CN208452784U - A kind of rocker arm suspension, wheel leg type motor platform - Google Patents
A kind of rocker arm suspension, wheel leg type motor platform Download PDFInfo
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- CN208452784U CN208452784U CN201820611123.2U CN201820611123U CN208452784U CN 208452784 U CN208452784 U CN 208452784U CN 201820611123 U CN201820611123 U CN 201820611123U CN 208452784 U CN208452784 U CN 208452784U
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- 239000000725 suspension Substances 0.000 title claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 65
- 230000009467 reduction Effects 0.000 claims abstract description 47
- 238000013016 damping Methods 0.000 claims abstract description 42
- 239000006249 magnetic particle Substances 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 22
- 230000008878 coupling Effects 0.000 abstract description 3
- 238000010168 coupling process Methods 0.000 abstract description 3
- 238000005859 coupling reaction Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 230000017525 heat dissipation Effects 0.000 abstract description 3
- 230000009194 climbing Effects 0.000 abstract 1
- 230000009471 action Effects 0.000 description 6
- 239000006096 absorbing agent Substances 0.000 description 4
- 230000007246 mechanism Effects 0.000 description 4
- 230000035939 shock Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 230000010485 coping Effects 0.000 description 2
- 238000011065 in-situ storage Methods 0.000 description 2
- 239000006247 magnetic powder Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
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Abstract
The utility model discloses a kind of rocker arm suspensions, wheel leg type motor platform.The first reduction planetary row, vehicle wheel drive clutch, rocker arm driving clutch, sun gear control clutch, gear ring control clutch and damper unit are equipped in the transmission case of the utility model suspension, by that will drive rocker arm together with driving two kinds of Function Couplings of wheel, vehicle volume and weight is smaller, in the case where driving wheel mode state, damper unit torsion-bar spring and the effect of the elastic damping of blade damper effectively reduce road vibration, blade damper, which is fixed on vehicle frame, is conducive to damper heat dissipation, extends working life；In the case where driving rocker arm mode state, rocker arm can obtain accurate movement position and movement velocity, eliminate the mechanical interferences with driving wheel mode.The utility model platform includes several rocker arm suspensions being arranged in parallel in vehicle frame two sides, which increases the obstacle climbing ability of platform, and can reduce the steering resistence under pivot stud driving cycle.
Description
Technical Field
The utility model belongs to the technical field of the vehicle, especially, relate to a two effect rocking arm suspensions of single input and wheel-legged mobile platform.
Background
The unmanned vehicle technology is in high-speed development, wherein miniaturization is an important direction, and the specific requirements are that the mass of the whole vehicle is reduced, the size is reduced and the load capacity is improved to a certain extent on the premise of not reducing main functions. The design of unmanned mobile platforms presents a great challenge, one of the coping strategies is to design miniaturized functional parts with high power density per unit volume, and in the transition period of current rapid development, the market of the miniaturized functional parts with higher reliability is not mature yet, and the requirement of application equipment cannot be met, so that a feasible coping strategy is to integrate and design main functional units, reduce redundant parts and achieve the aim of designing and miniaturizing the whole vehicle.
The wheel-leg type maneuvering platform integrates high passing performance of natural biological leg type movement on obstacles and high maneuverability of wheel type movement, and is characterized in that the aim of crossing the obstacles is achieved by combining the leg type movement and the wheel type movement according to certain movement sequences according to the types of the obstacles through a plurality of groups of wheel-leg type mechanisms.
SUMMERY OF THE UTILITY MODEL
The utility model discloses a first order aim at provides a two effect rocking arm suspensions of single input, this suspension with rocking arm drive and wheel drive coupling together, aim at solving the miniaturized problem of the motor-driven platform of wheel leg formula.
Another object of the utility model is to provide a motor-driven platform of wheel leg formula, this platform include a plurality of parallelly connected above-mentioned single input double action rocking arm suspensions and the wheel that sets up, through the leg motion of controlling multiunit rocking arm suspension and the action sequence that wheeled motion formed, can realize that motor-driven platform of wheel leg formula climbs various obstacles.
The utility model is realized in such a way that the rocker arm suspension comprises a power unit, a transmission case, a double-acting planet row and a rocker arm; a first reduction planet row, a wheel drive clutch, a rocker arm drive clutch, a sun wheel control clutch and a gear ring control clutch are arranged in the transmission case; wherein,
the gear ring of the first reduction planetary row is fixed on the inner side of the transmission case, the gear ring and the sun gear of the first reduction planetary row are both meshed with the planetary carrier of the first reduction planetary row, the axle center of the sun gear is connected with the power output end of the power unit through a first connecting shaft, and the axle center of the planetary carrier is connected with one end of a second connecting shaft; in the direction far away from the power unit, the other end of the second connecting shaft is fixedly connected with a driving sheet of the wheel driving clutch and a driving sheet of the rocker arm driving clutch in sequence, a driven sheet of the wheel driving clutch is connected to one end of the third connecting shaft, and a driven sheet of the rocker arm driving clutch is connected to one end of the fourth connecting shaft; the outer side shaft wall of the fourth connecting shaft is connected with a movable plate of the sun wheel control clutch, and a fixed plate matched with the movable plate of the sun wheel control clutch is arranged at a corresponding position on the inner side of the transmission case;
a fixed plate of a gear ring control clutch is arranged on the inner side of the transmission case, a movable plate of the gear ring control clutch is connected with a gear ring of the double-acting planetary row, a sun gear of the double-acting planetary row is connected with the other end of a fourth connecting shaft, external teeth of the sun gear and internal teeth of the gear ring of the double-acting planetary row are assembled and meshed with a planet carrier of the double-acting planetary row, the planet carrier of the double-acting planetary row is connected with one end of a fifth connecting shaft, and the other end of the fifth connecting shaft is connected with;
the other end of the third connecting shaft sequentially penetrates through hollow axes of the fourth connecting shaft and the fifth connecting shaft and then is installed on the rocker arm, and a first belt wheel is arranged on a shaft body of the third connecting shaft, which is positioned in the rocker arm.
Preferably, the rocker arm suspension further comprises a damping unit, wherein the damping unit comprises a torsion bar spring, a blade damper and a damping gear; wherein,
a damping gear is arranged on a rod body of the torsion bar spring, a blade damper is arranged at one end of the torsion bar spring, and the other end of the torsion bar spring is fixed; and the vibration reduction gear is meshed with the external teeth of the gear ring of the double-acting planet row.
Preferably, the rocker arm further comprises a second pulley and a sixth connecting shaft; the sixth connecting shaft is arranged in the rocker arm, one end of the sixth connecting shaft serving as a power output end extends out of the rocker arm, and a shaft body of the sixth connecting shaft, which is positioned in the rocker arm, is provided with a second belt wheel; the first belt wheel is connected with the second belt wheel through a transmission belt or a transmission chain.
Preferably, a brake is further arranged in the rocker arm; the fixed piece of the brake is fixed on the inner side of the rocker arm shell, and the movable piece of the brake is fixed on the third connecting shaft.
Preferably, the wheel drive clutch, the rocker arm drive clutch, the sun gear control clutch, and the ring gear control clutch types include, but are not limited to, a wet clutch, a dry clutch, an electromagnetic clutch, a magnetic particle clutch, a gear sleeve, and a synchronizer.
The utility model further discloses a wheel-leg type maneuvering platform, which comprises a frame, a plurality of rocker arm suspensions and wheels, wherein the rocker arm suspensions and the wheels are symmetrically arranged on two opposite sides of the frame;
the suspension comprises a power unit, a transmission case, a double-acting planet row and a rocker arm; a first reduction planet row, a wheel drive clutch, a rocker arm drive clutch, a sun wheel control clutch and a gear ring control clutch are arranged in the transmission case; wherein,
the gear ring of the first reduction planetary row is fixed on the inner side of the transmission case, the gear ring and the sun gear of the first reduction planetary row are both meshed with the planetary carrier of the first reduction planetary row, the axle center of the sun gear is connected with the power output end of the power unit through a first connecting shaft, and the axle center of the planetary carrier is connected with one end of a second connecting shaft; in the direction far away from the power unit, the other end of the second connecting shaft is fixedly connected with a driving sheet of the wheel driving clutch and a driving sheet of the rocker arm driving clutch in sequence, a driven sheet of the wheel driving clutch is connected to one end of the third connecting shaft, and a driven sheet of the rocker arm driving clutch is connected to one end of the fourth connecting shaft; the outer side shaft wall of the fourth connecting shaft is connected with a movable plate of the sun wheel control clutch, and a fixed plate matched with the movable plate of the sun wheel control clutch is arranged at a corresponding position on the inner side of the transmission case;
a fixed plate of a gear ring control clutch is arranged on the inner side of the transmission case, a movable plate of the gear ring control clutch is connected with a gear ring of the double-acting planetary row, a sun gear of the double-acting planetary row is connected with the other end of a fourth connecting shaft, external teeth of the sun gear and internal teeth of the gear ring of the double-acting planetary row are assembled and meshed with a planet carrier of the double-acting planetary row, the planet carrier of the double-acting planetary row is connected with one end of a fifth connecting shaft, and the other end of the fifth connecting shaft is connected with;
the other end of the third connecting shaft sequentially passes through hollow axes of a fourth connecting shaft and a fifth connecting shaft and then is installed on the rocker arm, and a shaft body of the third connecting shaft, which is positioned in the rocker arm, is provided with a first belt wheel;
the power unit, the transmission case and the double-acting planetary row are all located in the frame, the rocker arm and the wheels are located on the outer side of the frame, and a shaft body of the fifth connecting shaft is fixed to the frame through a bearing.
Preferably, the rocker arm suspension further comprises a damping unit, wherein the damping unit comprises a torsion bar spring, a blade damper and a damping gear; wherein,
a rod body of the torsion bar spring is provided with a damping gear, and the damping gear is meshed with the outer teeth of the gear ring of the double-acting planet row;
the fixed plate of the blade damper is fixed on the frame, the moving plate of the blade damper is connected with one end of a torsion bar spring, and the other end of the torsion bar spring is fixed in the frame.
Preferably, the mobile platform further comprises wheels;
the wheel also comprises a second belt wheel and a sixth connecting shaft; the sixth connecting shaft is arranged in the rocker arm, one end of the sixth connecting shaft serving as a power output end extends out of the rocker arm and is connected with the wheel, and a shaft body of the sixth connecting shaft, which is positioned in the rocker arm, is provided with a second belt wheel; the first belt wheel is connected with the second belt wheel through a transmission belt or a transmission chain.
Preferably, a brake is further arranged in the rocker arm; the fixed piece of the brake is fixed on the inner side of the rocker arm shell, and the movable piece of the brake is fixed on the third connecting shaft.
Preferably, a second reduction planet row is arranged in the wheel, the planet wheels of the second reduction planet row are meshed with the sun wheel and the gear ring of the second reduction planet row, the gear ring of the second reduction planet row is fixed on the inner side of the rocker arm shell, the sun wheel of the second reduction planet row is connected with the sixth connecting shaft, and the planet carrier of the second reduction planet row is connected with the wheel.
Compare in prior art's shortcoming and not enough, the utility model discloses following beneficial effect has:
(1) in the rocker arm suspension of the utility model, the two functions of the driving rocker arm and the driving wheel are coupled together, so that the occupied space and the mass of the intermediate transmission part are reduced, and the miniaturization of the design of the whole vehicle is realized;
(2) in the rocker arm suspension of the utility model, in the working state of the driving wheel mode, the elastic damping action of the torsion bar spring of the damping unit and the blade damper effectively reduces the road vibration and protects important parts in the frame;
(3) in the rocker arm suspension of the utility model, in the driving wheel mode working state, the blade shock absorber is fixed on the frame, which is favorable for the heat dissipation of the shock absorber and prolongs the service life;
(4) in the rocker arm suspension of the utility model, in the driving rocker arm mode working state, the torsion bar spring of the damping unit and the blade damper do not participate in the work, and the rocker arm can obtain the accurate motion position and the motion speed;
(5) in the rocker arm suspension of the utility model, in the working state of the driving rocker arm mode, when the moving position of the adjusting rocker arm realizes the posture change of the whole vehicle, the transmission mechanism from the wheel to the wheel driving clutch is in a free state, so that the interference between the driving wheel transmission mechanism and the driving rocker arm transmission mechanism is avoided, namely, when the moving position is adjusted by at least two groups of rocker arms between shafts at the same time, the wheel can also rotate freely, the movement interlocking can not occur, and the rotating state of the wheel can be controlled by the brake, so that the posture of the whole vehicle can be adjusted on a ramp;
(6) in the wheel-leg maneuvering platform, the driving posture of the platform can be automatically adjusted according to different working conditions, and the obstacle crossing capability of the platform is improved under the condition of encountering obstacles;
(7) the utility model discloses among the motor-driven platform of wheel leg formula, turn to the operating mode in situ under, adjust the drive wheel, make partial drive wheel liftoff, reduced the turning resistance under the operating mode of turning to in situ.
Drawings
Fig. 1 is a schematic view of the internal structure of the rocker arm suspension of the present invention;
FIG. 2 is an enlarged schematic view of portion A of FIG. 1;
FIG. 3 is an enlarged schematic view of portion B of FIG. 1;
FIG. 4 is an enlarged schematic view of section C of FIG. 1;
fig. 5 is a schematic structural view of the wheel-leg motorized platform of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Fig. 1 to 3 show an internal structure of a rocker arm suspension according to the present invention, fig. 1 is an enlarged schematic structural view of a portion a in fig. 1, and fig. 3 is an enlarged schematic structural view of a portion B in fig. 1.
The utility model discloses a rocker arm suspension, which comprises a power unit 15, a transmission case 1, a double-acting planet row 9 and a rocker arm 18; a first reduction planet row 2, a wheel driving clutch 3, a rocker arm driving clutch 4, a sun wheel control clutch 5 and a gear ring control clutch 6 are arranged in the transmission case 1; wherein,
a gear ring 2-4 of the first reduction planetary row (the first reduction planetary row 2 comprises a sun gear 2-1, a planet gear 2-2, a planet carrier 2-3 and a gear ring 2-4) is fixed on the inner side of the transmission case 1, the gear ring 2-4 and the sun gear 2-1 of the first reduction planetary row 2 are both meshed with the planet carrier 2-3 of the first reduction planetary row, the axle center of the sun gear 2-1 is connected with the power output end of the power unit 15 through a first connecting shaft 26, and the axle center of the planet carrier 2-3 is connected with one end of a second connecting shaft 24; in the direction far away from the power unit 15, the other end of the second connecting shaft 24 is fixedly connected with a driving plate 3-1 of the wheel driving clutch 3 and a driving plate 4-1 of the rocker arm driving clutch 4 in sequence, a driven plate 3-2 of the wheel driving clutch 3 is connected to one end of the third connecting shaft 7, and a driven plate 4-2 of the rocker arm driving clutch 4 is connected to one end of the fourth connecting shaft 8; the outer side shaft wall of the fourth connecting shaft 8 is connected with a movable plate 5-2 of the sun wheel control clutch 5, and a fixed plate 5-1 matched with the movable plate 5-2 of the sun wheel control clutch 5 is arranged at a corresponding position on the inner side of the transmission case 1;
the inner side of the transmission case 1 is provided with a fixed plate 6-1 of a gear ring control clutch 6, a movable plate 6-2 of the gear ring control clutch 6 is connected with a gear ring 9-4 of a double-acting planetary gear 9 (the double-acting planetary gear 9 comprises a sun gear 9-1, a planetary gear 9-2, a planet carrier 9-3 and a gear ring 9-4), the sun gear 9-1 of the double-acting planetary gear 9 is connected with the other end of a fourth connecting shaft 8, the outer teeth of the sun gear 9-1 and the inner teeth of the gear ring 9-4 of the double-acting planetary gear 9 are assembled and meshed with the planet carrier 9-3 of the double-acting planetary gear 9, the planet carrier 9-3 of the double-acting planetary gear 9 is connected with one end of a fifth connecting shaft 25, and the;
the other end of the third connecting shaft 7 sequentially passes through hollow axes of the fourth connecting shaft 8 and the fifth connecting shaft 25 and then is mounted on the rocker arm 18, and a first belt pulley 16 is arranged on a shaft body of the third connecting shaft 7 in the rocker arm 18.
The embodiment of the utility model provides an in, first connecting axle 26 all is equipped with the bearing with transmission case 1, 18 casing junctions of rocking arm, and this belongs to setting commonly used, no longer explains.
In the embodiment of the present invention, the casing of the power unit 15 can be fixed on the casing of the transmission case 1, and the power unit 15 includes but is not limited to ac motor, servo motor, hydraulic motor, etc. to the power output device that can drive the first connecting shaft 26 to continuously rotate in the prior art can be used for explaining the utility model discloses a power unit 15.
In the embodiment of the present invention, the wheel driving clutch 3, the rocker driving clutch 4, the sun gear control clutch 5, and the ring gear control clutch 6 are of the types including but not limited to a wet clutch, a dry clutch, an electromagnetic clutch, a magnetic powder clutch, a gear sleeve, and a synchronizer.
In the present embodiment, the rocker arm suspension will typically be equipped with a damping unit (including damping gear 10, blade damper 11, torsion bar spring 12) for absorbing vibrations during vibration of rocker arm 18. The known damping devices can also be used for the rocker arm suspension according to the invention, for example, for the direct fastening of the gear box 1 of the rocker arm suspension to a damping unit or the like. In order to make the structure of the rocker arm suspension more stable and simplified, the utility model further provides a technical scheme that the damping unit comprises a torsion bar spring 12, a blade damper 11 and a damping gear 10; a damping gear 10 is arranged on a rod body of the torsion bar spring 12, and a blade damper 11 is arranged at one end of the torsion bar spring 12; the damper gear 10 meshes with the external toothing of the ring gear 9-4 of the double-acting planet row 9.
In the embodiment of the present invention, the rocker arm suspension disclosed by the present invention further comprises a second pulley 20 and a sixth connecting shaft 21; the sixth connecting shaft 21 is installed in the rocker arm 18, one end of the sixth connecting shaft 21 serving as a power output end extends out of the rocker arm 18, and a second belt wheel 20 is arranged on a shaft body of the sixth connecting shaft 21 in the rocker arm 18; the first pulley 16 is connected to a second pulley 20 via a drive belt or chain 19. The transmission between the first belt pulley 16 and the second belt pulley 20 finally drives the sixth connecting shaft 21 to output power. Furthermore, in order to facilitate the control of the vehicle speed, in the embodiment of the present invention, a brake 17 is further disposed in the rocker arm 18; the brake 17 includes a stator (reference numeral omitted in the figure) and a rotor (reference numeral omitted in the figure), the stator of the brake 17 is fixed inside the housing of the rocker arm 18, and the rotor of the brake 17 is fixed on the third connecting shaft 7.
The utility model discloses an in the practical application process, the rocking arm suspension includes two kinds of mode of driving wheel mode and driving rocking arm mode.
In the wheel driving mode, the wheel driving clutch 3 and the sun wheel control clutch 5 are engaged, the rocker arm driving clutch 4 and the gear ring control clutch 6 are disengaged, and the power transmission route is that the power unit 15 transmits to the first reduction planetary row 2 through the first connecting shaft 26, continues to transmit to the first belt wheel 16 through the third connecting shaft 7 through the wheel driving clutch 3, and then transmits to the sixth connecting shaft 21 through the second belt wheel 20 through the transmission belt 19 for power output. In this mode, the sun gear 9-1 of the double-acting planetary row 9 is fixed and does not rotate due to the engagement of the sun gear control clutch 5, and the transmission path of the vibration caused by road bumps is from the rocker arm 18 to the fifth connecting shaft 25, to the carrier 9-3, to the damper gear 10 from the ring gear 9-4, and to the torsion bar spring 12 and the blade damper 11, so that the vibration energy caused by road bumps is finally absorbed by the torsion bar spring 12 and the blade damper 11.
In the driving rocker arm mode, the rocker arm driving clutch 4 and the gear ring control clutch 6 are engaged, the wheel driving clutch 3 and the sun wheel control clutch 5 are disengaged, the power transmission route is that the power unit 15 is transmitted to the first reduction planetary row 2 through the first connecting shaft 26, is transmitted to the double-acting planetary row 9 through the rocker arm driving clutch 4 by the fourth connecting shaft 8, is transmitted to the rocker arm 18 through the planet carrier 9-3 by the fifth connecting shaft 25, and the power unit 15 finally drives the rocker arm 18 to rotate. In this mode, the ring gear control clutch 6 is combined, the ring gear 9-4 is fixed, the double-acting planet row 9 works in a mode that the sun gear 9-1 inputs and the planet carrier 9-3 outputs, the torsion bar spring 12 and the blade damper 11 do not work at the moment, the power unit 15 and the rocker arm 18 are in rigid transmission, and accurate movement position and movement speed can be obtained.
The utility model discloses a with two kinds of function coupling of drive rocking arm 18 and drive wheel together, reduced its middle transmission part's occupation space and quality, realized that whole car design is miniaturized. Under the working state of the driving wheel mode, the elastic damping action of the torsion bar spring 12 of the damping unit and the blade damper 11 effectively reduces the road vibration and protects important parts in the frame; under the working state of the driving wheel mode, the blade shock absorber 11 is fixed on the frame, so that the heat dissipation of the shock absorber is facilitated, and the service life is prolonged; in addition, in the driving rocker arm mode operation state, the damping unit torsion bar spring 12 and the blade damper 11 do not participate in the operation, and the rocker arm can obtain an accurate movement position and movement speed.
Fig. 1 to 5 show an internal structure of a rocker arm suspension according to the present invention, fig. 1 is an enlarged schematic structural view of a portion a in fig. 1, fig. 3 is an enlarged schematic structural view of a portion B in fig. 1, and fig. 4 is an enlarged schematic structural view of a portion C in fig. 1; fig. 5 is a schematic structural view of the wheel-leg motorized platform of the present invention.
The utility model further discloses a wheel-leg type maneuvering platform, which comprises a frame 14 and a plurality of rocker arm suspensions symmetrically arranged at two opposite sides of the frame 14;
the suspension comprises a power unit 15, a transmission case 1, a double-acting planetary row 9 and a rocker arm 18; a first reduction planet row 2 (the first reduction planet row 2 comprises a sun gear 2-1, a planet gear 2-2, a planet carrier 2-3 and a gear ring 2-4), a wheel driving clutch 3, a rocker arm driving clutch 4, a sun gear control clutch 5 and a gear ring control clutch 6 are arranged in the transmission case 1; wherein,
the gear ring 2-4 of the first reduction planet row 2 is fixed on the inner side of the transmission case 1, the gear ring 2-4 and the sun gear 2-1 of the first reduction planet row are both meshed with the planet carrier 2-3, the axle center of the sun gear 2-1 is connected with the power output end of the power unit 15 through a first connecting shaft 26, and the axle center of the planet carrier 2-3 is connected with one end of a second connecting shaft 24; in the direction far away from the power unit 15, the other end of the second connecting shaft 24 is fixedly connected with a driving plate 3-1 of the wheel driving clutch 3 and a driving plate 4-1 of the rocker arm driving clutch 4 in sequence, a driven plate 3-2 of the wheel driving clutch 3 is connected to one end of the third connecting shaft 7, and a driven plate 4-2 of the rocker arm driving clutch 4 is connected to one end of the fourth connecting shaft 8; the outer side shaft wall of the fourth connecting shaft 8 is connected with a movable plate 5-2 of the sun wheel control clutch 5, and a fixed plate 5-1 matched with the movable plate 5-2 of the sun wheel control clutch 5 is arranged at a corresponding position on the inner side of the transmission case 1;
the inner side of the transmission case 1 is provided with a fixed plate 6-1 of a gear ring control clutch 6, a movable plate 6-2 of the gear ring control clutch 6 is connected with a gear ring 9-4 of a double-acting planetary gear 9 (the double-acting planetary gear 9 comprises a sun gear 9-1, a planetary gear 9-2, a planet carrier 9-3 and a gear ring 9-4), the sun gear 9-1 of the double-acting planetary gear 9 is connected with the other end of a fourth connecting shaft 8, the outer teeth of the sun gear 9-1 and the inner teeth of the gear ring 9-4 of the double-acting planetary gear 9 are assembled and meshed with the planet carrier 9-3 of the double-acting planetary gear 9, the planet carrier 9-3 of the double-acting planetary gear 9 is connected with one end of a fifth connecting shaft 25, and the;
the other end of the third connecting shaft 7 sequentially passes through hollow axes of a fourth connecting shaft 8 and a fifth connecting shaft 25 and then is installed on the rocker arm 18, and a first belt pulley 16 is arranged on a shaft body of the third connecting shaft 7 positioned in the rocker arm 18;
the power unit 15, the transmission case 1 and the double-acting planetary row 9 are all located in the frame 14, the rocker arm 18 is located on the outer side of the frame 14, and a shaft body of the fifth connecting shaft 25 is fixed on the frame 14 through a bearing 13.
In the present embodiment, more specifically, the mobile platform further includes wheels 23; the rocker arm 18 further comprises a second pulley 20 and a sixth connecting shaft 21; the sixth connecting shaft 21 is installed in the rocker arm 18, one end of the sixth connecting shaft 21 serving as a power output end extends out of the rocker arm 18 and is connected with a wheel 23, and a shaft body of the sixth connecting shaft 21, which is positioned in the rocker arm 18, is provided with a second belt wheel 20; the first pulley 16 is connected to a second pulley 20 via a drive belt or chain 19.
In embodiments of the present invention, the rocker arm suspension will typically be equipped with a damping unit for absorbing vibrations during vibration of the rocker arm 18. The known damping devices can also be used for the rocker arm suspension according to the invention, for example, for the direct fastening of the gear box 1 of the rocker arm suspension to a damping unit or the like. In order to make the structure of the rocker arm suspension more stable and simplified, the utility model discloses in the further technical scheme that provides, the rocker arm suspension still includes the damping unit, the damping unit includes torsion bar spring 12, blade damper 11 and damping gear 10; a damping gear 10 is arranged on a rod body of the torsion bar spring 12, and the damping gear 10 is meshed with the outer teeth of the gear ring 9-4 of the double-acting planet row 9; the fixed plate of the blade damper 11 is fixed on the frame 14, the moving plate of the blade damper 11 is connected with one end of a torsion bar spring 12, and the other end of the torsion bar spring 12 is fixed in the frame 14.
In the embodiment of the present invention, the rocker arm suspension disclosed by the present invention further comprises a second pulley 20 and a sixth connecting shaft 21; the sixth connecting shaft 21 is installed in the rocker arm 18, one end of the sixth connecting shaft 21 serving as a power output end extends out of the rocker arm 18, and a second belt wheel 20 is arranged on a shaft body of the sixth connecting shaft 21 in the rocker arm 18; the first pulley 16 is connected to a second pulley 20 via a drive belt or chain 19. The transmission between the first belt pulley 16 and the second belt pulley 20 finally drives the sixth connecting shaft 21 to output power. Furthermore, in order to facilitate the control of the vehicle speed, in the embodiment of the present invention, a brake 17 is further disposed in the rocker arm 18; the brake 17 comprises a fixed plate and a movable plate, the fixed plate of the brake 17 is fixed on the inner side of the shell of the rocker arm 18, and the movable plate of the brake 17 is fixed on the third connecting shaft 7.
The embodiment of the utility model provides an in, first connecting axle 26 all is equipped with the bearing with transmission case 1, 18 casing junctions of rocking arm, and this belongs to setting commonly used, no longer explains.
In the embodiment of the present invention, the casing of the power unit 15 can be fixed on the casing of the transmission case 1, and the power unit 15 includes but is not limited to ac motor, servo motor, hydraulic motor, etc. to the power output device that can drive the first connecting shaft 26 to continuously rotate in the prior art can be used for explaining the utility model discloses a power unit 15.
In the embodiment of the present invention, the wheel driving clutch 3, the rocker driving clutch 4, the sun gear control clutch 5, and the ring gear control clutch 6 are of the types including but not limited to a wet clutch, a dry clutch, an electromagnetic clutch, a magnetic powder clutch, a gear sleeve, and a synchronizer.
In the embodiment of the present invention, the wheel 23 is provided with a second reduction planetary gear row 22 inside, the second reduction planetary gear row 22 includes a sun gear 22-1, a planetary gear 22-2, a planetary gear carrier 22-3 and a gear ring 22-4, the planetary gear 22-2 is engaged with the sun gear 22-1 and the gear ring 22-4, the gear ring 22-4 is fixed inside the shell of the rocker arm 18, the sun gear 22-1 is connected with the sixth connecting shaft 21, and the planetary gear carrier 22-3 is connected with the wheel 23.
The utility model discloses an in the practical application process, the rocking arm suspension includes two kinds of mode of driving wheel mode and driving rocking arm mode.
In the wheel driving mode, the wheel driving clutch 3 and the sun wheel control clutch 5 are combined, the rocker arm driving clutch 4 and the ring gear control clutch 6 are separated, the power transmission route is that the power unit 15 transmits to the first reduction planetary row 2 through the first connecting shaft 26, continues to transmit to the belt wheel 16 through the third connecting shaft 7 through the wheel driving clutch 3, then transmits to the sixth connecting shaft 21 through the belt wheel 20 through the transmission belt 19, finally transmits to the wheel 23 through the second reduction planetary row 22, and the power unit 15 finally drives the wheel 23 to rotate. In this mode, the sun gear 9-1 of the double-acting planetary row 9 is fixed and does not rotate due to the engagement of the sun gear control clutch 5, and the transmission path of the vibration caused by road bump is transmitted from the wheel 23 to the rocker 18, then to the carrier 9-3 via the fifth connecting shaft 25, then to the damper gear 10 via the ring gear 9-4, and finally to the torsion bar spring 12 and the blade damper 11, so that the vibration energy caused by road bump is finally absorbed by the torsion bar spring 12 and the blade damper 11.
In the driving rocker arm mode, the rocker arm driving clutch 4 and the gear ring control clutch 6 are combined, the wheel driving clutch 3 and the sun wheel control clutch 5 are separated, the power transmission route is that the power unit 15 is transmitted to the first reduction planetary row 2 through the first connecting shaft 26, is continuously transmitted to the double-acting planetary row 9 through the rocker arm driving clutch 4 and the fourth connecting shaft 8, and is transmitted to the rocker arm 18 through the planet carrier 9-3 and the fifth connecting shaft 25, and the power unit 15 finally drives the rocker arm 18 to rotate. In this mode, the ring gear control clutch 6 is combined, the ring gear 9-4 is fixed, the double-acting planet row 9 works in a mode that the sun gear 9-1 inputs and the planet carrier 9-3 outputs, the torsion bar spring 12 and the blade damper 11 do not work at the moment, the power unit 15 and the rocker arm 18 are in rigid transmission, and accurate movement position and movement speed can be obtained.
In the embodiment of the present invention, a plurality of rocker arm suspensions, i.e. wheel-legged robots, are arranged on two sides of the frame 14 in parallel. When an obstacle is encountered in the traveling path, the vehicle can cross the obstacle in combination with leg-type motion and wheel-type motion.
In the embodiment of the present invention, the wheel-leg type mobile platform is used in conjunction with a single-input double-acting rocker suspension, and when the wheel 23 is adjusted and driven by the power unit 15 through the transmission case 1, the damping unit torsion bar spring 12 and the blade damper 11 can well exert damping action; when the rocker 18 is driven by the power unit 15 through the transmission case 1, the damping unit torsion bar spring 12 and the elastic damping action of the blade damper 11 can be isolated mechanically, and the rocker 18 can obtain accurate movement position and movement speed.
The middle wheel leg type maneuvering platform can automatically adjust the driving posture of the platform according to different working conditions, and the obstacle crossing capability of the platform is improved under the condition of encountering obstacles; in addition, under the pivot steering running condition, the driving wheels are adjusted, so that part of the driving wheels are lifted off the ground, and the steering resistance under the pivot steering running condition is reduced.
The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A rocker arm suspension is characterized by comprising a power unit, a transmission case, a double-acting planet row and a rocker arm; a first reduction planet row, a wheel drive clutch, a rocker arm drive clutch, a sun wheel control clutch and a gear ring control clutch are arranged in the transmission case; wherein,
the gear ring of the first reduction planetary row is fixed on the inner side of the transmission case, the gear ring and the sun gear of the first reduction planetary row are both meshed with the planetary carrier of the first reduction planetary row, the axle center of the sun gear is connected with the power output end of the power unit through a first connecting shaft, and the axle center of the planetary carrier is connected with one end of a second connecting shaft; in the direction far away from the power unit, the other end of the second connecting shaft is fixedly connected with a driving sheet of the wheel driving clutch and a driving sheet of the rocker arm driving clutch in sequence, a driven sheet of the wheel driving clutch is connected to one end of the third connecting shaft, and a driven sheet of the rocker arm driving clutch is connected to one end of the fourth connecting shaft; the outer side shaft wall of the fourth connecting shaft is connected with a movable plate of the sun wheel control clutch, and a fixed plate matched with the movable plate of the sun wheel control clutch is arranged at a corresponding position on the inner side of the transmission case;
a fixed plate of a gear ring control clutch is arranged on the inner side of the transmission case, a movable plate of the gear ring control clutch is connected with a gear ring of the double-acting planetary row, a sun gear of the double-acting planetary row is connected with the other end of a fourth connecting shaft, external teeth of the sun gear and internal teeth of the gear ring of the double-acting planetary row are assembled and meshed with a planet carrier of the double-acting planetary row, the planet carrier of the double-acting planetary row is connected with one end of a fifth connecting shaft, and the other end of the fifth connecting shaft is connected with;
the other end of the third connecting shaft sequentially penetrates through hollow axes of the fourth connecting shaft and the fifth connecting shaft and then is installed on the rocker arm, and a first belt wheel is arranged on a shaft body of the third connecting shaft, which is positioned in the rocker arm.
2. The rocker arm suspension of claim 1, further comprising a damping unit comprising a torsion bar spring, a blade damper, and a damping gear; wherein,
a damping gear is arranged on a rod body of the torsion bar spring, a blade damper is arranged at one end of the torsion bar spring, and the other end of the torsion bar spring is fixed; and the vibration reduction gear is meshed with the external teeth of the gear ring of the double-acting planet row.
3. The rocker arm suspension of claim 2, wherein the rocker arm further comprises a second pulley and a sixth connecting shaft; the sixth connecting shaft is arranged in the rocker arm, one end of the sixth connecting shaft serving as a power output end extends out of the rocker arm, and a shaft body of the sixth connecting shaft, which is positioned in the rocker arm, is provided with a second belt wheel; the first belt wheel is connected with the second belt wheel through a transmission belt or a transmission chain.
4. The rocker arm suspension of claim 3 wherein a brake is further disposed within said rocker arm; the fixed piece of the brake is fixed on the inner side of the rocker arm shell, and the movable piece of the brake is fixed on the third connecting shaft.
5. The rocker arm suspension of claim 4, wherein the wheel drive clutch, rocker arm drive clutch, sun control clutch, ring gear control clutch types include, but are not limited to, wet clutches, dry clutches, electromagnetic clutches, magnetic particle clutches, gear sleeves, synchronizers.
6. A wheel-leg type maneuvering platform is characterized by comprising a frame, a plurality of rocker arm suspensions and wheels, wherein the rocker arm suspensions and the wheels are symmetrically arranged on two opposite sides of the frame;
the suspension comprises a power unit, a transmission case, a double-acting planet row and a rocker arm; a first reduction planet row, a wheel drive clutch, a rocker arm drive clutch, a sun wheel control clutch and a gear ring control clutch are arranged in the transmission case; wherein,
the gear ring of the first reduction planetary row is fixed on the inner side of the transmission case, the gear ring and the sun gear of the first reduction planetary row are both meshed with the planetary carrier of the first reduction planetary row, the axle center of the sun gear is connected with the power output end of the power unit through a first connecting shaft, and the axle center of the planetary carrier is connected with one end of a second connecting shaft; in the direction far away from the power unit, the other end of the second connecting shaft is fixedly connected with a driving sheet of the wheel driving clutch and a driving sheet of the rocker arm driving clutch in sequence, a driven sheet of the wheel driving clutch is connected to one end of the third connecting shaft, and a driven sheet of the rocker arm driving clutch is connected to one end of the fourth connecting shaft; the outer side shaft wall of the fourth connecting shaft is connected with a movable plate of the sun wheel control clutch, and a fixed plate matched with the movable plate of the sun wheel control clutch is arranged at a corresponding position on the inner side of the transmission case;
a fixed plate of a gear ring control clutch is arranged on the inner side of the transmission case, a movable plate of the gear ring control clutch is connected with a gear ring of the double-acting planetary row, a sun gear of the double-acting planetary row is connected with the other end of a fourth connecting shaft, external teeth of the sun gear and internal teeth of the gear ring of the double-acting planetary row are assembled and meshed with a planet carrier of the double-acting planetary row, the planet carrier of the double-acting planetary row is connected with one end of a fifth connecting shaft, and the other end of the fifth connecting shaft is connected with;
the other end of the third connecting shaft sequentially passes through hollow axes of a fourth connecting shaft and a fifth connecting shaft and then is installed on the rocker arm, and a shaft body of the third connecting shaft, which is positioned in the rocker arm, is provided with a first belt wheel;
the power unit, the transmission case and the double-acting planetary row are all located in the frame, the rocker arm and the wheels are located on the outer side of the frame, and a shaft body of the fifth connecting shaft is fixed to the frame through a bearing.
7. The wheel-legged powered platform according to claim 6, wherein the rocker arm suspension further includes a damping unit including a torsion bar spring, a blade damper, and a damping gear; wherein,
a rod body of the torsion bar spring is provided with a damping gear, and the damping gear is meshed with the outer teeth of the gear ring of the double-acting planet row;
the fixed plate of the blade damper is fixed on the frame, the moving plate of the blade damper is connected with one end of a torsion bar spring, and the other end of the torsion bar spring is fixed in the frame.
8. The wheel-legged powered platform according to claim 7, further comprising a wheel;
the wheel also comprises a second belt wheel and a sixth connecting shaft; the sixth connecting shaft is arranged in the rocker arm, one end of the sixth connecting shaft serving as a power output end extends out of the rocker arm and is connected with the wheel, and a shaft body of the sixth connecting shaft, which is positioned in the rocker arm, is provided with a second belt wheel; the first belt wheel is connected with the second belt wheel through a transmission belt or a transmission chain.
9. The wheel-legged powered platform according to claim 8, wherein a brake is further provided in the rocker arm; the fixed piece of the brake is fixed on the inner side of the rocker arm shell, and the movable piece of the brake is fixed on the third connecting shaft.
10. The wheel-legged mobile platform according to claim 9, wherein the wheel houses a second reduction planet row, the planet wheels of the second reduction planet row mesh with the sun wheel and the ring gear of the second reduction planet row, the ring gear of the second reduction planet row is fixed inside the rocker arm housing, the sun wheel of the second reduction planet row is connected with the sixth connecting shaft, and the planet carrier of the second reduction planet row is connected with the wheel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820611123.2U CN208452784U (en) | 2018-04-26 | 2018-04-26 | A kind of rocker arm suspension, wheel leg type motor platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820611123.2U CN208452784U (en) | 2018-04-26 | 2018-04-26 | A kind of rocker arm suspension, wheel leg type motor platform |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092552A (en) * | 2020-10-16 | 2020-12-18 | 中国北方车辆研究所 | Unmanned aerial vehicle chassis structure with flexible rocking arm suspension |
| CN112623059A (en) * | 2020-11-16 | 2021-04-09 | 北京理工大学前沿技术研究院 | Wheel-leg mechanism of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN112722108A (en) * | 2020-11-16 | 2021-04-30 | 北京理工大学前沿技术研究院 | Wheel-leg structure of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
-
2018
- 2018-04-26 CN CN201820611123.2U patent/CN208452784U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112092552A (en) * | 2020-10-16 | 2020-12-18 | 中国北方车辆研究所 | Unmanned aerial vehicle chassis structure with flexible rocking arm suspension |
| CN112092552B (en) * | 2020-10-16 | 2022-04-05 | 中国北方车辆研究所 | Unmanned aerial vehicle chassis structure with flexible rocking arm suspension |
| CN112623059A (en) * | 2020-11-16 | 2021-04-09 | 北京理工大学前沿技术研究院 | Wheel-leg mechanism of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN112722108A (en) * | 2020-11-16 | 2021-04-30 | 北京理工大学前沿技术研究院 | Wheel-leg structure of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
| CN112722108B (en) * | 2020-11-16 | 2022-04-12 | 北京理工大学前沿技术研究院 | Wheel-leg structure of motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
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Granted publication date: 20190201 Termination date: 20190426 |