技术领域technical field
本发明属于车辆技术领域，尤其涉及一种单输入双作用摇臂悬架以及轮腿式机动平台。The invention belongs to the technical field of vehicles, and in particular relates to a single-input double-acting rocker suspension and a wheel-leg motorized platform.
背景技术Background technique
无人车辆技术处于高速发展中，其中一个重要方向是小型化，具体要求是在不降低主要功能的前提下，整车质量降低、尺寸减小并且负载能力有一定的提升。这对无人机动平台的设计提出了很大挑战，其中一个应对策略是设计单位体积功率密度高的小型化功能部件，而在当前快速发展的过渡时期，可靠性比较高的小型化功能部件市场还不成熟，还达不到应用装备的要求，所以一个可行的应对策略是将主要的功能单元集成化设计，减少冗余部件，达到整车设计小型化的目标。Unmanned vehicle technology is developing at a high speed, and one of the important directions is miniaturization. The specific requirements are to reduce the quality and size of the vehicle and improve the load capacity without reducing the main functions. This poses a great challenge to the design of unmanned mobile platforms. One of the countermeasures is to design miniaturized functional components with high power density per unit volume. It is still immature and cannot meet the requirements of application equipment, so a feasible countermeasure is to integrate the design of the main functional units, reduce redundant components, and achieve the goal of miniaturization of the vehicle design.
轮腿式机动平台综合了自然界生物腿式运动对障碍的高通过性和轮式运动的高机动性，其特征是通过多组轮腿式机构，根据障碍类型按照一定的动作序列组合腿式运动和轮式运动来达到翻越障碍的目的。The wheel-legged mobile platform combines the high passability of natural biological legged movements to obstacles and the high mobility of wheeled movements. It is characterized in that through multiple sets of wheel-legged mechanisms, the legged movement is combined according to a certain action sequence according to the type of obstacles. And wheeled movement to achieve the purpose of overcoming obstacles.
发明内容Contents of the invention
本发明的首要目的在于提供一种单输入双作用摇臂悬架，该悬架将摇臂驱动和车轮驱动耦合在一起，旨在解决轮腿式机动平台小型化的问题。The primary purpose of the present invention is to provide a single-input double-acting rocker arm suspension, which couples rocker arm drive and wheel drive, and aims to solve the problem of miniaturization of wheel-leg motorized platforms.
本发明的另一目的在于提供一种轮腿式机动平台，该平台包括多个并联设置的上述单输入双作用摇臂悬架和车轮，通过控制多组摇臂悬架的腿式运动和轮式运动形成的动作序列，可以实现轮腿式机动平台翻越各种障碍。Another object of the present invention is to provide a wheel-leg motorized platform, which includes a plurality of the above-mentioned single-input double-acting rocker suspensions and wheels arranged in parallel. The action sequence formed by the wheel-legged movement can realize the wheel-legged mobile platform to climb over various obstacles.
本发明是这样实现的，一种摇臂悬架，该悬架包括动力单元、传动箱、双作用行星排以及摇臂；所述传动箱内设有第一减速行星排、车轮驱动离合器、摇臂驱动离合器、太阳轮控制离合器以及齿圈控制离合器；其中，The present invention is achieved in this way, a rocker arm suspension, the suspension includes a power unit, a transmission box, a double-acting planetary row and a rocker arm; the first reduction planetary row, a wheel drive clutch, a rocker arm drive clutch, sun gear control clutch, and ring gear control clutch; where,
所述第一减速行星排的齿圈固定在传动箱内侧，第一减速行星排的齿圈、太阳轮均与其行星架啮合，该太阳轮轴心通过第一连接轴与动力单元动力输出端连接，且该行星架轴心与第二连接轴一端连接；在远离动力单元方向上，所述第二连接轴另一端依次与车轮驱动离合器的主动片、摇臂驱动离合器的主动片固定连接，车轮驱动离合器的从动片连接在第三连接轴一端，摇臂驱动离合器的从动片连接在第四连接轴一端；所述第四连接轴外侧轴壁上连接有太阳轮控制离合器的动片，且所述传动箱内侧相应位置处设有与太阳轮控制离合器的动片相适配的定片；The ring gear of the first decelerating planetary row is fixed inside the transmission case, the ring gear and the sun gear of the first decelerating planetary row are both engaged with its planet carrier, and the axis of the sun gear is connected to the power output end of the power unit through the first connecting shaft. And the axis of the planetary carrier is connected to one end of the second connecting shaft; in the direction away from the power unit, the other end of the second connecting shaft is fixedly connected with the active plate of the wheel drive clutch and the active plate of the rocker arm drive clutch in sequence, and the wheel drives The driven plate of the clutch is connected to one end of the third connecting shaft, and the driven plate of the rocker arm driving clutch is connected to one end of the fourth connecting shaft; the moving plate of the sun gear control clutch is connected to the outer shaft wall of the fourth connecting shaft, and A fixed plate matching the moving plate of the sun gear control clutch is provided at a corresponding position inside the transmission box;
所述传动箱内侧设有齿圈控制离合器的定片，所述齿圈控制离合器的动片与双作用行星排的齿圈连接，所述双作用行星排的太阳轮与第四连接轴另一端连接，所述双作用行星排的太阳轮外齿、齿圈内齿与其行星架组装啮合，所述双作用行星排的行星架与第五连接轴一端连接，所述第五连接轴另一端与所述摇臂连接；The inner side of the transmission box is provided with the stator of the ring gear control clutch, the moving plate of the ring gear control clutch is connected to the ring gear of the double-acting planetary row, and the sun gear of the double-acting planetary row is connected to the other end of the fourth connecting shaft The outer teeth of the sun gear and the inner teeth of the ring gear of the double-acting planetary row are assembled and meshed with their planetary carrier. The planetary carrier of the double-acting planetary row is connected to one end of the fifth connecting shaft, and the other end of the fifth connecting shaft is connected to the The rocker arm is connected;
所述第三连接轴另一端依次穿过第四连接轴、第五连接轴中空轴心后安装在摇臂上，且所述第三连接轴位于摇臂内的轴体上设有第一带轮。The other end of the third connecting shaft passes through the fourth connecting shaft and the hollow axis of the fifth connecting shaft in turn and is installed on the rocker arm, and the shaft body of the third connecting shaft located in the rocking arm is provided with a first belt wheel.
优选地，所述摇臂悬架还包括减振单元，所述减振单元包括扭杆弹簧、叶片减振器以及减振齿轮；其中，Preferably, the rocker suspension also includes a damping unit, and the damping unit includes a torsion bar spring, a blade damper and a damping gear; wherein,
所述扭杆弹簧的杆体上设有减振齿轮，且扭杆弹簧一端设有叶片减振器，扭杆弹簧的另一端固定；所述减振齿轮与双作用行星排的齿圈外齿啮合。The rod body of the torsion bar spring is provided with a damping gear, and one end of the torsion bar spring is provided with a blade damper, and the other end of the torsion bar spring is fixed; the damping gear meshes with the outer teeth of the ring gear of the double-acting planetary row .
优选地，所述摇臂还包括第二带轮以及第六连接轴；所述第六连接轴安装在摇臂内，且第六连接轴一端做为动力输出端伸出摇臂外，所述第六连接轴位于摇臂内的轴体上设有第二带轮；所述第一带轮与第二带轮通过传动带或传动链条连接。Preferably, the rocker arm also includes a second pulley and a sixth connecting shaft; the sixth connecting shaft is installed in the rocking arm, and one end of the sixth connecting shaft extends out of the rocking arm as a power output end, the The sixth connecting shaft is located on the shaft body in the rocker arm and is provided with a second pulley; the first pulley is connected to the second pulley through a transmission belt or a transmission chain.
优选地，所述摇臂内还设有制动器；所述制动器的定片固定在摇臂壳体内侧，且所述制动器的动片固定在第三连接轴。Preferably, a brake is also provided in the rocker arm; the stator of the brake is fixed on the inner side of the rocker housing, and the moving plate of the brake is fixed on the third connecting shaft.
优选地，所述车轮驱动离合器、摇臂驱动离合器、太阳轮控制离合器、齿圈控制离合器类型包括但不限于湿式离合器、干式离合器、电磁离合器、磁粉离合器、齿套、同步器。Preferably, the types of wheel drive clutches, rocker arm drive clutches, sun gear control clutches, and ring gear control clutches include but are not limited to wet clutches, dry clutches, electromagnetic clutches, magnetic powder clutches, gear sleeves, and synchronizers.
本发明进一步公开了一种轮腿式机动平台，该平台包括车架以及对称安装在车架两相对侧的若干摇臂悬架和车轮；The invention further discloses a wheel-leg motorized platform, which includes a vehicle frame, a plurality of rocker suspensions and wheels symmetrically installed on two opposite sides of the vehicle frame;
该悬架包括动力单元、传动箱、双作用行星排以及摇臂；所述传动箱内设有第一减速行星排、车轮驱动离合器、摇臂驱动离合器、太阳轮控制离合器以及齿圈控制离合器；其中，The suspension includes a power unit, a transmission box, a double-acting planetary row and a rocker arm; the first reduction planetary row, a wheel drive clutch, a rocker arm drive clutch, a sun gear control clutch and a ring gear control clutch are arranged in the transmission box; in,
所述第一减速行星排的齿圈固定在传动箱内侧，第一减速行星排的齿圈、太阳轮均与其行星架啮合，该太阳轮轴心通过第一连接轴与动力单元动力输出端连接，且该行星架轴心与第二连接轴一端连接；在远离动力单元方向上，所述第二连接轴另一端依次与车轮驱动离合器的主动片、摇臂驱动离合器的主动片固定连接，车轮驱动离合器的从动片连接在第三连接轴一端，摇臂驱动离合器的从动片连接在第四连接轴一端；所述第四连接轴外侧轴壁上连接有太阳轮控制离合器的动片，且所述传动箱内侧相应位置处设有与太阳轮控制离合器的动片相适配的定片；The ring gear of the first decelerating planetary row is fixed inside the transmission case, the ring gear and the sun gear of the first decelerating planetary row are both engaged with its planet carrier, and the axis of the sun gear is connected to the power output end of the power unit through the first connecting shaft. And the axis of the planetary carrier is connected to one end of the second connecting shaft; in the direction away from the power unit, the other end of the second connecting shaft is fixedly connected with the active plate of the wheel drive clutch and the active plate of the rocker arm drive clutch in sequence, and the wheel drives The driven plate of the clutch is connected to one end of the third connecting shaft, and the driven plate of the rocker arm driving clutch is connected to one end of the fourth connecting shaft; the moving plate of the sun gear control clutch is connected to the outer shaft wall of the fourth connecting shaft, and A fixed plate matching the moving plate of the sun gear control clutch is provided at a corresponding position inside the transmission box;
所述传动箱内侧设有齿圈控制离合器的定片，所述齿圈控制离合器的动片与双作用行星排的齿圈连接，所述双作用行星排的太阳轮与第四连接轴另一端连接，所述双作用行星排的太阳轮外齿、齿圈内齿与其行星架组装啮合，所述双作用行星排的行星架与第五连接轴一端连接，所述第五连接轴另一端与所述摇臂连接；The inner side of the transmission box is provided with the stator of the ring gear control clutch, the moving plate of the ring gear control clutch is connected to the ring gear of the double-acting planetary row, and the sun gear of the double-acting planetary row is connected to the other end of the fourth connecting shaft The outer teeth of the sun gear and the inner teeth of the ring gear of the double-acting planetary row are assembled and meshed with their planetary carrier. The planetary carrier of the double-acting planetary row is connected to one end of the fifth connecting shaft, and the other end of the fifth connecting shaft is connected to the The rocker arm is connected;
所述第三连接轴另一端依次穿过第四连接轴、第五连接轴中空轴心后安装在摇臂上，且所述第三连接轴位于摇臂内的轴体上设有第一带轮；The other end of the third connecting shaft passes through the fourth connecting shaft and the hollow axis of the fifth connecting shaft in turn and is installed on the rocker arm, and the shaft body of the third connecting shaft located in the rocking arm is provided with a first belt wheel;
所述动力单元、传动箱、双作用行星排均位于车架内，所述摇臂和车轮位于车架外侧，所述第五连接轴的轴体上通过轴承固定在车架上。The power unit, the transmission box, and the double-acting planetary row are all located in the vehicle frame, the rocker arm and the wheel are located outside the vehicle frame, and the shaft body of the fifth connecting shaft is fixed on the vehicle frame through bearings.
优选地，所述摇臂悬架还包括减振单元，所述减振单元包括扭杆弹簧、叶片减振器以及减振齿轮；其中，Preferably, the rocker suspension also includes a damping unit, and the damping unit includes a torsion bar spring, a blade damper and a damping gear; wherein,
所述扭杆弹簧的杆体上设有减振齿轮，所述减振齿轮与双作用行星排的齿圈外齿啮合；The rod body of the torsion bar spring is provided with a damping gear, and the damping gear meshes with the outer teeth of the ring gear of the double-acting planetary row;
所述叶片减振器的定片固定在车架上，且所述叶片减振器的动片与扭杆弹簧一端连接，所述扭杆弹簧另一端固定在车架内。The fixed piece of the vane damper is fixed on the vehicle frame, and the moving piece of the vane damper is connected to one end of a torsion bar spring, and the other end of the torsion bar spring is fixed in the vehicle frame.
优选地，所述机动平台还包括车轮；Preferably, the motorized platform further includes wheels;
所述车轮还包括第二带轮以及第六连接轴；所述第六连接轴安装在摇臂内，且第六连接轴一端做为动力输出端伸出摇臂外并与车轮连接，所述第六连接轴位于摇臂内的轴体上设有第二带轮；所述第一带轮与第二带轮通过传动带或传动链条连接。The wheel also includes a second pulley and a sixth connection shaft; the sixth connection shaft is installed in the rocker arm, and one end of the sixth connection shaft is used as a power output end to extend out of the rocker arm and is connected to the wheel. The sixth connecting shaft is located on the shaft body in the rocker arm and is provided with a second pulley; the first pulley is connected to the second pulley through a transmission belt or a transmission chain.
优选地，所述摇臂内还设有制动器；所述制动器的定片固定在摇臂壳体内侧，且所述制动器的动片固定在第三连接轴。Preferably, a brake is also provided in the rocker arm; the stator of the brake is fixed on the inner side of the rocker housing, and the moving plate of the brake is fixed on the third connecting shaft.
优选地，所述车轮内置第二减速行星排，所述第二减速行星排的行星轮与其太阳轮、齿圈啮合，第二减速行星排的齿圈固定在摇臂壳体内侧，第二减速行星排的太阳轮与第六连接轴连接，第二减速行星排的行星架与车轮连接。Preferably, the wheel has a built-in second deceleration planetary row, the planetary gear of the second deceleration planetary row meshes with its sun gear and the ring gear, the ring gear of the second deceleration planetary row is fixed inside the rocker housing, and the second deceleration planetary row The sun gear of the planet row is connected with the sixth connection shaft, and the planet carrier of the second reduction planet row is connected with the wheels.
相比于现有技术的缺点和不足，本发明具有以下有益效果：Compared with the shortcomings and deficiencies of the prior art, the present invention has the following beneficial effects:
(1)在本发明摇臂悬架中，将驱动摇臂和驱动车轮两种功能耦合在一起，减少了其中间传动部件的占用空间和质量，实现了整车设计小型化；(1) In the rocker arm suspension of the present invention, the two functions of driving the rocker arm and the driving wheel are coupled together, which reduces the occupied space and quality of the intermediate transmission parts, and realizes the miniaturization of the vehicle design;
(2)在本发明摇臂悬架中，在驱动车轮模式工作状态，减振单元扭杆弹簧和叶片减振器的弹性阻尼作用有效降低了路面振动，保护车架内的重要部件；(2) In the rocker suspension of the present invention, in the working state of the driving wheel mode, the elastic damping effect of the damping unit torsion bar spring and the blade damper effectively reduces road vibration and protects the important parts in the vehicle frame;
(3)在本发明摇臂悬架中，在驱动车轮模式工作状态，叶片减振器固定在车架上有利于减振器散热，延长工作寿命；(3) In the rocker suspension of the present invention, in the working state of the driving wheel mode, the blade damper is fixed on the vehicle frame, which is beneficial to the heat dissipation of the damper and prolongs the working life;
(4)在本发明摇臂悬架中，在驱动摇臂模式工作状态，减振单元扭杆弹簧和叶片减振器不参与工作，摇臂能够获得精确的运动位置和运动速度；(4) In the rocker arm suspension of the present invention, in the working state of driving the rocker arm mode, the damping unit torsion bar spring and the blade damper do not participate in the work, and the rocker arm can obtain accurate motion position and motion speed;
(5)在本发明摇臂悬架中，在驱动摇臂模式工作状态，调节摇臂的运动位置实现整车姿态变换时，车轮至车轮驱动离合器的传动机构处于自由状态，避免了驱动车轮传动机构和驱动摇臂传动机构的干涉，即轴间至少两组摇臂同时调节运动位置时，车轮还可以自由旋转，不会发生运动互锁，而且可以通过制动器控制车轮的旋转状态，实现在坡道上调节整车姿态；(5) In the rocker arm suspension of the present invention, in the working state of the driving rocker arm mode, when adjusting the motion position of the rocker arm to realize the vehicle attitude transformation, the transmission mechanism from the wheel to the wheel driving clutch is in a free state, avoiding the drive wheel transmission. The interference between the mechanism and the driving rocker arm transmission mechanism, that is, when at least two sets of rocker arms between the shafts adjust the movement position at the same time, the wheels can still rotate freely without interlocking motion, and the rotation state of the wheels can be controlled by the brake to realize the slope. Adjust vehicle posture on the road;
(6)在本发明轮腿式机动平台中，可以根据不同工况自行调节平台的行车姿态，遇到障碍的情况下增加了平台的越障能力；(6) In the wheel-leg motorized platform of the present invention, the driving posture of the platform can be voluntarily adjusted according to different working conditions, and the obstacle-surmounting ability of the platform is increased when an obstacle is encountered;
(7)在本发明轮腿式机动平台中，在原地转向行驶工况下，调节驱动轮，使部分驱动轮离地，减小了原地转向行驶工况下的转向阻力。(7) In the wheel-leg motorized platform of the present invention, under the driving condition of turning in place, the driving wheels are adjusted so that part of the driving wheels are off the ground, thereby reducing the steering resistance under the driving condition of turning in place.
附图说明Description of drawings
图1是本发明摇臂悬架的内部结构示意图；Fig. 1 is the internal structure schematic diagram of rocker arm suspension of the present invention;
图2是图1中A部分的放大结构示意图；Fig. 2 is a schematic diagram of an enlarged structure of part A in Fig. 1;
图3是图1中B部分的放大结构示意图；Fig. 3 is the schematic diagram of enlarged structure of part B in Fig. 1;
图4是图1中C部分的放大结构示意图；Fig. 4 is a schematic diagram of an enlarged structure of part C in Fig. 1;
图5是本发明轮腿式机动平台的结构示意图。Fig. 5 is a structural schematic diagram of the wheel-leg motorized platform of the present invention.
具体实施方式Detailed ways
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.
如图1～3所示，其中，图1是本发明摇臂悬架的内部结构示意图，图2是图1中A部分的放大结构示意图，图3是图1中B部分的放大结构示意图。As shown in Figures 1-3, wherein, Figure 1 is a schematic diagram of the internal structure of the rocker suspension of the present invention, Figure 2 is a schematic diagram of the enlarged structure of part A in Figure 1, and Figure 3 is a schematic diagram of the enlarged structure of part B in Figure 1.
本发明公开了一种摇臂悬架，该悬架包括动力单元15、传动箱1、双作用行星排9以及摇臂18；所述传动箱1内设有第一减速行星排2、车轮驱动离合器3、摇臂驱动离合器4、太阳轮控制离合器5以及齿圈控制离合器6；其中，The invention discloses a rocker arm suspension, which includes a power unit 15, a transmission box 1, a double-acting planetary row 9 and a rocker arm 18; Clutch 3, rocker arm drive clutch 4, sun gear control clutch 5 and ring gear control clutch 6; wherein,
所述第一减速行星排(第一减速行星排2包括太阳轮2-1、行星轮2-2、行星架2-3和齿圈2-4)的齿圈2-4固定在传动箱1内侧，第一减速行星排2的齿圈2-4、太阳轮2-1均与其行星架2-3啮合，该太阳轮2-1轴心通过第一连接轴26与动力单元15动力输出端连接，且该行星架2-3轴心与第二连接轴24一端连接；在远离动力单元15方向上，所述第二连接轴24另一端依次与车轮驱动离合器3的主动片3-1、摇臂驱动离合器4的主动片4-1固定连接，车轮驱动离合器3的从动片3-2连接在第三连接轴7一端，摇臂驱动离合器4的从动片4-2连接在第四连接轴8一端；所述第四连接轴8外侧轴壁上连接有太阳轮控制离合器5的动片5-2，且所述传动箱1内侧相应位置处设有与太阳轮控制离合器5的动片5-2相适配的定片5-1；The ring gear 2-4 of the first deceleration planetary row (the first deceleration planetary row 2 includes the sun gear 2-1, the planetary gear 2-2, the planet carrier 2-3 and the ring gear 2-4) is fixed on the transmission case 1 On the inner side, the ring gear 2-4 and the sun gear 2-1 of the first reduction planetary row 2 are all meshed with the planet carrier 2-3, and the axis of the sun gear 2-1 is connected to the power output end of the power unit 15 through the first connecting shaft 26 connected, and the axis center of the planet carrier 2-3 is connected to one end of the second connecting shaft 24; in the direction away from the power unit 15, the other end of the second connecting shaft 24 is sequentially connected to the driving plate 3-1, The driving plate 4-1 of the rocker arm driving clutch 4 is fixedly connected, the driven plate 3-2 of the wheel driving clutch 3 is connected to one end of the third connecting shaft 7, and the driven plate 4-2 of the rocking arm driving clutch 4 is connected to the fourth One end of the connecting shaft 8; the moving plate 5-2 of the sun gear control clutch 5 is connected to the outer shaft wall of the fourth connecting shaft 8, and the corresponding position inside the transmission box 1 is provided with a moving plate 5-2 with the sun gear control clutch 5. The fixed piece 5-1 that the piece 5-2 is compatible with;
所述传动箱1内侧设有齿圈控制离合器6的定片6-1，所述齿圈控制离合器6的动片6-2与双作用行星排9(双作用行星排9包括太阳轮9-1、行星轮9-2、行星架9-3和齿圈9-4)的齿圈9-4连接，所述双作用行星排9的太阳轮9-1与第四连接轴8另一端连接，所述双作用行星排9的太阳轮9-1外齿、齿圈9-4内齿与其行星架9-3组装啮合，所述双作用行星排9的行星架9-3与第五连接轴25一端连接，所述第五连接轴25另一端与所述摇臂18连接；The inner side of the transmission box 1 is provided with the stator 6-1 of the ring gear control clutch 6, the moving plate 6-2 of the ring gear control clutch 6 is connected with the double-acting planetary row 9 (the double-acting planetary row 9 includes the sun gear 9- 1. The planetary gear 9-2, the planet carrier 9-3 and the ring gear 9-4 of the ring gear 9-4) are connected, and the sun gear 9-1 of the double-acting planetary row 9 is connected with the other end of the fourth connecting shaft 8 , the outer teeth of the sun gear 9-1 of the double-acting planetary row 9 and the inner teeth of the ring gear 9-4 are assembled and meshed with their planetary carrier 9-3, and the planetary carrier 9-3 of the double-acting planetary row 9 is connected to the fifth One end of the shaft 25 is connected, and the other end of the fifth connecting shaft 25 is connected to the rocker arm 18;
所述第三连接轴7另一端依次穿过第四连接轴8、第五连接轴25中空轴心后安装在摇臂18上，且所述第三连接轴7位于摇臂18内的轴体上设有第一带轮16。The other end of the third connecting shaft 7 passes through the hollow axis of the fourth connecting shaft 8 and the fifth connecting shaft 25 in sequence and is installed on the rocker arm 18 , and the third connecting shaft 7 is located in the shaft body inside the rocker arm 18 There is a first pulley 16 on it.
在本发明实施例中，第一连接轴26与传动箱1、摇臂18壳体连接处均设有轴承，这属于常用设置，不再赘述。In the embodiment of the present invention, bearings are provided at the joints between the first connecting shaft 26 and the housing of the transmission box 1 and the rocker arm 18, which is a commonly used arrangement and will not be described again.
在本发明实施例中，动力单元15的壳体可以固定在传动箱1的壳体上，动力单元15包括但不限于交流电机、伺服电机、液压马达等，以现有技术中能驱动第一连接轴26持续转动的动力输出装置均可以用于解释本发明的动力单元15。In the embodiment of the present invention, the housing of the power unit 15 can be fixed on the housing of the transmission box 1. The power unit 15 includes but is not limited to an AC motor, a servo motor, a hydraulic motor, etc., and can drive the first The power output device with continuous rotation of the connecting shaft 26 can be used to explain the power unit 15 of the present invention.
在本发明实施例中，所述车轮驱动离合器3、摇臂驱动离合器4、太阳轮控制离合器5、齿圈控制离合器6类型包括但不限于湿式离合器、干式离合器、电磁离合器、磁粉离合器、齿套、同步器。In the embodiment of the present invention, the types of the wheel drive clutch 3, the rocker arm drive clutch 4, the sun gear control clutch 5, and the ring gear control clutch 6 include but are not limited to wet clutches, dry clutches, electromagnetic clutches, magnetic powder clutches, tooth sets, synchronizers.
在本发明实施例中，摇臂悬架通常会配备减振单元(包括减振齿轮10、叶片减振器11、扭杆弹簧12)，用于在摇臂18振动过程中吸收振动。以现有的减振装置可同样用于本发明的摇臂悬架，例如，将摇臂悬架的传动箱1直接固定在减振单元上等等。为使本摇臂悬架结构更稳固和简化，本发明进一步提供的技术方案中，所述减振单元包括扭杆弹簧12、叶片减振器11以及减振齿轮10；其中，所述扭杆弹簧12的杆体上设有减振齿轮10，且扭杆弹簧12一端设有叶片减振器11；所述减振齿轮10与双作用行星排9的齿圈9-4的外齿啮合。In the embodiment of the present invention, the rocker arm suspension is usually equipped with a damping unit (including the damping gear 10 , the blade damper 11 , and the torsion bar spring 12 ) for absorbing vibrations during the vibration of the rocker arm 18 . Can also be used for rocker arm suspension of the present invention with existing damping device, for example, the transmission case 1 of rocker arm suspension is directly fixed on the vibration damping unit or the like. In order to make the rocker suspension structure more stable and simplified, in the technical solution further provided by the present invention, the damping unit includes a torsion bar spring 12, a blade damper 11 and a damping gear 10; wherein, the torsion bar The rod body of the spring 12 is provided with a damping gear 10, and one end of the torsion bar spring 12 is provided with a vane damper 11;
在本发明实施例中，本发明所公开的一种摇臂悬架还包括第二带轮20以及第六连接轴21；所述第六连接轴21安装在摇臂18内，且第六连接轴21一端做为动力输出端伸出摇臂18外，所述第六连接轴21位于摇臂18内的轴体上设有第二带轮20；所述第一带轮16与第二带轮20通过传动带或传动链条19连接。第一带轮16与第二带轮20的传动最终驱动第六连接轴21做动力输出。进一步的，为便于对车速的控制，在本发明实施例中，摇臂18内还设有制动器17；制动器17包括定片(图中省略标号)和动片(图中省略标号)，制动器17定片固定在摇臂18壳体内侧，制动器17动片固定在第三连接轴7上。In the embodiment of the present invention, a rocker arm suspension disclosed in the present invention further includes a second pulley 20 and a sixth connecting shaft 21; the sixth connecting shaft 21 is installed in the rocking arm 18, and the sixth connecting shaft One end of the shaft 21 stretches out of the rocking arm 18 as a power output end, and the sixth connecting shaft 21 is provided with a second pulley 20 on the shaft body in the rocking arm 18; the first pulley 16 and the second pulley The wheels 20 are connected by a drive belt or chain 19 . The transmission of the first pulley 16 and the second pulley 20 finally drives the sixth connecting shaft 21 for power output. Further, in order to facilitate the control of the speed of the vehicle, in the embodiment of the present invention, a brake 17 is also provided in the rocker arm 18; The fixed piece is fixed on the inner side of the rocker arm 18 housing, and the moving piece of the brake 17 is fixed on the third connecting shaft 7 .
在本发明的实际应用过程中，摇臂悬架包括驱动车轮模式以及驱动摇臂模式两种工作模式。In the actual application process of the present invention, the rocker suspension includes two working modes: the driving wheel mode and the driving rocker mode.
在驱动车轮模式中，车轮驱动离合器3和太阳轮控制离合器5接合，摇臂驱动离合器4和齿圈控制离合器6分离，动力传输路线为动力单元15经第一连接轴26传至第一减速行星排2，继续经车轮驱动离合器3由第三连接轴7传至第一带轮16，再由传动带19通过第二带轮20传至第六连接轴21做动力输出。在这种模式下由于太阳轮控制离合器5结合，双作用行星排9的太阳轮9-1固定不转，由路面颠簸引起的振动的传递路径为由摇臂18传递至第五连接轴25，再传至行星架9-3，然后由齿圈9-4传至减振齿轮10，最后传至扭杆弹簧12和叶片减振器11，这样由路面颠簸引起的振动能量最终由扭杆弹簧12和叶片减振器11吸收。In the driving wheel mode, the wheel drive clutch 3 and the sun gear control clutch 5 are engaged, the rocker arm drive clutch 4 is separated from the ring gear control clutch 6, and the power transmission route is that the power unit 15 transmits to the first deceleration planet through the first connecting shaft 26 Row 2 continues to be transmitted to the first pulley 16 by the third connecting shaft 7 through the wheel drive clutch 3, and then passed to the sixth connecting shaft 21 by the transmission belt 19 through the second pulley 20 for power output. In this mode, due to the combination of the sun gear control clutch 5, the sun gear 9-1 of the double-acting planetary row 9 is fixed and does not rotate, and the vibration transmission path caused by the bumpy road is transmitted from the rocker arm 18 to the fifth connecting shaft 25, It is then transmitted to the planetary carrier 9-3, then transmitted to the damping gear 10 by the ring gear 9-4, and finally transmitted to the torsion bar spring 12 and the blade damper 11, so that the vibration energy caused by road bumps is finally transmitted by the torsion bar spring 12 and blade damper 11 absorb.
在驱动摇臂模式中，摇臂驱动离合器4和齿圈控制离合器6接合，车轮驱动离合器3和太阳轮控制离合器5分离，动力传输路线为动力单元15经第一连接轴26传至第一减速行星排2，继续经摇臂驱动离合器4由第四连接轴8传至双作用行星排9，再经行星架9-3由第五连接轴25传至摇臂18，动力单元15最终驱动摇臂18旋转。在这种模式下，齿圈控制离合器6结合，则齿圈9-4固定不动，双作用行星排9的工作方式为太阳轮9-1输入，行星架9-3输出，此时扭杆弹簧12和叶片减振器11不工作，动力单元15和摇臂18传动为刚性传动，能够获得精确的运动位置和运动速度。In the mode of driving the rocker arm, the rocker arm drive clutch 4 and the ring gear control clutch 6 are engaged, the wheel drive clutch 3 and the sun gear control clutch 5 are separated, and the power transmission route is that the power unit 15 transmits to the first deceleration drive through the first connecting shaft 26 The planetary row 2 continues to be transmitted to the double-acting planetary row 9 from the fourth connecting shaft 8 to the double-acting planetary row 9 through the rocker arm drive clutch 4, and then is transmitted to the rocker arm 18 by the fifth connecting shaft 25 through the planet carrier 9-3, and the power unit 15 finally drives the rocker The arm 18 rotates. In this mode, the ring gear controls the clutch 6 to be combined, and the ring gear 9-4 is fixed. The working mode of the double-acting planetary row 9 is that the sun gear 9-1 is input, and the planet carrier 9-3 is output. At this time, the torsion bar The spring 12 and the vane shock absorber 11 do not work, and the transmission of the power unit 15 and the rocker arm 18 is rigid transmission, which can obtain accurate motion position and motion speed.
本发明通过将驱动摇臂18和驱动车轮两种功能耦合在一起，减少了其中间传动部件的占用空间和质量，实现了整车设计小型化。在驱动车轮模式工作状态下，减振单元扭杆弹簧12和叶片减振器11的弹性阻尼作用有效降低了路面振动，保护车架内的重要部件；在驱动车轮模式工作状态下，叶片减振器11固定在车架上有利于减振器散热，延长工作寿命；此外，在驱动摇臂模式工作状态，减振单元扭杆弹簧12和叶片减振器11不参与工作，摇臂能够获得精确的运动位置和运动速度。The present invention reduces the occupied space and quality of the transmission parts in the middle by coupling the two functions of the driving rocker arm 18 and the driving wheel, and realizes the design miniaturization of the whole vehicle. In the working state of the driving wheel mode, the elastic damping effect of the damping unit torsion bar spring 12 and the blade shock absorber 11 effectively reduces road vibration and protects important components in the frame; in the working state of the driving wheel mode, the blade vibration Fixing the shock absorber 11 on the frame is beneficial to the heat dissipation of the shock absorber and prolonging the working life; in addition, in the working state of the driving rocker arm mode, the torsion bar spring 12 of the shock absorbing unit and the blade shock absorber 11 do not participate in the work, and the rocker arm can obtain accurate position and speed of movement.
如图1～5所示，其中，图1是本发明摇臂悬架的内部结构示意图，图2是图1中A部分的放大结构示意图，图3是图1中B部分的放大结构示意图，图4是图1中C部分的放大结构示意图；图5是本发明轮腿式机动平台的结构示意图。As shown in Figures 1 to 5, wherein, Figure 1 is a schematic diagram of the internal structure of the rocker suspension of the present invention, Figure 2 is a schematic diagram of the enlarged structure of part A in Figure 1, and Figure 3 is a schematic diagram of the enlarged structure of part B in Figure 1, Fig. 4 is an enlarged structural schematic diagram of part C in Fig. 1; Fig. 5 is a structural schematic diagram of the wheel-leg motorized platform of the present invention.
本发明进一步公开了轮腿式机动平台，该平台包括车架14以及对称安装在车架14两相对侧的若干摇臂悬架；The present invention further discloses a wheel-leg motorized platform, which includes a vehicle frame 14 and several rocker suspensions symmetrically installed on two opposite sides of the vehicle frame 14;
该悬架包括动力单元15、传动箱1、双作用行星排9以及摇臂18；所述传动箱1内设有第一减速行星排2(第一减速行星排2包括太阳轮2-1、行星轮2-2、行星架2-3和齿圈2-4)、车轮驱动离合器3、摇臂驱动离合器4、太阳轮控制离合器5以及齿圈控制离合器6；其中，The suspension includes a power unit 15, a transmission case 1, a double-acting planetary row 9 and a rocker arm 18; the transmission case 1 is provided with a first deceleration planetary row 2 (the first deceleration planetary row 2 includes a sun gear 2-1, Planetary gear 2-2, planet carrier 2-3 and ring gear 2-4), wheel drive clutch 3, rocker arm drive clutch 4, sun gear control clutch 5 and ring gear control clutch 6; Wherein,
所述第一减速行星排2的齿圈2-4固定在传动箱1内侧，第一减速行星排的齿圈2-4、太阳轮2-1均与其行星架2-3啮合，该太阳轮2-1轴心通过第一连接轴26与动力单元15动力输出端连接，且该行星架2-3轴心与第二连接轴24一端连接；在远离动力单元15方向上，所述第二连接轴24另一端依次与车轮驱动离合器3的主动片3-1、摇臂驱动离合器4的主动片4-1固定连接，车轮驱动离合器3的从动片3-2连接在第三连接轴7一端，摇臂驱动离合器4的从动片4-2连接在第四连接轴8一端；所述第四连接轴8外侧轴壁上连接有太阳轮控制离合器5的动片5-2，且所述传动箱1内侧相应位置处设有与太阳轮控制离合器5的动片5-2相适配的定片5-1；The ring gear 2-4 of the first deceleration planetary row 2 is fixed inside the transmission case 1, the ring gear 2-4 and the sun gear 2-1 of the first deceleration planetary row are all meshed with the planet carrier 2-3, and the sun gear The 2-1 axis is connected to the power output end of the power unit 15 through the first connecting shaft 26, and the 2-3 axis of the planet carrier is connected to one end of the second connecting shaft 24; in the direction away from the power unit 15, the second The other end of the connecting shaft 24 is fixedly connected with the active plate 3-1 of the wheel drive clutch 3 and the active plate 4-1 of the rocker arm drive clutch 4 in turn, and the driven plate 3-2 of the wheel drive clutch 3 is connected to the third connecting shaft 7 At one end, the driven plate 4-2 of the rocker arm driving clutch 4 is connected to one end of the fourth connecting shaft 8; the outer shaft wall of the fourth connecting shaft 8 is connected with the moving plate 5-2 of the sun gear control clutch 5, and the A fixed plate 5-1 matching the moving plate 5-2 of the sun gear control clutch 5 is provided at a corresponding position inside the transmission box 1;
所述传动箱1内侧设有齿圈控制离合器6的定片6-1，所述齿圈控制离合器6的动片6-2与双作用行星排9(双作用行星排9包括太阳轮9-1、行星轮9-2、行星架9-3和齿圈9-4)的齿圈9-4连接，所述双作用行星排9的太阳轮9-1与第四连接轴8另一端连接，所述双作用行星排9的太阳轮9-1外齿、齿圈9-4内齿与其行星架9-3组装啮合，所述双作用行星排9的行星架9-3与第五连接轴25一端连接，所述第五连接轴25另一端与所述摇臂18连接；The inner side of the transmission box 1 is provided with the stator 6-1 of the ring gear control clutch 6, the moving plate 6-2 of the ring gear control clutch 6 is connected with the double-acting planetary row 9 (the double-acting planetary row 9 includes the sun gear 9- 1. The planetary gear 9-2, the planet carrier 9-3 and the ring gear 9-4 of the ring gear 9-4) are connected, and the sun gear 9-1 of the double-acting planetary row 9 is connected with the other end of the fourth connecting shaft 8 , the outer teeth of the sun gear 9-1 of the double-acting planetary row 9 and the inner teeth of the ring gear 9-4 are assembled and meshed with their planetary carrier 9-3, and the planetary carrier 9-3 of the double-acting planetary row 9 is connected to the fifth One end of the shaft 25 is connected, and the other end of the fifth connecting shaft 25 is connected to the rocker arm 18;
所述第三连接轴7另一端依次穿过第四连接轴8、第五连接轴25中空轴心后安装在摇臂18上，且所述第三连接轴7位于摇臂18内的轴体上设有第一带轮16；The other end of the third connecting shaft 7 passes through the hollow axis of the fourth connecting shaft 8 and the fifth connecting shaft 25 in sequence and is installed on the rocker arm 18 , and the third connecting shaft 7 is located in the shaft body inside the rocker arm 18 There is a first pulley 16 on it;
所述动力单元15、传动箱1、双作用行星排9均位于车架14内，所述摇臂18位于车架14外侧，所述第五连接轴25的轴体上通过轴承13固定在车架14上。The power unit 15, the transmission box 1, and the double-acting planetary row 9 are all located in the vehicle frame 14, the rocker arm 18 is located outside the vehicle frame 14, and the shaft body of the fifth connecting shaft 25 is fixed on the vehicle body through a bearing 13. Rack 14.
在本发明实施例中，更具体的，所述机动平台还包括车轮23；所述摇臂18还包括第二带轮20以及第六连接轴21；所述第六连接轴21安装在摇臂18内，且第六连接轴21一端做为动力输出端伸出摇臂18外并与车轮23连接，所述第六连接轴21位于摇臂18内的轴体上设有第二带轮20；所述第一带轮16与第二带轮20通过传动带或传动链条19连接。In the embodiment of the present invention, more specifically, the motorized platform further includes wheels 23; the rocker arm 18 also includes a second pulley 20 and a sixth connecting shaft 21; the sixth connecting shaft 21 is installed on the rocker arm 18, and one end of the sixth connecting shaft 21 stretches out of the rocking arm 18 as a power output end and is connected with the wheel 23. The sixth connecting shaft 21 is located on the shaft body in the rocking arm 18 and is provided with a second pulley 20 ; The first pulley 16 is connected to the second pulley 20 through a transmission belt or a transmission chain 19 .
在本发明实施例中，摇臂悬架通常会配备减振单元，用于在摇臂18振动过程中吸收振动。以现有的减振装置可同样用于本发明的摇臂悬架，例如，将摇臂悬架的传动箱1直接固定在减振单元上等等。为使本摇臂悬架结构更稳固和简化，本发明进一步提供的技术方案中，所述摇臂悬架还包括减振单元，所述减振单元包括扭杆弹簧12、叶片减振器11以及减振齿轮10；其中，所述扭杆弹簧12的杆体上设有减振齿轮10，所述减振齿轮10与双作用行星排9的齿圈9-4外齿啮合；所述叶片减振器11的定片固定在车架14上，且所述叶片减振器11的动片与扭杆弹簧12一端连接，所述扭杆弹簧12另一端固定在车架14内。In the embodiment of the present invention, the rocker arm suspension is usually equipped with a vibration damping unit for absorbing vibrations during the vibration of the rocker arm 18 . Can also be used for rocker arm suspension of the present invention with existing damping device, for example, the transmission case 1 of rocker arm suspension is directly fixed on the vibration damping unit or the like. In order to make the rocker suspension structure more stable and simplified, in the technical solution further provided by the present invention, the rocker suspension also includes a damping unit, and the damping unit includes a torsion bar spring 12, a blade damper 11 And damping gear 10; Wherein, the rod body of described torsion bar spring 12 is provided with damping gear 10, and described damping gear 10 meshes with the ring gear 9-4 external tooth of double-acting planetary row 9; The fixed plate of the vibrator 11 is fixed on the vehicle frame 14 , and the moving plate of the blade damper 11 is connected with one end of the torsion bar spring 12 , and the other end of the torsion bar spring 12 is fixed in the vehicle frame 14 .
在本发明实施例中，本发明所公开的一种摇臂悬架还包括第二带轮20以及第六连接轴21；所述第六连接轴21安装在摇臂18内，且第六连接轴21一端做为动力输出端伸出摇臂18外，所述第六连接轴21位于摇臂18内的轴体上设有第二带轮20；所述第一带轮16与第二带轮20通过传动带或传动链条19连接。第一带轮16与第二带轮20的传动最终驱动第六连接轴21做动力输出。进一步的，为便于对车速的控制，在本发明实施例中，摇臂18内还设有制动器17；制动器17包括定片和动片，制动器17定片固定在摇臂18壳体内侧，制动器17动片固定在第三连接轴7上。In the embodiment of the present invention, a rocker arm suspension disclosed in the present invention further includes a second pulley 20 and a sixth connecting shaft 21; the sixth connecting shaft 21 is installed in the rocking arm 18, and the sixth connecting shaft One end of the shaft 21 stretches out of the rocking arm 18 as a power output end, and the sixth connecting shaft 21 is provided with a second pulley 20 on the shaft body in the rocking arm 18; the first pulley 16 and the second pulley The wheels 20 are connected by a drive belt or chain 19 . The transmission of the first pulley 16 and the second pulley 20 finally drives the sixth connecting shaft 21 for power output. Further, in order to facilitate the control of the speed of the vehicle, in the embodiment of the present invention, a brake 17 is also provided in the rocker arm 18; the brake 17 includes a stator and a moving plate, and the brake 17 stator is fixed on the inner side of the rocker 18 housing, and the brake 17 moving pieces are fixed on the third connecting shaft 7.
在本发明实施例中，第一连接轴26与传动箱1、摇臂18壳体连接处均设有轴承，这属于常用设置，不再赘述。In the embodiment of the present invention, bearings are provided at the joints between the first connecting shaft 26 and the housing of the transmission box 1 and the rocker arm 18, which is a commonly used arrangement and will not be described again.
在本发明实施例中，动力单元15的壳体可以固定在传动箱1的壳体上，动力单元15包括但不限于交流电机、伺服电机、液压马达等，以现有技术中能驱动第一连接轴26持续转动的动力输出装置均可以用于解释本发明的动力单元15。In the embodiment of the present invention, the housing of the power unit 15 can be fixed on the housing of the transmission box 1. The power unit 15 includes but is not limited to an AC motor, a servo motor, a hydraulic motor, etc., and can drive the first The power output device with continuous rotation of the connecting shaft 26 can be used to explain the power unit 15 of the present invention.
在本发明实施例中，所述车轮驱动离合器3、摇臂驱动离合器4、太阳轮控制离合器5、齿圈控制离合器6类型包括但不限于湿式离合器、干式离合器、电磁离合器、磁粉离合器、齿套、同步器。In the embodiment of the present invention, the types of the wheel drive clutch 3, the rocker arm drive clutch 4, the sun gear control clutch 5, and the ring gear control clutch 6 include but are not limited to wet clutches, dry clutches, electromagnetic clutches, magnetic powder clutches, tooth sets, synchronizers.
在本发明实施例中，所述车轮23内置第二减速行星排22，第二减速行星排22包括太阳轮22-1、行星轮22-2、行星架22-3和齿圈22-4，行星轮22-2与太阳轮22-1和齿圈22-4啮合，齿圈22-4固定在摇臂18壳体内侧，太阳轮22-1与第六连接轴21连接，行星架22-3与车轮23连接。In the embodiment of the present invention, the wheel 23 has a built-in second deceleration planetary row 22, and the second deceleration planetary row 22 includes a sun gear 22-1, a planetary gear 22-2, a planet carrier 22-3 and a ring gear 22-4, The planetary gear 22-2 meshes with the sun gear 22-1 and the ring gear 22-4, the ring gear 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 planet carrier 22- 3 is connected with wheel 23.
在本发明的实际应用过程中，摇臂悬架包括驱动车轮模式以及驱动摇臂模式两种工作模式。In the actual application process of the present invention, the rocker suspension includes two working modes: the driving wheel mode and the driving rocker mode.
在驱动车轮模式中，车轮驱动离合器3和太阳轮控制离合器5结合，摇臂驱动离合器4和齿圈控制离合器6分离，动力传输路线为动力单元15经第一连接轴26传至第一减速行星排2，继续经车轮驱动离合器3由第三连接轴7传至带轮16，再由传动带19通过带轮20传至第六连接轴21，最后由第二减速行星排22传至车轮23，动力单元15最终驱动车轮23旋转。在这种模式下由于太阳轮控制离合器5结合，双作用行星排9的太阳轮9-1固定不转，由路面颠簸引起的振动的传递路径为由车轮23传递至摇臂18，再由第五连接轴25传至行星架9-3，然后由齿圈9-4传至减振齿轮10，最后传至扭杆弹簧12和叶片减振器11，这样由路面颠簸引起的振动能量最终由扭杆弹簧12和片减振器11吸收。In the driving wheel mode, the wheel drive clutch 3 is combined with the sun gear control clutch 5, the rocker arm drive clutch 4 is separated from the ring gear control clutch 6, and the power transmission route is that the power unit 15 transmits to the first speed reduction planet through the first connecting shaft 26 Row 2 continues to be passed to belt pulley 16 by the 3rd connecting shaft 7 through wheel drive clutch 3, is passed to the 6th connecting shaft 21 by belt pulley 20 again by transmission belt 19, is passed to wheel 23 by the second deceleration planet row 22 at last, The power unit 15 finally drives the wheels 23 to rotate. In this mode, due to the combination of the sun gear control clutch 5, the sun gear 9-1 of the double-acting planetary row 9 is fixed and does not rotate. The five connecting shafts 25 are transmitted to the planetary carrier 9-3, then transmitted to the damping gear 10 by the ring gear 9-4, and finally transmitted to the torsion bar spring 12 and the blade damper 11, so that the vibration energy caused by road bumps is finally The torsion bar spring 12 and plate damper 11 absorb.
在驱动摇臂模式中，摇臂驱动离合器4和齿圈控制离合器6结合，车轮驱动离合器3和太阳轮控制离合器5分离，动力传输路线为动力单元15经第一连接轴26传至第一减速行星排2，继续经摇臂驱动离合器4由第四连接轴8传至双作用行星排9，再经行星架9-3由第五连接轴25传至摇臂18，动力单元15最终驱动摇臂18旋转。在这种模式下，齿圈控制离合器6结合，则齿圈9-4固定不动，双作用行星排9的工作方式为太阳轮9-1输入，行星架9-3输出，此时扭杆弹簧12和叶片减振器11不工作，动力单元15和摇臂18传动为刚性传动，能够获得精确的运动位置和运动速度。In the mode of driving the rocker arm, the rocker arm drive clutch 4 is combined with the ring gear control clutch 6, and the wheel drive clutch 3 is separated from the sun gear control clutch 5. The planetary row 2 continues to be transmitted to the double-acting planetary row 9 from the fourth connecting shaft 8 to the double-acting planetary row 9 through the rocker arm drive clutch 4, and then is transmitted to the rocker arm 18 by the fifth connecting shaft 25 through the planet carrier 9-3, and the power unit 15 finally drives the rocker The arm 18 rotates. In this mode, the ring gear controls the clutch 6 to be combined, and the ring gear 9-4 is fixed. The working mode of the double-acting planetary row 9 is that the sun gear 9-1 is input, and the planet carrier 9-3 is output. At this time, the torsion bar The spring 12 and the vane shock absorber 11 do not work, and the transmission of the power unit 15 and the rocker arm 18 is rigid transmission, which can obtain accurate motion position and motion speed.
在本发明实施例中，车架14两侧通过并联方式安排若干摇臂悬架，也就是轮腿式机器人。当行驶路线中遇到障碍时，车辆可以结合腿式运动和轮式运动来翻越障碍。In the embodiment of the present invention, several rocker suspensions are arranged in parallel on both sides of the vehicle frame 14, that is, a wheel-legged robot. When an obstacle is encountered in the driving route, the vehicle can surmount the obstacle by combining leg motion and wheel motion.
在本发明实施例中，轮腿式机动平台配合单输入双作用摇臂悬架的使用，车轮23由动力单元15通过传动箱1调节驱动时，减振单元扭杆弹簧12和叶片减振器11能够很好地发挥减振作用；摇臂18由动力单元15通过传动箱1调节驱动时，减振单元扭杆弹簧12和叶片减振器11的弹性阻尼作用能够得到机械隔离，摇臂18能够获得精确的运动位置和运动速度。In the embodiment of the present invention, the wheel-leg motorized platform is used in conjunction with a single-input double-acting rocker suspension. When the wheels 23 are driven by the power unit 15 through the transmission box 1, the damping unit torsion bar spring 12 and blade shock absorber 11 can play a good damping effect; when the rocker arm 18 is adjusted and driven by the power unit 15 through the transmission box 1, the elastic damping effect of the damping unit torsion bar spring 12 and the blade damper 11 can be mechanically isolated, and the rocker arm 18 Accurate motion position and motion speed can be obtained.
本发明中轮腿式机动平台可以根据不同工况自行调节平台的行车姿态，遇到障碍的情况下增加了平台的越障能力；此外，在原地转向行驶工况下，调节驱动轮，使部分驱动轮离地，减小了原地转向行驶工况下的转向阻力。The wheel-leg motorized platform in the present invention can automatically adjust the driving posture of the platform according to different working conditions, and increase the obstacle-surmounting ability of the platform when encountering obstacles; The driving wheel is off the ground, which reduces the steering resistance in the driving condition of the spot steering.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810387781.2ACN108394270A (en) | 2018-04-26 | 2018-04-26 | A kind of rocker arm suspension, wheel leg type motor platform |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810387781.2ACN108394270A (en) | 2018-04-26 | 2018-04-26 | A kind of rocker arm suspension, wheel leg type motor platform |
| Publication Number | Publication Date |
|---|---|
| CN108394270Atrue CN108394270A (en) | 2018-08-14 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810387781.2APendingCN108394270A (en) | 2018-04-26 | 2018-04-26 | A kind of rocker arm suspension, wheel leg type motor platform |
| Country | Link |
|---|---|
| CN (1) | CN108394270A (en) |
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