Reconfigurable walking mechanism

Abstract

The application discloses a reconfigurable walking mechanism and belongs to the field of unmanned vehicle chassis. The reconfigurable walking mechanism comprises a chassis body and mechanism groups, each mechanism group comprises a wheel arm, a suspension mounting base, an axle distance adjusting assembly, a height adjusting assembly, a wheel track adjusting assembly and the like, and has the beneficial effect that the mechanism can simultaneously adjust the axle distance, the wheel track and the ground clearance of the vehicle, and during the adjustment of the wheel track, the axle distance and the ground clearance of the vehicle, the wheel body wheel arm is arranged on the suspension mounting base, both are moved together and the relative position is not changed, so that the kingpin angle determined by the mounting positions of the wheel and the suspension is not changed, and the beneficial effect that the wheel positioning parameters are maintained unchanged during the adjustment is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of unmanned vehicle chassis, in particular to a reconfigurable walking mechanism. BACKGROUND

[0002] With the development of automobile industry, automobiles have entered various fields. In the civil field, the use environment is often required to be low, but for special vehicles, more attention is often paid to the passability and adaptability to various terrains. However, the wheelbase, track and chassis height of traditional automobiles are often not adjustable, which greatly limits the adaptability of the vehicle to narrow roads, trenches, low-lying uneven roads and other harsh road conditions, resulting in poor passability.

[0003] In recent years, in order to improve the passability, some vehicles that can adjust the wheelbase and track have appeared, but in the process of adjusting the wheelbase and track, the wheel positioning parameters often change, thereby adversely affecting the driving performance of the automobile.

[0004] Among the influences on the wheel positioning parameters, one major influence is that when the wheelbase, track and ground clearance are adjusted, the wheel and the suspension are often moved and not moved, thereby changing the relative position of the two, and further affecting more parameter changes, such as the change of the kingpin angle, thereby adversely affecting the driving performance of the automobile. SUMMARY

[0005] The purpose of the present application is to overcome the problems in the prior art, and to provide a reconfigurable walking mechanism and a vehicle body chassis which can simultaneously adjust the wheelbase, track and ground clearance of the automobile, improve the passability of the automobile, and ensure that the wheel positioning parameters are not changed before and after adjustment.

[0006] The present application provides a reconfigurable walking mechanism, comprising:

[0007] A chassis body, the chassis body is rectangular;

[0008] Four mechanism groups, the four mechanism groups are symmetrically arranged at the four corners of the chassis body, and each mechanism group comprises:

[0009] A wheel arm, the lower end of the wheel arm is movably connected with a wheel body:

[0010] A suspension mounting base, the wheel arm is arranged on the suspension mounting base;

[0011] A wheelbase adjusting assembly, the suspension mounting base is movably connected to the wheelbase adjusting assembly along a first direction, and the first direction is in the horizontal plane;

[0012] A height adjusting assembly, the wheelbase adjusting assembly is movably connected to the height adjusting assembly along a vertical direction;

[0013] The wheel track adjusting assembly is arranged on the chassis body, and the height adjusting assembly is movably connected to the wheel track adjusting assembly along a second direction, which is in a horizontal plane and perpendicular to the first direction.

[0014] Further, the suspension system further comprises an elastic damping assembly arranged between the wheel arm and the suspension mounting base, and the elastic damping assembly comprises:

[0015] The gear is fixedly connected to the upper end of the wheel arm.

[0016] The first movable member is connected to the gear through a first rack, and the first rack is in a vertical state.

[0017] The first support is fixedly connected to the lower end of the suspension mounting base, and the first movable member is slidably connected to the first support along a vertical direction.

[0018] The first elastic member is arranged between the first support and the first movable member, and the first elastic member is used to provide an upward thrust to the first movable member.

[0019] The second movable member is connected to the gear through a second rack, and the second rack is in a vertical state.

[0020] The second support is fixedly connected to the lower end of the suspension mounting base, and the second movable member is slidably connected to the second support along a vertical direction.

[0021] The second elastic member is arranged between the second support and the second movable member, and the second elastic member is used to provide a downward thrust to the second movable member.

[0022] Further, the first support comprises a first guide rod and a first limiting plate, the upper end of the first guide rod is fixedly connected to the suspension mounting base, the first guide rod is in a vertical state, the first limiting plate is fixedly connected to the lower end of the first guide rod, the first movable member is slidably connected to the first guide rod along a vertical direction, and the first elastic member is connected between the first movable member and the first limiting plate.

[0023] The second support comprises a second guide rod and a second limiting plate, the second limiting plate is fixedly connected to the suspension mounting base, the upper end of the second guide rod is fixedly connected to the lower surface of the second limiting plate, the second guide rod is in a vertical state, the second movable member is slidably connected to the second guide rod along a vertical direction, and the second elastic member is connected between the second movable member and the second limiting plate.

[0024] Further, the wheelbase adjustment assembly comprises a first sliding rail, a first sliding block and a first power member, the first sliding block is slidingly connected to the first sliding rail along a first direction, the first power member is arranged in the first sliding rail, and the first sliding block is connected to the first power member, the first power member is configured to provide power to drive the first sliding block to move in the first sliding rail along the first direction, and the suspension mounting base is fixedly connected to the first sliding block.

[0025] Further, the height adjustment assembly comprises a second sliding rail, a second sliding block and a second power member, the second sliding block is slidingly connected to the second sliding rail along a vertical direction, the second power member is arranged in the second sliding rail, and the second sliding block is connected to the second power member, the second power member is configured to provide power to drive the second sliding block to move in the second sliding rail along a second direction, and the first sliding rail is fixedly connected to the second sliding block.

[0026] Further, the wheelbase adjustment assembly comprises a first sliding rail, a first sliding block and a first power member, the first sliding block is slidingly connected to the first sliding rail along a first direction, the first power member is arranged in the first sliding rail, and the first sliding block is connected to the first power member, the first power member is configured to provide power to drive the first sliding block to move in the first sliding rail along the first direction, and the suspension mounting base is fixedly connected to the first sliding block.

[0027] Further, the wheelbase adjustment assembly comprises a first sliding rail, a first sliding block and a first power member, the first sliding block is slidingly connected to the first sliding rail along a first direction, the first power member is arranged in the first sliding rail, and the first sliding block is connected to the first power member, the first power member is configured to provide power to drive the first sliding block to move in the first sliding rail along the first direction, and the suspension mounting base is fixedly connected to the first sliding block.

[0028] Further, the first power member, the second power member and the third power member are all hydraulic power push rods.

[0029] Further, a rotating shaft is arranged, a gear fixing sleeve is arranged on the rotating shaft, and a bearing hole is arranged on the suspension mounting base, and the rotating shaft is arranged in the bearing hole.

[0030] Further, the first elastic member and the second elastic member both comprise a coil spring.

[0031] Compared with the prior art, the beneficial effect of the present application is that the mechanism can realize the simultaneous adjustment of the wheel track, the wheel base and the ground clearance of the automobile. When the road suddenly narrows or the wheel encounters an obstacle, the wheel body and the wheel arm can be moved by adjusting the wheel track adjustment assembly, the wheel track of the automobile is narrowed, and the passability is improved; when the road surface condition is poor or uneven, the ground clearance of the automobile can be increased, and the phenomenon of bottoming is avoided; when the axle is too large to pass through a narrow curve or intersection, the axle can be reduced, and the passability when turning is improved; at the same time, when the automobile travels on a good road surface, the stability of the automobile when traveling at high speed can be improved by increasing the wheel track, the wheel base and reducing the ground clearance. In the process of adjusting the wheel track, the wheel base and the ground clearance of the automobile, since the wheel body and the wheel arm are arranged on the suspension mounting base, the two will move together and the relative position will not change, so that the kingpin angle determined by the mounting position of the wheel and the suspension remains unchanged, thereby realizing the beneficial effect that the wheel positioning parameters remain unchanged during the adjustment process. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 A partial structure schematic diagram of an embodiment of the present application;

[0033] Figure 2 A partial structure schematic diagram of an embodiment of the present application;

[0034] Figure 3 A partial structure schematic diagram of an embodiment of the present application;

[0035] Figure 4 A partial structure schematic diagram of an embodiment of the present application;

[0036] Figure 5 A partial structure schematic diagram of an embodiment of the present application;

[0037] Figure 6 A partial structure schematic diagram of an embodiment of the present application;

[0038] Figure 7 A partial structure schematic diagram of an embodiment of the present application.

[0039] BRIEF DESCRIPTION OF DRAWINGS

[0040] 1, wheel arm; 2, gear; 3, suspension mounting base; 41, first movable piece; 42, first support; 421, first guide rod; 422, first limiting plate; 43, first elastic piece; 51, second movable piece; 52, second support; 521, second guide rod; 522, second limiting plate; 53, second elastic piece; 6, wheelbase adjustment assembly; 61, first sliding rail; 62, first sliding block; 63, first power piece; 7, height adjustment assembly; 71, second sliding rail; 72, second sliding block; 73, second power piece; 8, wheel track adjustment assembly; 81, third sliding rail; 82, third sliding block; 83, third power piece; 9, chassis body. DETAILED DESCRIPTION

[0041] The specific embodiments of the present application are described in detail below, but it should be understood that the scope of protection of the present application is not limited by the specific embodiments. Based on the examples in the present application, all other examples obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0042] The present application provides a reconfigurable walking mechanism, comprising a chassis body 9 and a mechanism group, wherein the chassis body 9 is rectangular; four mechanism groups are symmetrically arranged at the four corners of the chassis body 9, each mechanism group comprising a wheel arm 1, a suspension mounting base 3, a wheelbase adjustment assembly 6, a height adjustment assembly 7, a wheel track adjustment assembly 8, etc., and a wheel body is movably connected to the lower end of the wheel arm 1; the suspension mounting base 3 is movably connected to the wheelbase adjustment assembly 6 along a first direction, which is in the horizontal plane; the wheelbase adjustment assembly 6 is movably connected to the height adjustment assembly 7 along a vertical direction; the wheel track adjustment assembly 8 is arranged on the chassis body 9, and the height adjustment assembly 7 is movably connected to the wheel track adjustment assembly 8 along a second direction, which is in the horizontal plane and perpendicular to the first direction.

[0043] Specifically, refer to Figures 1-7The wheel track adjusting assembly 8, the height adjusting assembly 7 and the wheel track adjusting assembly 8 in each mechanism group are matched with each other, and the suspension mounting base 3 and the wheel arm 1 and the wheel body connected thereto can be moved in three directions. The four mechanism groups located at the four corners of the chassis body 9 can move the positions of the wheel arm 1 and the wheel body by being matched with each other, so as to realize the technical effects of changing the wheel track, the chassis height and the wheel track. When the road on which the automobile travels suddenly narrows or the wheel encounters an obstacle, the wheel body and the wheel arm can be moved by adjusting the wheel track adjusting assembly 8, so as to narrow the wheel track of the automobile and improve the passability; when the road surface condition is poor or uneven, the ground clearance of the automobile is increased by the height adjusting assembly 7, so as to avoid the occurrence of the bottoming phenomenon; when the narrow curve or the intersection is encountered, the large wheel track cannot pass through, and the wheel track can be reduced to improve the passability when turning; meanwhile, when the automobile travels on a good road surface, the stability of the automobile when traveling at high speed can be improved by increasing the wheel track and the wheel track and reducing the ground clearance.

[0044] While the above effects are realized, since the wheel body and the wheel arm are arranged on the suspension mounting base, the wheel body and the wheel arm move together and the relative positions do not change, so that the kingpin angle determined by the mounting positions of the wheel and the suspension does not change, and the beneficial effect that the wheel positioning parameters remain unchanged during the adjustment process is realized.

[0045] Further, referring to Figure 1 and Figure 6 , the elastic damping assembly is arranged between the wheel arm and the suspension mounting base 3, and the elastic damping assembly comprises: a gear 2 fixedly connected to the upper end of the wheel arm 1; a first movable piece 41 connected to the gear 2 through a first rack, the first rack being in a vertical state; a first support 42 fixedly connected to the lower end of the suspension mounting base 3, the first movable piece 41 being slidably connected to the first support 42 in the vertical direction; a first elastic piece 43 arranged between the first support 42 and the first movable piece 41, the first elastic piece 43 being used to provide an upward thrust to the first movable piece 41, so that the elastic thrust realizes the damping effect on the impact force; a second movable piece 51 connected to the gear 2 through a second rack, the second rack being in a vertical state; a second support 52 fixedly connected to the lower end of the suspension mounting base 3, the second movable piece 51 being slidably connected to the second support 52 in the vertical direction; and a second elastic piece 53 arranged between the second support 52 and the second movable piece 51, the second elastic piece 53 being used to provide a downward thrust to the second movable piece 51, so that the elastic thrust realizes the damping effect on the impact force.

[0046] When the vehicle is running on a bumpy road, the wheel body is impacted, thus driving the wheel arm to jump up, and the swing of the wheel arm drives the gear 2 to rotate. Since the gear 2 is in constant engagement with the first and second racks, the first and second racks on both sides of the gear 2 are driven to move in opposite directions, and the first and second elastic members 43 and 53 on both sides are compressed, thereby playing a role in shock absorption and impact mitigation. The first and second supports 42 and 5 serve to keep the movement path of the first and second movable members 41 and 51 straight and limit the movement path of the first and second racks.

[0047] Further, the first support 42 comprises a first guide rod 421 and a first limiting plate 422. The upper end of the first guide rod 421 is fixedly connected to the suspension mounting base 3, and the first guide rod 421 is in a vertical state. The first limiting plate 422 is fixedly connected to the lower end of the first guide rod 421. The first movable member 41 is slidingly connected to the first guide rod 421 in the vertical direction. The first elastic member 43 is connected between the first movable member 41 and the first limiting plate 422.

[0048] The second support 52 comprises a second guide rod 521 and a second limiting plate 522. The second limiting plate 522 is fixedly connected to the suspension mounting base 3. The upper end of the second guide rod 521 is fixedly connected to the lower surface of the second limiting plate 522, and the second guide rod 521 is in a vertical state. The second movable member 51 is slidingly connected to the second guide rod 521 in the vertical direction. The second elastic member 53 is connected between the second movable member 51 and the second limiting plate 522.

[0049] Thus, the movement path of the first and second movable members 41 and 51 is straight, and the movement path of the first and second racks is limited.

[0050] Further, referring to Figure 4 The wheelbase adjustment assembly 6 comprises a first sliding rail 61, a first sliding block 62, and a first power member 63. The first sliding block 62 is slidingly connected to the first sliding rail 61 in a first direction. The first power member 63 is arranged in the first sliding rail 61, and the first sliding block 62 is connected to the first power member 63. The first power member 63 is used to provide power to drive the first sliding block 62 to move in the first sliding rail 61 in the first direction. The suspension mounting base 3 is fixedly connected to the first sliding block 62, so as to drive the mounting base 3 and the wheel body and wheel arm thereon to move in the first direction. The movement in this direction can adjust the wheelbase.

[0051] Furthermore, the height adjustment assembly 7 includes: a second slide rail 71, a second slider 72 and a second power member 73. The second slider 72 is slidably connected to the second slide rail 71 in the vertical direction. The second power member 73 is arranged in the second slide rail 71, and the second slider 72 is connected to the second power member 73. The second power member 73 is used to provide power to drive the second slider 72 to move in the second direction in the second slide rail 71. The first slide rail 61 is fixedly connected to the second slider 72, thereby driving the wheelbase adjustment assembly 6, the mounting base 3 and the wheel arm thereon to move, thereby adjusting the height of the chassis from the ground.

[0052] Furthermore, the wheelbase adjustment assembly 8 includes: a third slide rail 81, a third slider 82 and a third power member 83. The third slider 82 is connected to the third slide rail 81 in a sliding manner along the second direction. The third power member 83 is arranged in the third slide rail 81, and the third slider 82 is connected to the third power member 83. The third power member 83 is used to provide power to drive the third slider 82 to move along the third direction in the third slide rail 81. The second slide rail 71 is fixedly connected to the third slider 82, thereby driving the height adjustment assembly 7, the wheelbase adjustment assembly 6, the mounting base 3 and the wheel body wheel arm thereon to move, thereby realizing the adjustment of the wheelbase.

[0053] In this embodiment, the height adjustment assembly 7, the wheelbase adjustment assembly 6, and the track adjustment assembly 8 are all controlled by an external controller. One or more external controllers are connected to the first power member 63, the second power member 73, and the third power member 83 to control the first power member 63, the second power member 73, and the third power member 83 to drive the first slider 62, the second slider 72, and the third slider 82. The control method here is a common control method for driving devices such as motors, hydraulics, and cylinders in the industry and is a prior art and will not be described in detail.

[0054] Furthermore, there are two track adjustment assemblies 8 and two wheelbase adjustment assemblies 6, and four height adjustment assemblies 7. The suspension mounting base 3 is connected to the first sliders 62 of both wheelbase adjustment assemblies 6. The ends of the first slide rails 61 are each connected to the second sliders 72 of a height adjustment assembly 7. The third slider 82 of each track adjustment assembly 8 is connected to the top of two parallel second slide rails 71. This layout structure enables the movement of each adjustment assembly to be hierarchical. Because the track and wheelbase are positional parameters between two corresponding wheel bodies, this hierarchical design makes it easier to control and adjust the track and wheelbase.

[0055] Furthermore, the first power member 63 , the second power member 73 and the third power member 83 are all hydraulic power push rods.

[0056] Furthermore, it also includes a rotating shaft, the gear 2 is fixedly sleeved on the rotating shaft, and a bearing hole 31 is provided on the suspension mounting base 3, and the rotating shaft is arranged in the bearing hole 31.

[0057] Further, the first elastic member 43 and the second elastic member 53 each include a coil spring, and in other embodiments, the first elastic member 42 and the second elastic member 53 include a coil spring and a straight cylinder compression damper.

[0058] While embodiments of the application have been shown and described, it is to be understood that the application is not limited to the details of the embodiments described, since modifications can be made by those skilled in the art, without departing from the spirit and scope of the application, which are defined by the appended claims and their equivalents.

Claims

1. A reconfigurable walking mechanism, characterized in that: include: A chassis body (9), wherein the chassis body (9) is rectangular; Four mechanism groups, the four mechanism groups are symmetrically arranged at the four corners of the chassis body (9), and each mechanism group includes: A wheel arm (1), the lower end of which is movably connected to a wheel body: A suspension mounting base (3), wherein the wheel arm (1) is arranged on the suspension mounting base (3); A wheelbase adjustment assembly (6), wherein the suspension mounting base (3) is movably connected to the wheelbase adjustment assembly (6) along a first direction, wherein the first direction is located in a horizontal plane, and the wheelbase adjustment assembly (6) comprises: a first slide rail (61), a first slider (62) and a first power member (63), wherein the first slider (62) is slidably connected to the first slide rail (61) along the first direction, wherein the first power member (63) is disposed in the first slide rail (61), and the first slider (62) is connected to the first power member (63), wherein the first power member (63) is used to provide power to drive the first slider (62) to move along the first direction in the first slide rail (61), wherein the suspension mounting base (3) is fixedly connected to the first slider (62), and wherein the first power member (63), the second power member (73) and the third power member (83) are all hydraulic power push rods; A height adjustment component (7), wherein the wheelbase adjustment component (6) is movably connected to the height adjustment component (7) in a vertical direction, and the height adjustment component (7) comprises: a second slide rail (71), a second slider (72) and a second power member (73), wherein the second slider (72) is slidably connected to the second slide rail (71) in a vertical direction, the second power member (73) is arranged in the second slide rail (71), and the second slider (72) is connected to the second power member (73), and the second power member (73) is used to provide power to drive the second slider (72) to move in the second direction in the second slide rail (71), and the first slide rail (61) is fixedly connected to the second slider (72) to drive the wheelbase adjustment component (6), the mounting base (3) and the wheel body wheel arm thereon to move, thereby adjusting the height of the chassis from the ground; A wheelbase adjustment assembly (8), wherein the wheelbase adjustment assembly (8) is arranged on the chassis body (9), the height adjustment assembly (7) is movably connected to the wheelbase adjustment assembly (8) along a second direction, the second direction is located in a horizontal plane, and the second direction is perpendicular to the first direction, the wheelbase adjustment assembly (8) comprises: a third slide rail (81), a third slider (82) and a third power member (83), the third slider (82) is slidably connected to the third slide rail (81) along the second direction, the third power member (83) is arranged in the third slide rail (81), and the third slider (82) is connected to the third power member (83), the third power member ( 83) is used to provide power to drive the third slider (82) to move in the third slide rail (81) along the third direction, the second slide rail (71) is fixedly connected to the third slider (82), the wheelbase adjustment assembly (8) and the wheelbase adjustment assembly (6) each have two, the height adjustment assembly (7) has four, the suspension mounting base (3) is simultaneously connected to the first sliders (62) of the two wheelbase adjustment assemblies (6), the two ends of the first slide rail (61) are respectively connected to the second slider (72) of a height adjustment assembly (7), and the third slider (82) of each wheelbase adjustment assembly (8) is connected to the top of two parallel second slide rails (71); It also includes: an elastic damping component, the elastic damping component is arranged between the wheel arm and the suspension mounting base (3), and the elastic damping component includes: a gear (2), the gear (2) being fixedly connected to the upper end of the wheel arm (1); It also includes a rotating shaft, the gear (2) is fixedly sleeved on the rotating shaft, and the suspension mounting base (3) is provided with a bearing hole (31), and the rotating shaft is arranged in the bearing hole (31); a first movable member (41), the first movable member (41) being connected to the gear (2) via a first rack, the first rack being in a vertical state; a first bracket (42), the first bracket (42) being fixedly connected to the lower end of the suspension mounting base (3), and the first movable member (41) being slidably connected to the first bracket (42) in a vertical direction; a first elastic member (43), the first elastic member (43) being disposed between the first bracket (42) and the first movable member (41), the first elastic member (43) being used to provide an upward thrust to the first movable member (41); a second movable member (51), the second movable member (51) being connected to the gear (2) via a second rack, the second rack being in a vertical state; a second bracket (52), the second bracket (52) being fixedly connected to the lower end of the suspension mounting base (3), and the second movable member (51) being slidably connected to the second bracket (52) in a vertical direction; a second elastic member (53), the second elastic member (53) being arranged between the second bracket (52) and the second movable member (51), the second elastic member (53) being used for providing a downward thrust to the second movable member (51), the first bracket (42) comprising: a first guide rod (421) and a first limit plate (422), the upper end of the first guide rod (421) being fixedly connected to the suspension mounting base (3), the first guide rod (421) being in a vertical state, the first limit plate (422) being fixedly connected to the lower end of the first guide rod (421), the first movable member (41) being slidably connected to the first guide rod (421) in a vertical direction, the first elastic member (43) being connected between the first movable member (41) and the first limit plate (422), the first elastic member (43) and the second elastic member (53) both comprising a coil spring and a straight-tube compression shock absorber; The second bracket (52) comprises: a second guide rod (521) and a second limit plate (522); the second limit plate (522) is fixedly connected to the suspension mounting base (3); the upper end of the second guide rod (521) is fixedly connected to the lower surface of the second limit plate (522); the second guide rod (521) is in a vertical state; the second movable member (51) is connected to the second guide rod (521) in a sliding manner in a vertical direction; and the second elastic member (53) is connected between the second movable member (51) and the second limit plate (522).

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