A vibration reduction mechanism for a wheel-leg type vehicle and a wheel-leg type structure thereof

Abstract

The present invention discloses a shock absorbing mechanism for a wheel-leg vehicle and its wheel-leg structure, comprising a spring outer sleeve and a spring inner sleeve and a first spring seat respectively arranged at the two axial ends of the spring outer sleeve, the first spring seat and the spring inner sleeve respectively being provided with a first limiting protrusion and a second limiting protrusion extending axially toward each other, the first limiting protrusion and the second limiting protrusion both being deeply inserted into the spring outer sleeve, and dividing the inner diameter side of the spring outer sleeve into two spring placement areas, compression springs being respectively arranged in the circumferential direction in the two spring placement areas, after locking the spring inner sleeve, a shock absorbing connection is achieved between the first spring seat and the spring inner sleeve through the compression spring. The present invention arranges a compression spring between the spring inner sleeve and the first spring seat, and uses the compression spring to achieve a shock absorbing connection between the two, and can use the compression deformation of the compression spring to achieve a larger shock absorbing stroke, which is beneficial to buffering a larger impact brought by the ground, and further ensuring the stability during wheeled motion.

Description

Technical Field

[0001] The invention relates to the technical field of vibration reduction of wheel-leg type vehicles, and in particular to a vibration reduction mechanism for wheel-leg type vehicles and a wheel-leg type structure thereof. Background Art

[0002] Wheel-legged vehicles are platforms with multiple forms of mobility, such as wheels, legs, and composites. They have the advantages of both wheeled platforms and bionic leg-foot platforms. They can have different solutions and strategies when dealing with different road environments, and are more flexible and maneuverable than a single form of mobility. When wheel-legged vehicles perform wheeled motion, similar to smart cars or small unmanned vehicles, they often travel at a faster speed and are impacted by the ground. Therefore, wheel-legged vehicles require a vibration reduction system to provide them with a certain buffering and vibration reduction capacity to reduce the negative impact of road impact; when driven by legged motion, the force of the ground on the foot end can be reduced through joint compliance control strategies, so the demand for a vibration reduction system is relatively low.

[0003] Due to the different leg design forms and driving modes, some existing wheel-leg vehicles do not have a vibration reduction system, some are based on the flexible structure design of the leg to achieve the vibration reduction effect, and some achieve the buffer vibration reduction effect through torsion springs. For example, the Chinese patent application publication number CN 113483035 A discloses a suspension mechanism that can be used for wheel-leg vehicles, including a first vibration reduction part, the first vibration reduction part includes a torsion spring support seat, a torsion spring is sleeved on the torsion spring support seat, and a second vibration reduction part is arranged in the first vibration reduction part, and the first vibration reduction part and the second vibration reduction part can rotate relative to each other. This scheme achieves the vibration reduction effect through torsion springs. In addition, the Chinese patent application publication number CN 113306649 A discloses an integrated arrangement structure of a suspension and a drive system, and this scheme also uses torsion springs to achieve the vibration reduction effect. For the application of torsion springs, the above schemes are all provided with a torsion spring support seat sleeved with torsion springs. When the torsion springs are subjected to torsion force, they will radially contract or expand, which requires a large radial deformation space, otherwise it will affect the vibration reduction effect.

[0004] The Chinese patent application publication number CN 113306645 A discloses a detachable torsional vibration reduction mechanism applicable to a wheeled leg vehicle, comprising an inner ring cylinder capable of being connected to a calf motor in a transmission manner, an outer ring positioning ring being hinged on the outer wall of the inner ring cylinder through an elastic member, the outer ring positioning ring being capable of being fixedly engaged with an electromagnetic pin installed on the inner thigh arm, the inner thigh arm being capable of being fixedly connected to the vehicle body through a limiting device; a thigh outer arm being fixedly connected to one side of the inner thigh arm, and the fixed end of the calf motor being arranged on the outer side of the thigh outer arm. The elastic member comprises a spring, which is sleeved on the outside of the sleeve and the connecting rod, and the vibration reduction effect is achieved by the compression of the spring. It can be seen that the scheme adopts a compression spring to replace the torsion spring, but from the design structure of the spring of the scheme, it can mainly play a vibration reduction effect when the spring is compressed, and cannot play a vibration reduction effect when it rotates in the opposite direction. Summary of the invention

[0005] The object of the present invention is to provide a shock absorbing mechanism for a wheel-legged vehicle and its wheel-legged structure, so as to solve the problems existing in the above-mentioned prior art. A compression spring is arranged between the spring inner sleeve and the first spring seat, and a shock absorbing connection between the two is realized by utilizing the compression spring. The compression deformation of the compression spring can realize a larger shock absorbing stroke, which is beneficial for buffering the larger impact brought by the ground and further ensuring the stability during wheeled movement.

[0006] To achieve the above object, the present invention provides the following solutions:

[0007] The present invention provides a shock absorbing mechanism for a wheel-leg type vehicle, comprising a spring outer sleeve and a spring inner sleeve and a first spring seat respectively arranged at the axial two end portions of the spring outer sleeve, the first spring seat and the spring inner sleeve respectively being provided with a first limiting protrusion and a second limiting protrusion extending axially towards each other, the first limiting protrusion and the second limiting protrusion both being deeply inserted into the spring outer sleeve, and dividing the inner diameter side of the spring outer sleeve into two spring placement areas, compression springs being respectively arranged in the circumferential direction in the two spring placement areas, after the spring inner sleeve is locked, a shock absorbing connection is achieved between the first spring seat and the spring inner sleeve through the compression spring.

[0008] Preferably, it includes a motor mounting base for installation on a vehicle body, a pin driving structure is installed on the motor mounting base, the driving part of the pin driving structure is connected to a limit pin, the spring inner sleeve is provided with a first pin groove, and the limit pin can be inserted into the first pin groove to limit the circumferential rotation of the spring inner sleeve.

[0009] Preferably, the pin driving structure is a steering gear, the main shaft of the steering gear is perpendicular to the slotting direction of the first pin slot, and the limiting pin is inserted into or out of the first pin slot by rotating the main shaft of the steering gear.

[0010] Preferably, a second spring seat is provided on the inner diameter side of the spring outer sleeve, the second spring seat is circumferentially limitedly connected to the spring inner sleeve, and the compression spring is located in an annular space formed by the second spring seat and the spring outer sleeve.

[0011] Preferably, a buffer mechanism is provided on the inner diameter side of the second spring seat, and the buffer mechanism includes an axially extending disc spring mounting seat and a disc spring, a pin disk and a friction plate which are sequentially sleeved on the disc spring mounting seat, and the friction plate includes an outer tooth friction plate and an inner tooth friction plate, and the outer tooth friction plate is circumferentially limitedly connected to the second spring seat, and the inner tooth friction plate is circumferentially limitedly connected to the disc spring mounting seat, and when the disc spring mounting seat rotates, the pins in the pin disk make circular motion in the spherical spiral groove, pushing the pin disk to axially press the outer tooth friction plate and the inner tooth friction plate.

[0012] Preferably, the disc spring mounting seat is circumferentially limitedly connected to the first spring seat.

[0013] Preferably, a connecting seat is provided at the end of the disc spring mounting seat, and a driving pulley for driving the calf arm to rotate is circumferentially limitedly connected to the connecting seat, and the connecting seat is used for power connection to the calf motor.

[0014] The present invention also provides a wheel-leg type structure, which uses the shock absorbing mechanism for wheel-leg type vehicles described above, wherein the outer diameter side sleeve of the spring outer sleeve is provided with a thigh arm, and the axial ends are respectively provided with a calf motor and a thigh motor, the thigh motor is installed on the motor mounting seat, the thigh motor is used to drive the thigh arm to rotate, the calf motor is used to drive the calf arm to rotate, and the end of the calf arm is provided with a wheel and a hub motor that drives the wheel to rotate.

[0015] Preferably, the calf motor is connected to a driving pulley, and a driven pulley fixedly connected to the calf arm is provided at the hinge between the thigh arm and the calf arm. The driving pulley and the driven pulley are connected by a belt, and the belt is provided in a cavity inside the thigh arm.

[0016] Preferably, a second pin slot is provided on the motor mounting seat, and a third pin slot is provided on the thigh arm, and the limit pin can be simultaneously inserted into the first pin slot, the second pin slot and the third pin slot, thereby locking the thigh arm and the spring inner sleeve at the same time.

[0017] Compared with the prior art, the present invention has achieved the following technical effects:

[0018] (1) The present invention arranges a compression spring between the spring inner sleeve and the first spring seat to realize a vibration-damping connection between the two by using the compression spring, and can realize a larger vibration-damping stroke by using the compression deformation of the compression spring, which is beneficial for buffering a larger impact caused by the ground, and further ensuring the stability during wheeled motion;

[0019] (2) The present invention uses a limit pin to be inserted into the first pin groove of the spring inner sleeve to limit the rotation of the spring inner sleeve, which can lock the vibration reduction mechanism, thereby exerting a vibration reduction effect. When applied to a wheel-leg structure, the limit pin can be used to lock the thigh arm and the motor mounting seat at the same time, so that the thigh arm and the thigh motor can be locked together with the vehicle body. The vibration transmitted by the calf arm is transmitted to the vehicle body after passing through the vibration reduction mechanism, thereby achieving vibration reduction during wheeled movement. During leg-type movement, the limit pin is controlled to release the lock, so that the vibration reduction mechanism rotates together with the calf motor, thereby meeting the vibration reduction requirements of wheeled movement of wheel-legged vehicles, while avoiding obstruction to leg movement and influence on leg control.

[0020] (3) The present invention provides a buffer mechanism on the inner diameter side of the second spring seat. After the spring inner sleeve is locked, the buffer mechanism starts to work, which can achieve the vibration reduction and buffering effect of the vehicle, achieve the buffering of the impact on the ground, achieve vibration reduction, and avoid the shaking and overturning of the vehicle body. In addition, it can cooperate with the compression spring to further improve the buffering and vibration reduction effect, avoid the reciprocating vibration impact during vibration reduction caused by the use of the compression spring alone, eliminate vibration more quickly, and achieve a better buffering and vibration reduction effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0022] Figure 1 This is a schematic diagram of the wheel-leg structure of the present invention;

[0023] Figure 2 for Figure 1 A schematic diagram of the wheel-leg structure with the motor mounting seat removed;

[0024] Figure 3 for Figure 1 A structural diagram showing the matching relationship between the limit pin and the first pin groove;

[0025] Figure 4 It is a schematic diagram of the internal structure of the vibration reduction mechanism of the present invention;

[0026] Figure 5 It is a schematic diagram of the exploded structure of some parts of the vibration reduction mechanism of the present invention;

[0027] Among them, 1. thigh motor; 2. motor mounting seat; 21. second pin slot; 3. hub motor; 4. calf arm; 5. thigh arm; 51. third pin slot; 6. calf motor; 7. servo; 8. limit pin; 9. wheel; 10. spring inner sleeve; 101. second limit protrusion; 102. first pin slot; 11. first spring seat; 111. first limit protrusion; 12. second spring seat; 13. spring outer sleeve; 14. compression spring; 15. connecting seat; 16. disc spring; 17. pin plate; 18. disc spring mounting seat; 19. friction plate; 20. pins. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] The purpose of the present invention is to provide a shock absorbing mechanism for a wheel-legged vehicle and its wheel-legged structure, so as to solve the problems existing in the prior art. A compression spring is arranged between the spring inner sleeve and the first spring seat, and a shock absorbing connection between the two is realized by utilizing the compression spring. The compression deformation of the compression spring can realize a larger shock absorbing stroke, which is beneficial for buffering the larger impact brought by the ground and further ensuring the stability during wheeled movement.

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0031] like Figures 1 to 5As shown, the present invention provides a shock absorbing mechanism for a wheel-leg type vehicle, comprising a spring outer sleeve 13 and a spring inner sleeve 10 and a first spring seat 11 respectively arranged at two axial ends of the spring outer sleeve 13, wherein the spring outer sleeve 13 is mainly used to accommodate a set compression spring 14, and an arc-shaped groove for accommodating the compression spring 14 can be circumferentially arranged on the inner wall to limit the axial movement of the compression spring 14 in the spring outer sleeve 13, so as to ensure that the compression spring 14 mainly works in a circumferential compression or tension working state. The first spring seat 11 and the spring inner sleeve 10 are respectively provided with a first limiting protrusion 111 and a second limiting protrusion 101 extending axially towards each other. The first limiting protrusion 111 and the second limiting protrusion 101 are both a section of arc-shaped plate. After penetrating into the spring outer sleeve 13, the inner diameter side of the spring outer sleeve 13 is divided into two spring placement areas. Compression springs 14 are respectively arranged in the circumferential direction in the two spring placement areas. Multiple compression springs 14 can be arranged side by side in each spring placement area. The two ends of the compression spring 14 are respectively abutted on the first limiting protrusion 111 and the second limiting protrusion 101. When the first limiting protrusion 111 and the second limiting protrusion 101 rotate relative to each other, the compression deformation of the compression spring 14 on one side can be achieved. When rotating in the opposite direction, the compression deformation of the compression spring 14 on the other side is achieved. It should be noted that the arc-shaped groove provided on the inner wall of the spring jacket 13 can be a receiving groove excavated from the inner wall of the spring jacket 13, or it can be a receiving groove formed by the inner wall of the spring jacket 13 extending radially inward. When the latter structure is adopted, the receiving groove can form a limiting structure. After the second limiting protrusion 101 penetrates into the spring jacket 13, the limiting structure can form a limiting groove that limits the relative position relationship between the spring jacket 13 and the spring inner sleeve 10. At this time, the spring jacket 13 and the spring inner sleeve 10 are circumferentially limited and cannot rotate relative to each other. In addition, the limiting structure can also form a limiting groove for the first limiting protrusion 111. Different from the limiting groove for the second limiting protrusion 101, the limiting groove for the first limiting protrusion 111 can make the first limiting protrusion 111 have a certain rotation spacing in the circumferential direction. While playing a buffering and shock absorbing role, it can also avoid the damage of the vibration reduction mechanism caused by the transition deformation of the compression spring 14. It can be seen from the above structure that after locking the spring inner sleeve 10, the first spring seat 11 and the spring inner sleeve 10 are connected to each other in a vibration-damping manner through the compression spring 14. In summary, the present invention provides a compression spring 14 between the spring inner sleeve 10 and the first spring seat 11, and uses the compression spring 14 to achieve a vibration-damping connection between the two. The compression deformation of the compression spring 14 can be used to achieve a larger vibration-damping stroke, which is beneficial for buffering a larger impact caused by the ground, and further ensuring stability during wheeled motion.

[0032] The vibration reduction mechanism may also include a motor mounting seat 2 for mounting on the vehicle body. The motor mounting seat 2 can be fixedly connected to the vehicle body as a whole. When the motor mounting seat 2 is installed with the thigh motor 1, the thigh motor 1 can be used to achieve the driving and rotating effect of the thigh arm 5. A pin driving structure is installed on the motor mounting seat 2. The driving part of the pin driving structure is connected to the limit pin 8. When the pin driving structure is a linear driving structure, the limit pin 8 performs linear reciprocating motion. When the pin driving structure is a rotation driving structure, the limit pin 8 performs swinging motion. The spring inner sleeve 10 is provided with a first pin groove 102. Regardless of whether the limit pin 8 performs linear motion or swinging motion, since the pin driving structure is fixedly connected to the vehicle body through the motor mounting seat 2, after the limit pin 8 is inserted into the first pin groove 102, the circumferential rotation of the spring inner sleeve 10 can be limited. After the spring inner sleeve 10 is locked, when the first spring seat 11 is vibrated, the vibration can be filtered by the compression spring 14 and then transmitted through the spring inner sleeve 10 to the limit pin 8, the pin drive structure, the motor mounting seat 2 and finally the vehicle body, thereby achieving the effect of vibration reduction and buffering.

[0033] Furthermore, the pin driving structure can be selected as a steering gear 7, and the steering gear 7 is fixed on the motor mounting seat 2 by means of a steering gear mounting frame. The main shaft of the steering gear 7 is perpendicular to the slotting direction of the first pin slot 102, and the stop pin 8 can be inserted into or removed from the first pin slot 102 by rotating the main shaft of the steering gear 7, so that the locking of the spring inner sleeve 10 can be controlled by controlling the rotation of the main shaft of the steering gear 7.

[0034] like Figures 4-5 As shown, a second spring seat 12 is provided on the inner diameter side of the spring outer sleeve 13. The second spring seat 12 is used to form a space for placing the compression spring 14 on its outer diameter side and the spring outer sleeve 13 on its inner diameter side. On the other hand, a placement space for the buffer mechanism is formed on its inner diameter side. The second spring seat 12 is connected to the spring inner sleeve 10 in a circumferential limiting manner. When connected, teeth can be provided on the inner diameter side of the spring inner sleeve 10, and holes that cooperate with the teeth are provided on the second spring seat 12. The circumferential limiting function is achieved through the cooperation of the teeth and the holes. When the spring inner sleeve 10 is locked, the second spring seat 12 is locked together. The compression spring 14 is located in the annular space formed by the second spring seat 12 and the spring outer sleeve 13.

[0035] After the buffer mechanism is arranged on the inner diameter side of the second spring seat 12, the second spring seat 12 can be used to fix the buffer mechanism relative to the moving parts. Specifically, the buffer mechanism includes an axially extending disc spring mounting seat 18 and a disc spring 16, a pin disk 17 and a friction plate 19 sequentially sleeved on the disc spring mounting seat 18, wherein the disc spring 16 can be arranged in multiple positive and negative directions to provide axial elastic force. The pin disk 17 is matched with the pin 20 and the push disk, and the pin 20 rolls between the pin disk 17 and the push disk. The friction plate 19 includes one or more groups of external tooth friction plates and internal tooth friction plates. The external tooth friction plates are connected to the second spring seat 12 in a circumferentially limited manner, and the internal tooth friction plates are connected to the disc spring mounting seat 18 in a circumferentially limited manner. When the disc spring mounting seat 18 rotates, the pins 20 in the pin disk 17 make a circular motion in the spherical spiral groove, pushing the pin disk 17 to axially press the external tooth friction plates and the internal tooth friction plates, thereby utilizing the friction between the external tooth friction plates and the internal tooth friction plates to achieve a buffering effect. It can be seen from the above content that after locking the spring inner sleeve 10, the buffer mechanism begins to play a role, and can cooperate with the compression spring 14 to achieve the effect of buffering and vibration reduction, avoiding the reciprocating vibration impact during vibration reduction caused by the compression spring 14 when it is used alone, eliminating vibration faster, and achieving a better buffering and vibration reduction effect.

[0036] The disc spring mounting seat 18 is connected to the first spring seat 11 in a circumferentially limited manner. When connected, the limiting teeth extending inwardly from the inner diameter side of the first spring seat 11 can cooperate with the notches on the connecting seat 15 to achieve circumferential limiting, and then the connecting seat 15 is connected to the disc spring mounting seat 18 by bolts. The disc spring mounting seat 18 and the first spring seat 11 can rotate synchronously, so it can be seen that the vibration source of the two is also the same, that is, the compression spring 14 and the buffer mechanism can buffer the same vibration and jointly play the effect of vibration reduction and buffering.

[0037] The connecting seat 15 is arranged at the end of the disc spring mounting seat 18. The connecting seat 15 is used to axially extend the buffer mechanism to connect with the calf motor 6. When connected, the connecting seat 15 can be provided with a driving pulley for driving the calf arm 4 to rotate. The driving pulley is fixed to the connecting seat 15 by internal gear meshing. Under the driving action of the calf motor 6, the connecting seat 15 and the driving pulley rotate synchronously, and then drive the calf arm 4 to swing through the belt and the driven pulley. At the same time, the disc spring mounting seat 18 also rotates accordingly. It should be noted that when the spring inner sleeve 10 is not locked, the buffer mechanism can rotate with the rotation of the disc spring mounting seat 18. At this time, the calf arm 4 can be driven to swing smoothly without being affected.

[0038] Combination Figures 1-2As shown, the present invention also provides a wheel-leg structure, which can apply the shock absorbing mechanism for wheel-leg vehicles described above, and the shock absorbing mechanism is located at the root of the thigh arm 5, that is, the position corresponding to the thigh motor 1 and the calf motor 6. Specifically, the outer diameter side of the spring jacket 13 is provided with a thigh arm 5, and the thigh arm 5 can rotate relative to the spring jacket 13. The axial ends of the spring jacket 13 are respectively provided with a calf motor 6 and a thigh motor 1. The thigh motor 1 is mounted on the motor mounting seat 2, and the calf motor 6 is mounted on the thigh arm 5. The thigh motor 1 is used to drive the thigh arm 5 to rotate, and the calf motor 6 is used to drive the calf arm 4 to rotate. The end of the calf arm 4 is provided with a wheel 9 and a hub motor 3 that drives the wheel 9 to rotate. A brake device can also be provided, and the brake motor of the brake device is mounted on the motor mounting seat 2.

[0039] The calf motor 6 is connected with a driving pulley, and a driven pulley fixedly connected to the calf arm 4 is provided at the hinge of the thigh arm 5 and the calf arm 4. The driving pulley and the driven pulley are connected by a belt. When the calf motor 6 drives the driving pulley to rotate, the driven pulley can be driven to rotate by the belt, and then the calf arm 4 is driven to rotate relative to the thigh arm 5. The belt can be arranged in the cavity inside the thigh arm 5, and a structure such as a compression wheel can be provided to adjust the spacing and tightness of the belt. In addition, during leg-type motion, the calf motor 6 can drive the calf arm 4 to rotate by the belt, and during wheel-type motion, the thigh arm 5 is locked, and the calf arm 4 transmits vibration to the connecting seat 15, the buffer mechanism and the compression spring 14 through the driven pulley, the belt and the driving pulley, and the transmission of vibration and the buffering vibration reduction effect are realized through the friction of the friction plate 19 in the buffer mechanism and the repeated compression and stretching of the compression spring 14.

[0040] In order to smoothly realize the locking function of the limit pin 8, a second pin groove 21 is provided on the motor mounting base 2, and a third pin groove 51 is provided on the thigh arm 5. The limit pin 8 can be simultaneously inserted into the first pin groove 102, the second pin groove 21 and the third pin groove 51, thereby locking the thigh arm 5 and the spring inner sleeve 10.

[0041] The working principle of the present invention is as follows:

[0042] When the wheel-legged vehicle is traveling in a wheeled motion, the limiting pin 8 is rotated to a suitable angle by controlling the steering gear 7, inserted into the third pin groove 51 of the thigh arm 5, and supported against the spring inner sleeve 10, so that the thigh arm 5 and the spring inner sleeve 10 are fixed in the circumferential direction. When the ground impacts the wheel 9, the calf arm 4 moves and rotates the driving pulley through the belt, causing the disc spring mounting seat 18 and the disc spring 16 installed thereon to rotate, and the power is transmitted to the second spring seat 12 through the disc spring 16, the ball plate 17, and the friction plate 19. Since the second spring seat 12 and the spring inner sleeve 10 are fixed in the circumferential direction, the vibration reduction effect can be achieved. At the same time, the disc spring mounting seat 18 drives the first spring seat 11 to rotate, and then drives the compression spring 14 on one side to compress through the first limiting protrusion 111. Since the spring inner sleeve 10 is fixed to the thigh arm 5 and does not rotate, at this time, the rotation energy of the driving pulley generated by the impact is buffered and consumed by the repeated compression and rebound of the compression spring 14, thereby achieving the vibration reduction effect.

[0043] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A vibration reduction mechanism for a wheel-legged vehicle, characterized in that: It comprises a spring outer sleeve, and a spring inner sleeve and a first spring seat respectively arranged at two axial ends of the spring outer sleeve, wherein the first spring seat and the spring inner sleeve are respectively provided with a first limiting protrusion and a second limiting protrusion extending axially toward each other, the first limiting protrusion and the second limiting protrusion both penetrate into the spring outer sleeve, and divide the inner diameter side of the spring outer sleeve into two spring placement areas, and compression springs are respectively arranged in the two spring placement areas along the circumferential direction, and after the spring inner sleeve is locked, a vibration-damping connection is realized between the first spring seat and the spring inner sleeve through the compression spring; The motor mounting seat is used for mounting on a vehicle body, the motor mounting seat is provided with a pin driving structure, the driving part of the pin driving structure is connected with a limit pin, the spring inner sleeve is provided with a first pin groove, the limit pin can be inserted into the first pin groove to limit the circumferential rotation of the spring inner sleeve; A second spring seat is arranged on the inner diameter side of the spring outer sleeve, the second spring seat is circumferentially limitedly connected with the spring inner sleeve, and the compression spring is located in an annular space formed by the second spring seat and the spring outer sleeve.

2. The vibration reduction mechanism for a wheel-legged vehicle according to claim 1, characterized in that: The pin driving structure is a steering gear, the main shaft of the steering gear is perpendicular to the slotting direction of the first pin slot, and the limiting pin is inserted into or removed from the first pin slot by rotating the main shaft of the steering gear.

3. The vibration reduction mechanism for a wheel-legged vehicle according to claim 2, characterized in that: A buffer mechanism is arranged on the inner diameter side of the second spring seat, and the buffer mechanism comprises an axially extending disc spring mounting seat and a disc spring, a pin disc and a friction plate which are sequentially sleeved on the disc spring mounting seat, the friction plate comprising an outer tooth friction plate and an inner tooth friction plate, the outer tooth friction plate is circumferentially limitedly connected to the second spring seat, and the inner tooth friction plate is circumferentially limitedly connected to the disc spring mounting seat, and when the disc spring mounting seat rotates, the pins in the pin disc make circular motion in the spherical spiral groove, pushing the pin disc to axially press the outer tooth friction plate and the inner tooth friction plate.

4. The vibration reduction mechanism for a wheel-legged vehicle according to claim 3, characterized in that: The disc spring mounting seat is circumferentially limitedly connected to the first spring seat.

5. The vibration reduction mechanism for a wheel-legged vehicle according to claim 3, characterized in that: The end of the disc spring mounting seat is provided with a connecting seat, and a driving pulley for driving the calf arm to rotate is circumferentially limitedly connected to the connecting seat, and the connecting seat is used for power connection to the calf motor.

6. A wheel-leg structure, characterized in that: A shock absorbing mechanism for a wheel-legged vehicle as described in any one of claims 2 to 5 is applied, wherein the outer diameter side sleeve of the spring outer sleeve is provided with a thigh arm, and the axial ends are respectively provided with a calf motor and a thigh motor, the thigh motor is mounted on the motor mounting seat, the thigh motor is used to drive the thigh arm to rotate, the calf motor is used to drive the calf arm to rotate, and the end of the calf arm is provided with a wheel and a hub motor for driving the wheel to rotate.

7. The wheel-leg structure according to claim 6, characterized in that: The calf motor is connected to a driving pulley, and a driven pulley fixedly connected to the calf arm is provided at the hinge between the thigh arm and the calf arm. The driving pulley and the driven pulley are connected by a belt, and the belt is provided in a cavity inside the thigh arm.

8. The wheel-leg structure according to claim 7, characterized in that: The motor mounting seat is provided with a second pin slot, and the thigh arm is provided with a third pin slot. The limit pin can be inserted into the first pin slot, the second pin slot and the third pin slot at the same time, thereby locking the thigh arm and the spring inner sleeve at the same time.

Images