples.
The invention provides an additional leg type walking device suitable for an all-wheel-drive vehicle, which comprises a walking module 1, a longitudinal connecting module 2, a transverse connecting module 3, a connecting pin 4, a wheel 5 and a fixing bolt 6, wherein the longitudinal connecting module 2, the transverse connecting module 3, the connecting pin 4 and the wheel 5 are arranged on the walking module.
The walking modules 1 are connected with the longitudinal expanding modules 2 and the transverse expanding modules 3 through connecting pins 4 to form a bearing platform, and the number of the walking modules 1 is equal to that of the wheels 5; the wheels 5 are wheels of the loaded all-wheel-drive vehicle, the wheels 5 are connected with the walking module 1 through the fixing bolts 6, power is provided for the walking module 1 through the wheels 5 of the all-wheel-drive vehicle, and the walking gait of the leg type walking device is controlled by controlling the connection or disconnection of power transmission of the transmission system, so that the smooth walking of the loaded vehicle is ensured. By connecting a plurality of groups of walking modules 1, the walking device can adapt to various vehicle types such as 4 multiplied by 4, 6 multiplied by 6 and the like.
Walking module 1
As shown in fig. 2, the walking module 1 includes a support frame 1.1, a roller unit 1.2, a primary transmission device 1.3, a rubber elastic coupling 1.4, a leg unit 1.5, and a swing shaft 1.6.
Two roller units 1.2 are installed on the support frame 1.1, and wheels 5 of the all-wheel-drive vehicle are supported between the two roller units 1.2.
The primary transmission device 1.3 is arranged on the support frame 1.1.
One end of the rubber elastic coupling 1.4 is connected to an input shaft of the primary transmission device 1.3, and the other end of the rubber elastic coupling is connected with the center of the wheel 5 through a fixing bolt 6. The rubber elastic coupling 1.4 has the functions of adapting to the condition that the wheel and the input shaft of the primary transmission device are not coaxial and resisting vibration, and can ensure the flexibility of power transmission when the wheel 5 and the input shaft of the primary transmission device 1.3 are not coaxial.
The leg unit 1.5 is hinged with the support frame 1.1 through a swing rotating shaft 1.6.
Support frame 1.1
As shown in fig. 3, the support frame 1.1 is provided with a roller shaft hole 1.1.1, a pawl fixing hole 1.1.2, a base joint fixing hole 1.1.3, a primary transmission device fixing hole 1.1.4, a transverse connector 1.1.5, a transverse fixing pin hole 1.1.6, a longitudinal fixing pin hole 1.1.7 and an auxiliary ramp 1.1.8.
Roller unit 1.2
As shown in fig. 4-1 and 4-2, the roller unit 1.2 includes a roller shaft 1.2.1, a roller 1.2.2, a ratchet 1.2.3, a connecting key 1.2.4 and a pawl 1.2.5.
The roller shaft hole 1.1.1 is used for installing the roller shaft 1.2.1.
The pawl fixing hole 1.1.2 is used for installing the pawl 1.2.5.
The base section fixing hole 1.1.3 is used for installing a swing rotating shaft 1.6, and the leg unit 1.5 is connected with the support frame 1.1 through the swing rotating shaft 1.6.
The primary transmission fixing hole 1.1.4 is used for fixing the primary transmission 1.3.
The transverse connector 1.1.5 is connected with the transverse connecting module 3.
The transverse fixing pin hole 1.1.6 and the longitudinal fixing pin hole 1.1.7 are used for installing the connecting pin 4.
The auxiliary ramp 1.1.8 is used to assist the vehicle in driving the legged running gear.
The support frame 1.1 is provided with a plurality of groups of roller shaft holes 1.1.1 and pawl fixing holes 1.1.2, and the positions of the roller shafts 1.2.1 can be adjusted, namely the installation positions of the roller units 1.2 are adjusted, namely the distance between the two roller units 1.2 is adjusted, so that the support frame is suitable for wheels with different sizes.
As shown in fig. 4-1, the roller shaft 1.2.1 is installed in the roller shaft hole 1.1.1 of the support frame 1.1 and fixed on the support frame 1.1 by bolts.
The roller 1.2.2 is arranged on the roller shaft 1.2.1 and can rotate around the roller shaft 1.2.1. The roller is designed into a spindle shape, and the position of the wheel is limited, so that the wheel rolls on the roller in situ.
The ratchet wheel 1.2.3 is circumferentially fixed with the roller 1.2.2 through a connecting key 1.2.4.
The pawl 1.2.5 is installed on the pawl fixing hole 1.1.2 of the support frame 1.1, the pawl 1.2.5 clamps the ratchet wheel 1.2.3 and is locked reversely, so that the ratchet wheel 1.2.3 can only move in one direction, and the roller 1.2.2 and the ratchet wheel 1.2.3 can only rotate in one direction as the roller 1.2.2 and the ratchet wheel 1.2.3 are fixed in the circumferential direction.
When the wheel 5 rotates in the forward direction, the wheel 5 drives the rollers 1.2.2 of the two roller units 1.2 to rotate, the rotation direction of the rollers 1.2.2 is opposite to the rotation direction of the wheel 5, and the wheel 5 rotates in situ between the two rollers 1.2.2.
When the wheel 5 rotates reversely, the coaxial rollers 1.2.2 cannot rotate due to the limitation of the pawls 1.2.5, so that the wheel 5 cannot rotate in place and only the vehicle can exit from the running gear.
Primary transmission 1.3
As shown in fig. 2 and 6, the primary transmission 1.3 is provided with: the transmission mechanism comprises an input shaft I, an intermediate shaft II, an output shaft IV, an output shaft II and a transmission shaft VI.
The first input shaft I is provided with a first gear G1 and a second gear G2.
The first intermediate shaft II is provided with a locking device three G3, a gear four G4, a gear five G5 and a gear six G6, and is also provided with a clutch one C1 and a clutch two C2, wherein the clutch one C1 is arranged between the locking device three G3 and the gear four G4, and the clutch two C2 is arranged between the gear five G5 and the gear six G6. The locking device in the invention refers to a stop block fixed on the transmission case body, which is similar to a fixed gear.
And a seventh gear G7 and an eighth gear G8 are arranged on the second intermediate shaft III.
And a gear nine G9 and a bevel gear thirteen G13 are arranged on the first output shaft IV.
The output shaft II V is a hollow shaft, is coaxial with the output shaft I IV and is sleeved on the output shaft I IV.
And the output shaft II V is provided with a gear ten G10, a gear eleven G11 and a bevel gear twelve G12.
The first transmission shaft VI is arranged on the base joint and is provided with a fourteen-G14 bevel gear, a fifteen-G15 bevel gear and a sixteen-G16 gear.
The first gear G1 is meshed with the ninth gear G9, the second gear G2 is meshed with the fourth gear G4, the fifth gear G5 is meshed with the tenth gear G10, the sixth gear G6 is meshed with the seventh gear G7, and the eighth gear G8 is meshed with the eleventh gear G11.
The bevel gear fourteen G14 is meshed with the bevel gear thirteen G13, the bevel gear fifteen G15 is meshed with the bevel gear twelve G12, and the bevel gear fifteen G15 is fixed on the base joint 1.5.1.
Leg unit 1.5
As shown in fig. 5-1 to 5-4, the leg unit 1.5 includes a base section 1.5.1, a secondary transmission 1.5.2, a thigh bar 1.5.3, a tertiary transmission 1.5.4, a shank bar 1.5.5, a side cover 1.5.6.
The base section 1.5.1 is hinged with the support frame 1.1 through a swing rotating shaft 1.6.
The secondary transmission device 1.5.2 is fixed on the base section 1.5.1 and drives the thigh lever 1.5.3.
The thigh bar 1.5.3 is articulated with the base segment 1.5.1.
The three-stage transmission 1.5.4 is fixed on the thigh bar 1.5.3 and drives the shank bar 1.5.5.
The shank rod 1.5.5 is articulated with the thigh rod 1.5.3.
The side cover 1.5.6 is fixed to the base section 1.5.1 by bolts.
Two-stage transmission 1.5.2
As shown in fig. 6, the two-stage transmission 1.5.2 is provided with: the transmission shaft comprises an input shaft II VII, an intermediate shaft III, an intermediate shaft IV, an intermediate shaft V X, an intermediate shaft VI XI, an output shaft III, an output shaft IV, a transmission shaft II XIV and a transmission shaft III XV. The second input shaft VII is provided with a seventeen G17 gear, a twenty-one G21 gear and a twenty-two G22 gear.
And a gear eighteen G18 and a bevel gear nineteen G19 are arranged on the intermediate shaft III VIII.
And the intermediate shaft IV is provided with a gear twenty-three G23, a gear twenty-four G24 and a bevel gear twenty-five G25.
The countershaft fifty X is provided with a locking device twenty-six G26, a gear twenty-seven G27, a gear twenty-eight G28 and a gear twenty-nine G29, and is simultaneously provided with a clutch three C3 and a clutch four C4, wherein the clutch three C3 is arranged between the locking device twenty-six G26 and the gear twenty-seven G27, and the clutch four C4 is arranged between the gear twenty-eight G28 and the gear twenty-nine G29.
The jackshaft six XI is fixed on the box, is provided with gear thirty G30 and gear thirty-one G31 on the axle.
And a bevel gear thirty-two G32 and a synchronous pulley thirty-three G33 are arranged on the output shaft III XII. The synchronous pulley thirty-three G33 is connected with a synchronous pulley thirty-four G34 through a synchronous belt B1, the synchronous pulley thirty-four G34 is arranged on a transmission shaft II X IV, and the transmission shaft II X IV is connected with a thigh rod 1.5.3 through a key.
And a bevel gear twenty G20 and a synchronous pulley thirty-five G35 are arranged on the output shaft four X III. The synchronous pulley thirty-five G35 is connected with the synchronous pulley thirty-six G36 through a synchronous belt II B2. The synchronous pulley thirty-six G36 is arranged on a transmission shaft three XV, the transmission shaft three XV is arranged in a shaft hole of a thigh rod 1.5.3, is circumferentially free from the thigh rod 1.5.3 and can freely rotate in the shaft hole of the thigh rod 1.5.3, and the transmission shaft three XV is also provided with a synchronous pulley thirty-seven G37.
The thigh rod 1.5.3 is hinged with the base section through a transmission shaft II XIV and a transmission shaft III XV.
The gear seventeen G17 is meshed with the gear sixteen G16, the gear eighteen G18 is meshed with the gear twenty-one G21, the bevel gear nineteen G19 is meshed with the bevel gear twenty G20, the gear twenty-two G22 is meshed with the gear twenty-seven 27, the gear twenty-three G23 is meshed with the gear twenty-eight G28, the gear twenty-four G24 is meshed with the gear thirty-one G31, the bevel gear twenty-five G25 is meshed with the bevel gear thirty-two G32, and the gear twenty-nine G29 is meshed with the gear thirty-G30.
Three stage transmission 1.5.4
As shown in fig. 6, the three-stage transmission 1.5.4 includes: the input shaft is three XVI, the intermediate shaft is seven XVII, the output shaft is five XVIII, the transmission shaft is four IX.
And the input shaft three X VI is provided with a synchronous pulley thirty-eight G38, a gear thirty-nine G39 and a gear forty G40.
And a gear forty-one G41 and a gear forty-two G42 are arranged on the intermediate shaft seven X VII.
The output shaft fifty X VIII is provided with a gear forty-three G43, a gear forty-four G44, a locking device forty-five G45 and a synchronous belt pulley forty-six G46, and is simultaneously provided with a clutch five C5 and a clutch six C6, wherein the clutch five C5 is arranged between the gear forty-three G43 and the gear forty-four G44, and the clutch six C6 is arranged between the gear forty-four G44 and the locking device forty-five G45.
The synchronous pulley thirty-eight G38 on the input shaft three X VI is connected with a synchronous pulley thirty-seven G37 through a synchronous belt three B3, a gear thirty-nine G39 is meshed with a gear forty-one G41, a gear forty-G40 is meshed with a gear forty-four G44, and a gear forty-two G42 is meshed with a gear forty-three G43.
And a synchronous pulley forty-seven G47 is arranged on the transmission shaft four X IX, and the synchronous pulley forty-seven G47 is connected with a synchronous pulley forty-six G46 through a synchronous belt four B4.
The transmission shaft four X IX is connected with the shank rod 1.5.5, the shank rod 1.5.5 can rotate along with the transmission shaft four X IX, and the shank rod 1.5.5 is hinged with the thigh rod 1.5.3 through the transmission shaft four X IX.
Side covers 1.5.6 are used to conceal drive shaft II XIV and drive shaft III XV from the sides.
Principle of power transmission
The disconnection or connection state of the clutch and the gear/locking device is controlled by the control signal, so that the components of the leg unit are controlled to rotate or lock in different directions.
As shown in fig. 6:
(1) when clutch one, C1, is engaged with gear four, G4, and clutch two, C2, is engaged with gear five, G5, the power transmission path for forward rotation of base section 1.5.1 is: wheel 5 → rubber-elastic coupling 1.4 → first input shaft i on the primary transmission 1.3 → second gear G2 → fourth gear G4 → first intermediate shaft ii → fifth gear G5 → tenth gear G10 → second output shaft v → twelve bevel gear G12 → fifteen bevel gear G15 → base joint 1.5.1.
(2) When clutch one C1 is engaged with gear four G4 and clutch two C2 is engaged with gear six G6, the power transmission path for the backward rotation of the base joint 1.5.1 is: wheel 5 → rubber-elastic coupling 1.4 → first input shaft i on the primary transmission 1.3 → second gear G2 → fourth gear G4 → first intermediate shaft ii → sixth gear G6 → seventh gear G7 → second intermediate shaft iii → eight gear G8 → eleventh gear G11 → second output shaft v → twelve bevel gear G12 → fifteen bevel gear G15 → base joint 1.5.1.
(3) When the first clutch C1 is engaged with the locking device G3 and the second clutch C2 is engaged with the sixth gear G6, the power transmission path for the base joint 1.5.1 is locked: three locking devices G3 → first intermediate shaft ii → six gear G6 → seven gear G7 → second intermediate shaft iii → eight gear G8 → eleven gear G11 → second output shaft v → twelve bevel gear G12 → fifteen bevel gear G15 → base joint 1.5.1.
(4) The power transmission route of the wheels 5 to the secondary transmission device 1.5.2 through the primary transmission device 1.3 is as follows: wheel 5 → rubber elastic coupling 1.4 → input shaft i of primary transmission 1.3 → gear G1 → gear nine G9 → output shaft iv → bevel gear thirteen G13 → bevel gear fourteen G14 → transmission shaft vi → gear sixteen G16 → gear seventeen G17 → input shaft two vii of secondary transmission 1.5.2.
The process is not influenced by a first clutch C1 and a second clutch C2 in the primary transmission device 1.3, the on and off of the clutches in the secondary transmission device 1.5.2 only control the rotation of the thigh rod 1.5.3, namely, the power of the wheel 5 can be continuously transmitted to the thigh rod 1.5.3, and the action of the thigh rod 1.5.3 is not influenced by the action of the base joint 1.5.1.
(4.1) when clutch three C3 is engaged with gear twenty-seven G27 and clutch four C4 is engaged with gear twenty-eight G28, the power transmission path for the downward rotation of the thigh lever 1.5.3 is: wheel 5 → rubber elastic coupling 1.4 → input shaft I → gear G1 → gear nine G9 → output shaft IV → bevel gear thirteen G13 → bevel gear fourteen G14 → transmission shaft VI → gear sixteen G16 → gear seventeen G17 → input shaft II VII → gear twenty-two G22 → gear twenty-seven G27 → intermediate shaft fifty X → gear twenty-eight G28 → gear twenty-three G23 → intermediate shaft IV → bevel gear twenty-five G25 → bevel gear thirty-two G32 → output shaft III → synchronous pulley thirteen G33 → synchronous belt B1 → gear thirty-four G34 transmission shaft twenty-XIV → thigh rod 1.5.3.
(4.2) when the third clutch C3 is engaged with the twenty-seven G27 and the fourth clutch C4 is engaged with the twenty-nine G29, the power transmission path for the upward rotation of the thigh lever 1.5.3 is: wheel 5 → rubber elastic coupling 1.4 → input shaft I → gear G1 → gear nine G9 → output shaft IV → bevel gear thirteen G13 → bevel gear fourteen G14 → transmission shaft VI → gear sixteen G16 → gear seventeen G17 → input shaft two VII → gear twenty-two G22 → gear twenty-seven G27 → intermediate shaft five X → gear twenty-nine G29 → gear thirty G30 → intermediate shaft six XI → gear twenty-four G24 → intermediate shaft four IX → bevel gear twenty-five G25 → bevel gear thirty-two G32 → output shaft three XII → synchronous pulley thirty-three G33 → synchronous belt B1 → gear thirty-four G34 → transmission shaft two X IV → thigh rod 1.5.3.
(4.3) when the third clutch C3 is engaged with the locking device twenty-six G26 and the fourth clutch C4 is engaged with the twenty-nine G29, the power transmission path for the thigh lever 1.5.3 to lock is: the locking device twenty-six G26 → intermediate shaft five X → gear twenty-nine G29 → gear thirty G30 → intermediate shaft six XI → gear twenty-four G24 → intermediate shaft four IX → bevel gear twenty-five G25 → bevel gear thirty-two G32 → output shaft three XII → synchronous pulley thirty-three G33 → synchronous belt one B1 → gear thirty-four G34 → transmission shaft two XIV → thigh rod 1.5.3.
(5) The transmission path of the power of the wheels 5 through the primary transmission 1.3 and the secondary transmission 1.5.2 to the tertiary transmission 1.5.4 is: wheel 5 → rubber elastic coupling 1.4 → first input shaft i on primary transmission 1.3 → first gear G1 → gear nine G9 → first output shaft iv → bevel gear thirteen G13 → bevel gear fourteen G14 → first transmission shaft vi → sixteen G16 → seventeen G17 → second input shaft vii of secondary transmission 1.5.2 → eighteen gear 18 → nineteen bevel gear nineteen G19 → twenty bevel gear G20 → fourth output shaft X iii of secondary transmission 1.5.2 → thirty-five timing pulley G35 → two timing belt B2 → thirty-six timing pulley G36 → three XV of transmission shaft → thirty-seven timing pulley G37 → three timing belt B3 → thirty-eight timing pulley G38 → third input shaft xvi on transmission 1.5.4.
The process is not influenced by a first clutch C1 and a second clutch C2 in the first-stage transmission device 1.3, a third clutch C3 and a fourth clutch C4 in the second-stage transmission device 1.5.2, the power of the wheel 5 can be continuously transmitted to the third-stage transmission device 1.5.4, the on and off of the clutches in the second-stage transmission device 1.5.2 only control the rotation of the shank rod 1.5.5, and the rotation of the shank rod 1.5.5 is not influenced by the rotation of the base joint 1.5.1 and the thigh rod 1.5.3.
(5.1) when the clutch five C5 is engaged with the gear forty-four G44, the power transmission path for the medial rotation of the shank rod 1.5.5 is: wheel 5 → rubber elastic coupling 1.4 → input shaft I → gear G1 → gear nine G9 → output shaft IV → bevel gear thirteen G13 → bevel gear fourteen G14 → transmission shaft VI → gear sixteen G16 → gear seventeen G17 → input shaft II VII → gear eighteen G18 → bevel gear nineteen G19 → bevel gear twenty G20 → output shaft tetraX III → synchronous pulley thirty-fifteen G35 → synchronous belt II B2 → synchronous pulley thirty-G36 → transmission shaft three X V → synchronous pulley thirty-G37 → synchronous belt three B3 → synchronous pulley thirty-eight G38 → input shaft three X VI → gear forty G40 → gear fourteen G44 → output shaft fifty X VIII → synchronous pulley forty G46 → tetraB 4 transmission shaft tetraX IX → rod 1.5.5.
(5.2) when the clutch five C5 is engaged with gear forty-three G43, the power transmission path for the outboard rotation of the shank bar 1.5.5 is: wheel 5 → rubber elastic coupling 1.4 → input shaft I → gear G1 → gear nine G9 → output shaft IV → bevel gear thirteen G13 → bevel gear fourteen G14 → transmission shaft VI → gear sixteen G16 → gear seventy G17 → input shaft two VII → gear eighteen G18 → bevel gear nineteen G19 → bevel gear twenty G20 → output shaft four X III → synchronous pulley thirty-five G35 → synchronous belt two B2 → synchronous pulley sixteen G36 → transmission shaft three XV → synchronous pulley thirty-seven G37 → synchronous belt three B3 → synchronous pulley three eighteen G38 → input shaft three X VI → gear thirty-nine G39 → gear fourteen G41 → gear thirteen G43 output shaft five X VIII → output shaft fourteen G46 → four B4 → four X IX synchronous belt IX.
(5.3) when clutch five C5 is disengaged from both gear forty-three G43 and gear forty-four G44, and clutch six C6 is engaged with locking device forty-five G45, the power transmission path for shank bar 1.5.5 locking is: forty-five G45 of locking device → five X VIII of output shaft → forty-six G46 of synchronous belt wheel → four B4 of synchronous belt wheel → four XXIX of transmission shaft → 1.5.5.5 of shank rod.
Longitudinal connecting module 2 and transverse connecting module 3
As shown in fig. 7, the longitudinal connecting module 2 is provided with a longitudinal connecting hole 2.1 and a longitudinal connecting pin hole 2.2. The longitudinal connecting holes 2.1 are connected with the walking module 1, and the longitudinal connecting pin holes 2.2 are aligned with the longitudinal fixing pin holes 1.1.7 of the walking module 1 through the connecting pins 4, so that the longitudinal connecting module 2 and the walking module 1 are locked.
As shown in fig. 8, the transverse connection module 3 is provided with a transverse connection hole 3.1 and a transverse connection pin hole 3.2. The transverse connecting holes 3.1 are connected with the walking module 1, and the transverse connecting pin holes 3.2 are aligned with the transverse fixing pin holes 1.1.6 of the walking module 1 through the connecting pins 4, so that the transverse connecting module 2 and the walking module 1 are locked.
The length and the number of the longitudinal connecting modules 2 and the transverse connecting modules 3 can be changed, so that the transverse and longitudinal distances among the walking modules 1, namely the transverse length and the longitudinal width of the walking device, can be adjusted to adapt to vehicles with different profile parameters.
As shown in fig. 9, a 4 × 4 all-wheel drive vehicle is coupled to a leg type walking apparatus, and the leg type walking apparatus drives each leg unit to move by rotation of wheels, thereby realizing leg type walking. By connecting a plurality of groups of walking modules, the walking mechanism can adapt to various vehicle types such as 4 multiplied by 4, 6 multiplied by 6 and the like.
Working principle of leg type walking device
As shown in fig. 10, in the initial state of the leg walking device, all the leg units are in the initial position, at this time, the bottom surface of the leg walking device is close to the ground, the vehicle runs on the leg walking device through the auxiliary ramp, so that the wheels are stopped between the two roller units, the wheels are fixed with the rubber elastic coupling, the vehicle drives the wheels to rotate forward by using the forward gear to provide power for the walking module, the motion of the leg units of the walking module is controlled by controlling the on and off of the power transmission system, the leg walking device is adjusted to the standing posture, and then the walking device is controlled to perform the walking motion by controlling the on and off of the power transmission system, which has been described above.
After the leg type walking device works, the leg type walking device is adjusted to an initial posture, the connection between the wheels and the rubber elastic coupling is disconnected, and the vehicle drives the wheels to rotate reversely by using a reversing gear to drive away from the walking device.
The connection between the wheels and the walking module of the all-wheel-drive vehicle is realized by taking a rubber elastic coupling as an example, and other connection devices which adapt to the condition that the wheels and the input shaft of the primary transmission device are not coaxial and have an anti-vibration function, such as a tire coupling and the like, can also be adopted.
The circumferential fixing of the gear and the shaft in the invention is exemplified by key connection, and other connection modes such as spline connection and the like can also be adopted.

Claims (9)

1. An additional leg type walking device suitable for a full-drive vehicle is characterized in that: comprises a walking module, a longitudinal connecting module and a transverse connecting module;
the number of the walking modules is equal to the number of wheels of the vehicle borne by the walking device, and a plurality of groups of the walking modules form a bearing platform through a longitudinal connecting module and a transverse connecting module;
the walking module comprises a support frame, a roller unit, a rubber elastic coupling, a primary transmission device, a leg unit and a swinging rotating shaft;
two roller units are mounted on the supporting frame, and the wheels are supported between the two roller units;
one end of the rubber elastic coupling is connected with an input shaft of the primary transmission device, and the other end of the rubber elastic coupling is connected with the center of the wheel;
the output shaft of the primary transmission device is connected with the leg unit;
the leg unit is hinged with the support frame through a swinging rotating shaft;
the leg unit comprises a base section, a thigh rod, a shank rod, a secondary transmission device and a tertiary transmission device.
2. The add-on leg walking device for all-wheel drive vehicle according to claim 1, wherein:
the roller unit comprises a roller, a roller shaft, a ratchet wheel, a pawl and a connecting key;
the roller is arranged on the roller shaft and rotates around the roller shaft;
the ratchet wheel is circumferentially fixed with the roller through a connecting key;
the pawl is installed on the support frame, contacts with the ratchet wheel, and according to the direction of rotation, positive unlocking, reverse locking.
3. The add-on leg walking device for all-wheel drive vehicle according to claim 1, wherein:
the base section is hinged with the support frame through a swinging rotating shaft;
one end of the thigh rod is hinged with the base section, and the other end of the thigh rod is hinged with the shank rod;
the secondary transmission device is arranged on the base section and drives the thigh rod;
the three-stage transmission device is arranged on the thigh rod and drives the shank rod.
4. The extra-legged walking device for all-wheel-drive vehicles according to claim 1 or 3, characterized in that:
the primary transmission device is provided with a first input shaft, a first intermediate shaft, a second intermediate shaft, a first output shaft, a second output shaft and a first transmission shaft;
the first input shaft is provided with a first gear and a second gear;
the intermediate shaft I is provided with a locking device III, a gear IV, a gear V and a gear VI, and is also provided with a clutch I and a clutch II, wherein the clutch I is arranged between the locking device III and the gear IV, and the clutch II is arranged between the gear V and the gear VI;
a seventh gear and an eighth gear are arranged on the second intermediate shaft;
a ninth gear and a thirteen bevel gear are arranged on the first output shaft;
the second output shaft is a hollow shaft, is coaxial with the first output shaft and is sleeved on the first output shaft;
a gear ten, a gear eleven and a bevel gear twelve are arranged on the output shaft II;
the first transmission shaft VI is arranged on the base section, and fourteen bevel gears, fifteen bevel gears and sixteen gears are arranged on the first transmission shaft VI;
the first gear is meshed with the ninth gear, the second gear is meshed with the fourth gear, the fifth gear is meshed with the tenth gear, the sixth gear is meshed with the seventh gear, the eighth gear is meshed with the eleventh gear, the fourteenth gear is meshed with the thirteenth gear, the fifteenth gear is meshed with the twelfth gear, and the fifteenth gear is fixed on the base section.
5. The add-on leg walking device for all-wheel drive vehicle according to claim 4, wherein:
the secondary transmission device is provided with: the input shaft II, the intermediate shaft III, the intermediate shaft IV, the intermediate shaft V, the intermediate shaft VI, the output shaft III, the output shaft IV, the transmission shaft II and the transmission shaft III;
a seventeenth gear, a twenty-one gear and a twenty-twelve gear are arranged on the second input shaft;
eighteen gears and nineteen bevel gears are arranged on the third intermediate shaft;
a gear twenty-three, a gear twenty-four and a bevel gear twenty-five are arranged on the intermediate shaft IV;
the middle shaft five is provided with a locking device twenty-six, a gear twenty-seven, a gear twenty-eight and a gear twenty-nine, and is also provided with a clutch three and a clutch four, the clutch three is arranged between the locking device twenty-six and the gear twenty-seven, and the clutch four is arranged between the gear twenty-eight and the gear twenty-nine;
the six intermediate shafts are fixed on the box body of the transmission device, and the shafts are provided with thirty gears and thirty-one gears;
a bevel gear thirty-two and a synchronous pulley thirty-three are arranged on the output shaft III, the synchronous pulley thirty-three is connected with a synchronous pulley thirty-four through a synchronous belt I, the synchronous pulley thirty-four is arranged on the transmission shaft II, and the transmission shaft II is connected with the thigh rod through a key;
the output shaft IV is provided with a bevel gear twenty and a synchronous pulley thirty-five, the synchronous pulley thirty-five is connected with a synchronous pulley thirty-six through a synchronous belt II, and the synchronous pulley thirty-six is arranged on the transmission shaft III;
the third transmission shaft is arranged in the thigh rod shaft hole and freely rotates in the thigh rod shaft hole, and a thirty-seven synchronous belt wheel is arranged on the third transmission shaft;
the thigh rod is hinged with the base section through a transmission shaft II and a transmission shaft III;
the seventeen gear is meshed with the sixteenth gear, the eighteen gear is meshed with the twenty-first gear, the nineteen bevel gear is meshed with the twenty-twenty bevel gear, the twenty-two gear is meshed with the twenty-seven gear, the twenty-three gear is meshed with the twenty-eight gear, the twenty-four gear is meshed with the thirty-one gear, the twenty-five bevel gear is meshed with the thirty-two bevel gear, and the twenty-nine bevel gear is meshed with the thirty gear.
6. The add-on leg walking device for all-wheel drive vehicle according to claim 5, wherein:
the tertiary transmission is provided with: an input shaft III, a middle shaft VII, an output shaft V and a transmission shaft IV;
the third input shaft is provided with a thirty-eight synchronous belt wheel, a thirty-nine gear and a forty gear;
a gear forty-one and a gear forty-two are arranged on the intermediate shaft seven;
the output shaft is provided with a gear forty-three, a gear forty-four, a locking device forty-five and a synchronous belt pulley forty-six, and is also provided with a clutch five and a clutch six, wherein the clutch five is arranged between the gear forty-three and the gear forty-four, and the clutch six is arranged between the gear forty-four and the locking device forty-five;
the synchronous belt wheel thirty-eight is connected with the synchronous belt wheel thirty-seven through a synchronous belt three, a gear thirty-nine is meshed with a gear forty-one, a gear forty-four is meshed with a gear forty-four, and a gear forty-twelve is meshed with a gear forty-three;
a synchronous belt wheel forty-seven is arranged on the transmission shaft IV and is connected with a synchronous belt wheel forty-six through a synchronous belt IV;
the transmission shaft IV is connected with the shank rod, the shank rod rotates along with the transmission shaft IV, and the shank rod is hinged with the thigh rod through the transmission shaft IV.
7. A control method of the extra-legged running gear adapted for an all-wheel-drive vehicle according to claim 4, characterized in that:
controlling the first clutch to be engaged with the fourth gear, and controlling the second clutch to be engaged with the fifth gear, so that the base section rotates forwards;
controlling the first clutch to be engaged with the fourth gear and the second clutch to be engaged with the sixth gear to enable the base section to rotate backwards;
and controlling the first clutch to be jointed with the locking device, and controlling the second clutch to be jointed with the sixth gear, so that the base section is locked.
8. A control method of the extra-legged running gear adapted for an all-wheel-drive vehicle according to claim 5, characterized in that:
controlling the third clutch to be engaged with twenty-seven gears and the fourth clutch to be engaged with twenty-eight gears, so that the thigh rod rotates downwards;
controlling the third clutch to be engaged with twenty-seven gears and the fourth clutch to be engaged with twenty-nine gears, so that the thigh rod rotates upwards;
and controlling the third clutch to be engaged with the twenty-six locking device and the fourth clutch to be engaged with the twenty-nine gear, so that the thigh rod is locked.
9. A control method of the extra-legged running gear adapted for use in an all-wheel-drive vehicle according to claim 6, characterized in that:
controlling the fifth clutch to be connected with a forty-four gear to enable the shank rod to rotate inwards;
controlling the fifth clutch to be engaged with a forty-three gear to enable the shank rod to rotate outwards;
and controlling the fifth clutch to be disconnected from the forty-three gears and the forty-four gears, and controlling the sixth clutch to be engaged with the forty-five locking device, so that the shank rod is locked.
CN202210464401.7A 2022-04-24 2022-04-29 Additional leg type walking device suitable for all-wheel drive vehicle and control method Active CN114771685B (en)

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