CN215043241U - Wheel-leg mechanism for motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set - Google Patents
Wheel-leg mechanism for motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set Download PDFInfo
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- CN215043241U CN215043241U CN202120018073.9U CN202120018073U CN215043241U CN 215043241 U CN215043241 U CN 215043241U CN 202120018073 U CN202120018073 U CN 202120018073U CN 215043241 U CN215043241 U CN 215043241U
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Abstract
The application relates to a wheel-leg mechanism, a wheel-leg motor vehicle and a wheel-leg motor vehicle group for a motor vehicle, belonging to the field of wheel-leg mechanisms of motor vehicles, wherein thighs are rotationally arranged on a frame; the thigh driving unit is in transmission connection with the thigh and drives the thigh to swing relative to the frame; the shank is hinged with the thigh; the lower leg driving unit is in driving connection with the lower leg and drives the lower leg to swing relative to the thigh; the wheel is rotationally arranged on the shank; the elastic stop piece is connected between the wheel and the lower leg and is used for providing force for forcing the lower leg to rotate by the wheel; through the scheme, the damping effect can be improved on the basis of ensuring the control accuracy.
Description
Technical Field
The utility model relates to a wheel leg structure field of motor vehicle especially relates to a wheel leg formula mechanism, wheel leg formula motor vehicle and wheel leg formula motor vehicle group for the motor vehicle.
Background
The wheel-leg structure of the motor vehicle has the advantages of high passing performance of leg movement and high maneuverability of wheel movement, so that the wheel-leg structure is widely applied to the fields of mountain motor vehicles, engineering emergency vehicles, military affairs and the like, can deal with various complex terrains, and has good road condition applicability, especially the capability of passing obstacles. When the existing motor vehicle runs under different road conditions, the posture of a wheel-leg structure on the existing motor vehicle needs to be adjusted to meet the requirements of different road conditions, for example, in a high-speed motor terrain, the existing motor vehicle needs to run at high speed by wheel motion; in unstructured terrain, it is desirable to cross obstacles in legged motion. In order to ensure the adjustment accuracy of the existing wheel-leg mechanism, a rigid mechanical transmission type is generally adopted to drive the wheel legs, so that the action lag generated when the wheel-leg mechanism is adjusted can be avoided, and the control accuracy is ensured. Although the rigid mechanical transmission can ensure the adjustment accuracy to a certain extent, the damping effect is poor due to the rigid mechanical transmission, so that the problem that how to improve the damping effect on the basis of ensuring the control accuracy is solved at present.
SUMMERY OF THE UTILITY MODEL
This application is how to realize when the posture adjustment in order to solve the wheel leg mechanism of current motor vehicle on the basis of guaranteeing control accuracy with the problem that improves its shock attenuation effect, this application has designed a wheel leg mechanism, wheel leg motor vehicle and wheel leg motor vehicle group for the motor vehicle and can solve above-mentioned problem, and it specifically is:
a wheel-leg mechanism for a motor vehicle, connected to a frame of the motor vehicle, comprising:
the thighs are rotatably arranged on the frame;
the thigh driving unit is in transmission connection with the thigh and drives the thigh to swing relative to the frame;
the shank is hinged with the thigh;
the lower leg driving unit is in driving connection with the lower leg and drives the lower leg to swing relative to the thigh;
the wheel is rotationally arranged on the shank;
and the elastic stop piece is connected between the wheel and the lower leg and is used for providing force for forcing the lower leg to rotate by the wheel.
Preferably, the elastic stopper includes:
the swing seat is hinged to the shank, and the wheels are rotatably arranged on the swing seat;
the elastic control piece is connected between the swinging seat and the lower leg and provides resistance opposite to the swinging direction of the swinging seat so as to prevent the swinging seat from swinging.
Preferably, the swing seat comprises:
the wheel is rotatably arranged on the third connecting rod, and the elastic control is hinged between the first connecting rod and the shank; or the elastic control piece is hinged between the second connecting rod and the lower leg.
Preferably, the elastic control is a spring.
Preferably, the thigh drive unit includes:
a thigh drive motor;
the driving wheel is in transmission connection with the thigh driving motor;
the driven wheel is meshed with the driving wheel;
the hollow shaft is rotatably arranged on the frame and connected between the driven wheel and the thigh.
Preferably, the thigh drive unit further includes:
and the first planetary gear transmission assembly is in transmission connection between the thigh driving motor and the driving wheel.
Preferably, the lower leg drive unit includes:
a shank drive motor;
the first gear is connected with the lower leg driving motor, and the second gear is meshed with the first gear; or the device comprises a second planetary gear transmission component which is in transmission connection with the shank drive motor;
the belt transmission assembly is arranged in the thigh and is in transmission connection between the second gear and the shank, the second gear is in transmission connection with the belt transmission assembly through a rotating shaft, or the belt transmission assembly is arranged in the installation cavity and is in transmission connection with the second planetary gear transmission assembly and the shank, and the second planetary gear transmission assembly is in transmission connection with the belt transmission assembly through a rotating shaft.
Preferably, the method further comprises the following steps:
the wheel hub motor is arranged on the wheel and drives the wheel to rotate.
A wheel-legged motor vehicle, including above-mentioned wheel-legged mechanism, still includes:
the wheel leg type mechanism is arranged on the frame, the number of the wheel leg type mechanisms is multiple, and the plurality of the wheel leg type mechanisms are symmetrically arranged along the central axis of the frame.
A wheel-leg type motor vehicle set comprises the motor vehicles, wherein a plurality of motor vehicles are arranged, and the motor vehicles are hinged end to end.
The utility model realizes the power transmission of the thigh and the shank through the mechanical transmission unit, and the rigid mechanical transmission reduces the hysteresis of the transmission, thereby improving the accuracy of the thigh and shank control; meanwhile, the elastic stop piece is utilized to buffer the force of the wheels forcing the crus to swing, so that the vibration of the motor vehicle is reduced, and the vibration reduction effect of the motor vehicle is improved on the premise of ensuring the posture adjustment control accuracy of the motor vehicle.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of another embodiment of the lower leg drive unit;
FIG. 3 is a schematic illustration of a motor vehicle consist;
FIG. 4 is a schematic illustration of a motor vehicle consist.
In the figure, 1, a lower leg driving unit, 101, a second planetary gear transmission assembly, 102, a lower leg driving motor, 103, a rotating shaft, 104, a belt transmission assembly, 105, a first gear, 106, a second gear, 2, a frame, 3, a thigh, 4, a lower leg, 5, a thigh driving unit, 501, a first planetary gear transmission assembly, 502, a driving wheel, 503, a driven wheel, 504, a hollow shaft, 505, a thigh driving motor, 6, a hub motor, 7, an elastic stopper, 701, a swing seat, 701a, a first connecting rod, 701b, a third connecting rod, 701c, a second connecting rod, 702, a spring, 8 and a wheel.
Detailed Description
In order to clearly illustrate the technical features of the present invention, the present invention is explained in detail by the following embodiments with reference to the accompanying drawings.
In addition, in the description of the present invention, it should be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.
As shown in fig. 1, a wheel-leg mechanism for a motor vehicle, a wheel-leg motor vehicle and a wheel-leg motor vehicle combination are provided, wherein the wheel-leg mechanism is connected to a frame 2 of the motor vehicle, which comprises a thigh 3, a thigh drive unit 5, a calf 4, a calf drive unit 1, a wheel 8 and an elastic stop 7.
The thigh is hinged on the frame through a bearing, and the thigh driving unit 5 drives the thigh to swing around the frame.
The upper end of the shank 4 is hinged with the bottom end of the thigh 3, the bottom end of the shank 4 is rotatably connected with the wheel 8, and the shank driving unit 1 drives the shank to swing around the thigh.
The thigh drive unit 5 includes a thigh drive motor 505, a drive wheel 502, a driven wheel 503, and a hollow shaft 504.
Further, in order to realize transmission stability, the first planetary gear transmission assembly 501 is in transmission connection between the thigh driving motor 505 and the driving wheel 502, and the transmission ratio of the first planetary gear transmission assembly 501 is large, but the first planetary gear transmission assembly 501 is connected between the driving wheel 502 and the thigh driving motor 505, so that the transmission ratio of the first planetary gear transmission assembly 501 can be reduced while ensuring the transmission stability, the rotating speed of the thigh 3 is not too high, and the smooth control of the thigh 3 is ensured.
The upper end of the shank 4 is hinged with the bottom end of the thigh 3, and the bottom end of the shank 4 is rotatably connected with the wheel 8. The lower leg driving unit 1 drives the lower leg to swing relative to the thigh, and specifically, the lower leg driving unit 1 includes a lower leg driving motor 102, a second planetary gear transmission assembly 101 and a belt transmission assembly 104.
An installation cavity is formed in the thigh, a belt transmission assembly 104 is arranged in the installation cavity and is in transmission connection between the second planetary gear transmission assembly 101 and the shank, and the second planetary gear transmission assembly 101 and the belt transmission assembly 104 are in transmission connection through a rotating shaft 103; can effectively utilize the inside space of thigh 3 like this, optimize the arrangement mode, improve space utilization, in addition, it is steady effectual to have the transmission through planetary gear transmission, and planetary gear transmission compact structure, small, can carry out multistage variable speed to can be through directly installing it in the frame with second planetary gear transmission subassembly 101 and shank driving motor 102 integration, improve the installation convenience.
In an alternative embodiment, as shown in fig. 2, the lower leg drive unit 1 includes a lower leg drive motor 102, a first gear 105, a second gear 106, and a belt drive assembly 104.
The first gear 105 is connected with the lower leg driving motor 102, the second gear 106 is meshed with the first gear 105, a mounting cavity is formed in the upper leg, the belt transmission assembly 104 is arranged in the mounting cavity and is in transmission connection between the second gear 106 and the lower leg, and the second gear 106 is in transmission connection with the belt transmission assembly 104 through the rotating shaft 103. The first gear 105 and the second gear 106 are driven by the shank driving motor 102 and the belt transmission assembly 104 is driven to drive the shank 4 to swing relative to the thigh 3, and the adjustment of the distance between the wheel 8 and the frame 2 in the wheel-leg mechanism can also be realized by the swing of the shank 4, of course, the shank 4 and the thigh 3 can also swing at the same time or swing successively, and the adjustment of the distance between the wheel 8 and the frame 2 in the wheel-leg mechanism can also be realized.
It should be noted that the shank driving motor 102 and the thigh driving motor 505 are servo motors having a band-type brake function, that is, the locking of the thigh 3 and the shank 4 after swinging a certain angle is realized by the band-type brake function of the servo motors themselves, and the servo motors are closed-loop controlled, so that the transmission overshoot phenomenon is not caused, the control is more reliable, and the control accuracy of the thigh 3 and the shank 4 is improved to a certain extent.
In this embodiment, the wheels 8 are rotatable relative to the lower leg 4 to enable travel on the road.
In the wheel drive mode, which is suitable for a flat road condition capable of passing at high speed, the wheels 8 move in wheel motion on the road surface at high speed, thereby achieving the purpose of high mobility of the motor vehicle.
Under the wheel-leg driving mode, the mode is more suitable for the road condition that the road surface inclines leftwards and rightwards and is uneven, the thigh 3 or/and the shank 102 are controlled by controlling the thigh driving motor 505 to control the shank 4 to swing, and then the relative distance between the wheel 8 and the frame 2 in the whole wheel-leg mechanism is controlled, so that the wheel-leg mechanism adapts to the inclination of the current road surface, the frame 2 is always ensured to be basically horizontal, the possibility of overturning of the motor vehicle is avoided, and meanwhile, the wheel 8 rotates to meet the requirement of driving on the road surface.
In the leg mode, the mode is suitable for the road condition when the obstacle exists in the vertical direction, the thigh driving motor 505102 is controlled to control the swing and/or the shank driving motor 102 is controlled to control the swing, the relative distance between the wheel 8 and the frame 2 in the whole wheel-leg mechanism is further controlled, the wheel-leg mechanism is enabled to cross the obstacle by utilizing the swing of the thigh 3 or the shank 4, the wheel 8 does not rotate at the moment, and the whole motor vehicle almost crosses the obstacle in the stop state.
The elastic stop piece 7 is used for buffering the force of the wheel 8 on the lower leg 4 when the wheel-leg type structure is not subjected to posture adjustment, namely, the wheel 8 can bump when driving on a rugged road condition in a wheel type driving mode or a wheel-leg type driving mode, the bumpy force can force the lower leg 4 to rotate in a small range, and therefore the elastic stop piece 7 arranged between the lower leg 4 and the wheel 8 can buffer and digest the force and prevent the lower leg 4 from rotating, and the purpose of shock absorption is achieved.
Further, the structure of the elastic stopper 7 specifically includes a swing seat 701 and an elastic control. The swing seat 701 is hinged to the lower leg 4, meanwhile, the wheel 8 is rotatably connected to the swing seat 701, the elastic control is connected between the lower leg 4 and the swing seat 701, when the wheel 8 is bumpy, the wheel 8 forces the swing seat 701 to rotate along the hinged position with the lower leg 4, and at the moment, the elastic control can generate an acting force opposite to the swing direction of the swing seat 701 to prevent the swing seat 701 from swinging when the swing seat 701 swings, so that shock absorption is achieved.
Further, the swing seat 701 specifically includes a first connecting rod 701a, a second connecting rod 701c, and a third connecting rod 701 b. One end of the first connecting rod 701a and one end of the second connecting rod 701c are respectively hinged to the lower leg 4, the other end of the first connecting rod 701a and the other end of the second connecting rod 701c are hinged to the third connecting rod 701b, the wheel 8 is rotatably disposed on the third connecting rod 701b, the elastic control is hinged between the first connecting rod 701a and the lower leg 4, when the wheel 8 jolts, the wheel 8 transmits an external force to the third connecting rod 701b, the third connecting rod 701b moves upwards or downwards, and then the first connecting rod 701a and the second connecting rod 701c are driven to rotate around the hinge point of the first connecting rod 701a and the second connecting rod 701c respectively, and at the moment, the elastic control can generate an acting force opposite to the swinging direction of the swinging seat 701 to prevent the swinging seat 701 from swinging while the swinging seat 701 swings.
Of course, the first connecting rod, the second connecting rod and the third connecting rod can be replaced by connecting plates.
Alternatively, the elastic control may be hinged between the second connecting rod 701c and the lower leg 4, and when the first connecting rod 701a and the second connecting rod 701c rotate around their hinge points, the elastic control may still generate an acting force opposite to the swinging direction of the swinging seat 701 to prevent the swinging seat 701 from swinging.
Further, the elastic control is a spring 702, and the spring 702 is easy to implement, small in size, simple in structure and an existing finished product, and can be directly purchased from the market to meet the use requirement.
In an alternative embodiment, the structure of the swing seat 701 may also be configured as such, where the specific swing seat 701 is a U-shaped plate, two opposite side plates of the U-shaped plate are hinged to the lower leg 4, the lower leg 4 is hinged to the two side plates of the U-shaped plate and extends into a space in the U-shaped plate, the wheel 8 is rotatably connected to a transverse plate of the U-shaped plate, two or one spring 702 is provided, when two springs 702 are provided, each spring 702 is connected between the U-shaped plate and the lower leg 4, and the two springs 702 are symmetrically disposed on two sides of the U-shaped plate.
Further, to the rotation of wheel 8, this application is through setting up in it that in-wheel motor 6 directly drives, in-wheel motor 6 sets up and directly drives in wheel 8, has avoided reducing the weight of occupation space and whole motor vehicle because of setting up the outside outfit that needs other transmission parts, and in this application in-wheel motor 6 adopts the braking that possesses the direct current brushless motor or the permanent magnet synchronous motor of braking function to realize wheel 8.
The present application further includes a wheel-leg type motor vehicle, as shown in fig. 3, including the wheel-leg type mechanism, in addition, further including a frame 2, the wheel-leg type mechanism is disposed on the frame 2, the wheel-leg type mechanism is disposed in a plurality of, in this embodiment four, the four wheel-leg type mechanisms are symmetrically disposed on the left and right sides of the frame 2 along the central axis of the frame 2.
The application also protects a wheel-leg type motor vehicle group, as shown in fig. 4, comprising the motor vehicle, wherein a plurality of motor vehicles are arranged, and the plurality of motor vehicles are hinged end to form the motor vehicle group.
The above-mentioned specific embodiments can not be regarded as the restriction to the scope of protection of the utility model, to technical personnel in this technical field, it is right the utility model discloses any replacement improvement or transform that embodiment made all fall within the scope of protection of the utility model.
The parts of the present invention not described in detail are the known techniques of those skilled in the art.
Claims (10)
1. A wheel-leg mechanism for a motor vehicle, connected to a frame of the motor vehicle, comprising:
the thigh is rotatably arranged on the frame;
the thigh driving unit is in transmission connection with the thigh and drives the thigh to swing relative to the frame;
a lower leg hinged to the upper leg;
the lower leg driving unit is in driving connection with the lower leg and drives the lower leg to swing relative to the thigh;
the wheel is rotationally arranged on the shank;
the elastic stop piece is connected between the wheel and the lower leg and used for providing force for the wheel to force the lower leg to rotate.
2. A wheel-leg mechanism for a motor vehicle according to claim 1, characterized in that said elastic stopper comprises:
the swing seat is hinged to the lower leg, and the wheels are rotatably arranged on the swing seat;
the elastic control piece is connected between the swinging seat and the lower leg, and provides resistance opposite to the swinging direction of the swinging seat so as to prevent the swinging seat from swinging.
3. A wheel-leg mechanism for a motor vehicle according to claim 2, wherein said swing seat comprises:
the wheel is rotatably arranged on the third connecting rod, and the elastic control is hinged between the first connecting rod and the shank; or the elastic control piece is hinged between the second connecting rod and the lower leg.
4. A wheel-leg mechanism for a motor vehicle according to claim 3, characterised in that the resilient control is a spring.
5. A wheel-leg mechanism for a motor vehicle according to claim 1, characterized in that said thigh drive unit comprises:
a thigh drive motor;
the driving wheel is connected with the thigh driving motor;
the driven wheel is meshed with the driving wheel;
the hollow shaft is rotatably arranged on the frame and connected between the driven wheel and the thighs.
6. The wheel-leg mechanism for a motor vehicle according to claim 5, wherein the thigh drive unit further comprises:
a first planetary gear transmission assembly drivingly connected between the thigh drive motor and the drive wheel.
7. The wheel-leg mechanism for a motor vehicle according to claim 1 or 5, characterized in that the lower leg drive unit comprises:
a shank drive motor;
the first gear is connected with the lower leg driving motor, and the second gear is meshed with the first gear; or the device comprises a second planetary gear transmission assembly, and the second planetary gear transmission assembly is in transmission connection with the shank driving motor;
the belt transmission assembly is arranged in the installation cavity and is in transmission connection with the second gear and the shank, the second gear is in transmission connection with the belt transmission assembly through a rotating shaft, or the belt transmission assembly is arranged in the installation cavity and is in transmission connection with the second planetary gear transmission assembly and the shank, and the second planetary gear transmission assembly is in transmission connection with the belt transmission assembly through a rotating shaft.
8. A wheel-leg mechanism for a motor vehicle according to claim 1, further comprising:
the wheel hub motor is arranged on the wheel and drives the wheel to rotate.
9. A wheel-legged motor vehicle comprising a wheel-legged mechanism according to any one of claims 1-8, characterized in that it further comprises:
the wheel leg type mechanism is arranged on the frame, the wheel leg type mechanisms are arranged in a plurality, and the wheel leg type mechanisms are symmetrically arranged along the central axis of the frame.
10. A wheel-legged motor vehicle assembly comprising a motor vehicle as claimed in claim 9, wherein a plurality of motor vehicles are provided, the plurality of motor vehicles being articulated end to end.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2020226532208 | 2020-11-16 | ||
| CN202022653220 | 2020-11-16 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN215043241U true CN215043241U (en) | 2021-12-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120018073.9U Active CN215043241U (en) | 2020-11-16 | 2021-01-04 | Wheel-leg mechanism for motor vehicle, wheel-leg motor vehicle and wheel-leg motor vehicle set |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN215043241U (en) |
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2021
- 2021-01-04 CN CN202120018073.9U patent/CN215043241U/en active Active
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