Wheel-legged system capable of wide-range vibration reduction and wheel-legged vehicle

Abstract

The application discloses a wheel-leg system capable of realizing wide-range damping and a wheel-leg vehicle, wherein the wheel-leg system comprises a connecting frame, a leg assembly, a thigh driving structure, a damper, a shank driving structure and a locking structure. The connecting frame is used for being fixed on a vehicle body. The leg assembly comprises a thigh, a shank, a wheel hub motor and a wheel, the second end of the thigh is hinged to the first end of the shank, the stator of the wheel hub motor is fixed to the second end of the shank through a shaft holding, and the rotor of the wheel hub motor is fixedly connected with the wheel. The thigh driving structure is fixed on the connecting frame and connected with the first end of the thigh, and is used for driving the thigh to swing around the first end of the thigh. The shank driving structure is fixed on the connecting frame and connected with the first end of the shank, and is used for driving the shank to swing around the first end of the shank. The locking structure is fixed on the connecting frame and is used for locking and unlocking the shank driving structure. Compared with the prior art, the wheel-leg system and the wheel-leg vehicle of the application combine active damping and passive damping, and can realize wide-range damping.

Description

Technical Field

[0001] This invention relates to the field of vehicle vibration reduction technology, and in particular to a wheel-leg system and a wheel-leg vehicle capable of achieving wide-range vibration reduction. Background Technology

[0002] Wheel-legged vehicles combine the speed of wheeled vehicles with the high mobility of legged platforms, making them a new type of mobile platform with broad application prospects. When wheel-legged vehicles move, they are subjected to impacts from the ground, requiring them to have cushioning and shock-absorbing systems to mitigate the effects of road impacts.

[0003] For wheel-leg vehicles with damping systems, damping methods can be divided into active damping and passive damping. Passive damping can achieve damping, but it suffers from poor damping performance, inability to adjust posture, and poor ride comfort and handling in complex conditions such as high-dynamic gait and landing after jumps. Active damping, often using slow-active suspension, has drawbacks such as higher complexity, higher control precision requirements, poorer performance, and unstable performance. Summary of the Invention

[0004] The purpose of this invention is to provide a wheel-leg system and wheel-leg vehicle that can achieve wide-range vibration reduction by combining active and passive vibration reduction.

[0005] To achieve the above objectives, the present invention provides the following solution:

[0006] This invention discloses a wheel-leg system capable of achieving wide-range vibration reduction, comprising:

[0007] Connecting bracket, used to secure it to the vehicle body;

[0008] A leg assembly includes a thigh, a lower leg, a hub motor, and a wheel. The second end of the thigh is hinged to the first end of the lower leg. The stator of the hub motor is fixed to the second end of the lower leg, and the rotor of the hub motor is fixedly connected to the wheel.

[0009] A thigh drive structure, fixed to the connecting frame and connected to the first end of the thigh, is used to drive the thigh to swing around its own first end.

[0010] A shock absorber, wherein a first end of the shock absorber is hinged to the connecting frame, and a second end of the shock absorber is hinged to the thigh;

[0011] The lower leg drive structure is fixed on the connecting frame and connected to the first end of the lower leg, and is used to drive the lower leg to swing around its own first end.

[0012] A locking structure, fixed to the connecting frame, is used to lock and unlock the lower leg drive structure.

[0013] Preferably, the calf drive structure includes a calf drive motor, a swing arm, a first connecting rod, and a second connecting rod; the calf drive motor is connected to the swing arm and is used to drive the swing arm to swing around its first end; the second end of the swing arm is hinged to the first end of the first connecting rod, the second end of the first connecting rod is hinged to the first end of the second connecting rod, and the second end of the second connecting rod is fixedly connected to the calf.

[0014] Preferably, the second end of the swing arm is hinged to the first end of the first connecting rod via a first hinge axis, and the locking structure is used to restrict the position of the first hinge axis.

[0015] Preferably, the locking structure includes a servo motor and a locking sleeve. The servo motor is fixed to the connecting frame, and the output shaft of the servo motor is coaxial with and fixedly connected to the locking sleeve. One end of the first hinge shaft extends into the locking sleeve, and a notch is provided on the side wall of the locking sleeve.

[0016] When the angular position of the locking sleeve is the unlocked position, the first hinge shaft can leave the locking sleeve through the notch, thereby unlocking the lower leg drive structure; when the angular position of the locking sleeve deviates from the unlocked position, the side wall of the locking sleeve is used to limit the first hinge shaft, thereby locking the lower leg drive structure.

[0017] Preferably, the first connecting rod includes a lead screw, a first connecting member, and a second connecting member; the first connecting member includes a first nut and a first sleeve, the first end of the lead screw is threadedly connected to the first nut, the first sleeve is fixedly connected to the first nut, and the first hinge shaft passes through the first sleeve; the second connecting member includes a second nut and a second sleeve, the second end of the lead screw is threadedly connected to the second nut, and the second sleeve is fixedly connected to the second nut; the first end of the second connecting rod is hinged to the second sleeve via a second hinge shaft, and the second hinge shaft passes through the first end of the second connecting rod and the second sleeve.

[0018] Preferably, a shock absorber bracket is fixed on the connecting frame, and the first end of the shock absorber is hinged to the shock absorber bracket to achieve an indirect hinge between the shock absorber and the connecting frame; a shock-absorbing pad is fixed on the thigh, and the second end of the shock absorber is hinged to the shock-absorbing pad to achieve an indirect hinge between the shock absorber and the thigh.

[0019] Preferably, the thigh drive structure includes a thigh drive motor, which is fixed to the connecting frame. The output shaft of the thigh drive motor is fixedly connected to the first end of the thigh to drive the thigh to swing around its first end.

[0020] Preferably, the thigh includes a first side plate, a second side plate, and a middle plate, the first side plate and the second side plate are parallel to each other, the middle plate is located between the first side plate and the second side plate, and the middle plate is fixedly connected to both the first side plate and the second side plate.

[0021] Preferably, the connecting frame includes a third side plate, a fourth side plate, and a locking pin, wherein the third side plate and the fourth side plate are parallel to each other, and the locking pin is fixedly connected to both the third side plate and the fourth side plate.

[0022] The thigh drive motor is located between the third side plate and the fourth side plate; the servo motor is located on the side of the third side plate opposite to the thigh drive motor, and the calf drive motor is located on the side of the fourth side plate opposite to the thigh drive motor.

[0023] The present invention also discloses a wheel-leg vehicle, including the aforementioned wheel-leg system capable of wide-range vibration reduction.

[0024] The present invention achieves the following technical effects compared to the prior art:

[0025] When the locking mechanism locks the lower leg drive structure, the upper leg drive structure and the lower leg drive structure are inactive, and the wheel-leg system achieves passive vibration damping through the shock absorber. When the locking mechanism unlocks the lower leg drive structure, the control system of the wheel-leg vehicle controls the upper leg drive structure and the lower leg drive structure, allowing the wheel-leg vehicle to achieve a buffering function through leg retraction when facing impact forces, thus achieving active vibration damping. This combines active and passive vibration damping to reduce the impact force on the wheel-leg vehicle. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0027] Figure 1 This is a front view of a wheel-leg system that can achieve wide-range vibration reduction according to an embodiment of the present invention;

[0028] Figure 2 This is a left view of a wheel-leg system that can achieve wide-range vibration reduction according to an embodiment of the present invention;

[0029] Figure 3 This is a top view of a wheel-leg system that can achieve wide-range vibration reduction according to an embodiment of the present invention;

[0030] Explanation of reference numerals in the attached drawings: 1-First side plate; 2-Second side plate; 3-Third side plate; 4-Fourth side plate; 5-Intermediate plate; 6-Locking pin; 7-Connecting flange; 8-Thigh drive motor; 9-Lower leg drive motor; 10-Servo motor; 11-Servo motor mounting bracket; 12-Hub motor; 13-Wheel; 14-Swing arm; 15-First hinge shaft; 16-Locking sleeve; 17-Lead screw; 18-First sleeve; 19-Second sleeve; 20-Shock absorber; 21-Shock absorber bracket; 22-Shock absorber pad; 23-Holding shaft; 24-Knee joint shaft; 25-Lower leg; 26-Side bearing; 27-Second connecting rod. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] The purpose of this invention is to provide a wheel-leg system and wheel-leg vehicle that can achieve wide-range vibration reduction by combining active and passive vibration reduction.

[0033] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] Reference Figures 1-3 This embodiment provides a wheel-leg system (hereinafter referred to as the wheel-leg system) that can achieve wide-range vibration reduction, including a connecting frame, a leg assembly, a thigh drive structure, a shock absorber 20, a calf drive structure, and a locking structure.

[0035] The connecting frame is used to fix it to the vehicle body and move synchronously with the vehicle body. The leg assembly includes a thigh, a lower leg 25, a hub motor 12, and a wheel 13. The second end of the thigh is hinged to the first end of the lower leg 25. The stator of the hub motor 12 is fixed to the second end of the lower leg 25 via a bearing 23, and the rotor of the hub motor 12 is fixedly connected to the wheel 13. The thigh drive structure is fixed to the connecting frame and connected to the first end of the thigh, and is used to drive the thigh to swing around its first end. The first end of the shock absorber 20 is hinged to the connecting frame, and the second end of the shock absorber 20 is hinged to the thigh. The lower leg drive structure is fixed to the connecting frame and connected to the first end of the lower leg 25, and is used to drive the lower leg 25 to swing around its first end. The locking structure is fixed to the connecting frame and is used to lock and unlock the lower leg drive structure. In actual use, the swing axis of the thigh when rotating around its first end is parallel to the swing axis of the lower leg 25 when rotating around its first end.

[0036] The working principle of the wheel-leg system in this embodiment is as follows:

[0037] When the hub motor 12 is working, the wheels 13 move on the road surface, achieving the walking function. When the locking structure locks the lower leg drive structure, the thigh drive structure and the lower leg drive structure are not working, and the wheel-leg system achieves passive vibration damping through the shock absorber 20. When the locking structure unlocks the lower leg drive structure, the control system of the wheel-leg vehicle controls the thigh drive structure and the lower leg drive structure, so that when the wheel-leg vehicle faces impact, it can achieve a buffering function through the leg retraction action, realizing active vibration damping. Thus, the combination of active and passive vibration damping reduces the impact force on the wheel-leg vehicle.

[0038] As a possible example, in this embodiment, the calf drive structure includes a calf drive motor 9, a swing arm 14, a first connecting rod, and a second connecting rod 27. The calf drive motor 9 is fixed to the fourth side plate 4 via a connecting flange 7. The calf drive motor 9 is connected to the swing arm 14 and is used to drive the swing arm 14 to swing around its first end. The second end of the swing arm 14 is hinged to the first end of the first connecting rod, the second end of the first connecting rod is hinged to the first end of the second connecting rod 27, and the second end of the second connecting rod 27 is fixedly connected to the calf 25.

[0039] In this embodiment, the output shaft of the calf drive motor 9 is directly and fixedly connected to the first end of the swing arm 14. Those skilled in the art can also set a transmission structure between the output shaft of the calf drive motor 9 and the first end of the swing arm 14 to achieve indirect connection between the two.

[0040] In this embodiment, the second end of the thigh and the first end of the lower leg 25 are hinged through the knee joint axis 24. The second end of the second link 27 and the lower leg 25 are both limited along the circumference of the knee joint axis 24 to achieve an indirect fixed connection between the second link 27 and the lower leg 25. Those skilled in the art can also make the second end of the second link 27 directly fixedly connected to the lower leg 25, as long as both can rotate synchronously around the knee joint axis 24.

[0041] As a possible example, in this embodiment, the second end of the swing arm 14 is hinged to the first end of the first connecting rod via a first hinge shaft 15, and a locking structure is used to restrict the position of the first hinge shaft 15. The movement trajectory of the first hinge shaft 15 is an arc with the first end of the swing arm 14 as the center and the distance between the first end and the second end of the swing arm 14 as the radius. Therefore, as long as a movable obstacle is set on this arc trajectory, the lower leg drive structure can be locked by the limiting contact between the obstacle and the first hinge shaft 15. The lower leg drive structure can be unlocked by removing the obstacle from the arc trajectory.

[0042] As a possible example, in this embodiment, the locking structure includes a servo motor 10 and a locking sleeve 16. The servo motor 10 is fixed to the connecting frame, and the output shaft of the servo motor 10 is coaxial with and fixedly connected to the locking sleeve 16. One end of the first hinge shaft 15 extends into the locking sleeve 16, and a notch is provided on the side wall of the locking sleeve 16.

[0043] When the angular position of the locking sleeve 16 is in the unlocked position, the first hinge shaft 15 can leave the locking sleeve 16 through the notch, thereby unlocking the lower leg drive structure. When the angular position of the locking sleeve 16 deviates from the unlocked position, the side wall of the locking sleeve 16 is used to limit the first hinge shaft 15, thereby locking the lower leg drive structure.

[0044] Understandably, there should be at least two notches, located at the intersection of the arc trajectory and the side wall of the locking sleeve 16, so that the first hinge shaft 15 can leave the locking sleeve 16 from two directions.

[0045] Depending on the specific needs, those skilled in the art may also choose other forms of locking structures. For example, the locking structure may include two retractable limiting pins. When the two limiting pins are extended, they can respectively block the first hinge shaft 15 from both sides to achieve locking. When the two limiting pins are shortened, they no longer restrict the position of the first hinge shaft 15, thereby achieving unlocking.

[0046] As one possible example, in this embodiment, the first connecting rod includes a lead screw 17, a first connecting member, and a second connecting member. The first connecting member includes a first nut and a first sleeve 18. The first end of the lead screw 17 is threadedly connected to the first nut, and the first sleeve 18 is fixedly connected to the first nut. A first hinge shaft 15 passes through the first sleeve 18. The second connecting member includes a second nut and a second sleeve 19. The second end of the lead screw 17 is threadedly connected to the second nut, and the second sleeve 19 is fixedly connected to the second nut. The first end of the second connecting rod 27 is hinged to the second sleeve 19 via a second hinge shaft, which passes through the first end of the second connecting rod 27 and the second sleeve 19.

[0047] As a possible example, in this embodiment, a shock absorber bracket 21 is fixed on the connecting frame, and the first end of the shock absorber 20 is hinged to the shock absorber bracket 21 to achieve an indirect hinge between the shock absorber 20 and the connecting frame. A shock-absorbing pad 22 is fixed on the thigh, and the second end of the shock absorber 20 is hinged to the shock-absorbing pad 22 to achieve an indirect hinge between the shock absorber 20 and the thigh. It is understood that the first end of the shock absorber 20 can also be directly hinged to the connecting frame, and the second end of the shock absorber 20 can also be directly hinged to the thigh. In this embodiment, the shock absorber 20 is a damping shock absorber with a return spring. Those skilled in the art can also choose other types of shock absorbers 20, as long as they can achieve the shock absorption function.

[0048] As a possible example, in this embodiment, the thigh drive structure includes a thigh drive motor 8, which is fixed to the third side plate 3 via a connecting flange 7. The output shaft of the thigh drive motor 8 is directly and fixedly connected to the first end of the thigh to drive the thigh to swing around its first end. During the swinging process, the thigh will be subject to the resistance provided by the shock absorber 20. Therefore, the thigh will not swing under normal circumstances, but will swing briefly only when the leg shape needs to be adjusted, and then return to its original position under the elastic resistance of the shock absorber 20.

[0049] As one possible example, in this embodiment, the thigh includes a first side plate 1, a second side plate 2, and a middle plate 5. The first side plate 1 and the second side plate 2 are parallel to each other, and the middle plate 5 is located between the first side plate 1 and the second side plate 2. The middle plate 5 is fixedly connected to both the first side plate 1 and the second side plate 2. Depending on the actual needs, those skilled in the art may also choose to use thighs of other shapes.

[0050] As one possible example, in this embodiment, the connecting frame includes a third side plate 3, a fourth side plate 4, and a locking pin 6. The third side plate 3 and the fourth side plate 4 are parallel to each other, and the locking pin 6 is fixedly connected to both the third side plate 3 and the fourth side plate 4. Depending on the actual needs, those skilled in the art may also choose connecting frames of other shapes.

[0051] Specifically, in this embodiment, the thigh drive motor 8 is located between the third side plate 3 and the fourth side plate 4. The servo motor 10 is located on the side of the third side plate 3 opposite to the thigh drive motor 8, and the calf drive motor 9 is located on the side of the fourth side plate 4 opposite to the thigh drive motor 8.

[0052] This embodiment also provides a wheel-leg vehicle, including the aforementioned wheel-leg system capable of wide-range vibration reduction. Since this wheel-leg vehicle includes the aforementioned wheel-leg system, it also possesses the advantages of the wheel-leg system described above, which will not be repeated here.

[0053] This specification uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. Furthermore, those skilled in the art will recognize that, based on the ideas of the present invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A wheel-leg system capable of achieving wide-range vibration reduction, characterized in that, include: Connecting bracket, used to secure it to the vehicle body; A leg assembly includes a thigh, a lower leg, a hub motor, and a wheel. The second end of the thigh is hinged to the first end of the lower leg. The stator of the hub motor is fixed to the second end of the lower leg, and the rotor of the hub motor is fixedly connected to the wheel. A thigh drive structure, fixed to the connecting frame and connected to the first end of the thigh, is used to drive the thigh to swing around its own first end. A shock absorber, wherein the first end of the shock absorber is hinged to the connecting frame, and the second end of the shock absorber is hinged to the thigh; The lower leg drive structure is fixed on the connecting frame and connected to the first end of the lower leg, and is used to drive the lower leg to swing around its own first end. A locking structure, fixed to the connecting frame, is used to lock and unlock the lower leg drive structure; The lower leg drive structure includes a lower leg drive motor, a swing arm, a first connecting rod, and a second connecting rod; the lower leg drive motor is connected to the swing arm and is used to drive the swing arm to swing around its first end; the second end of the swing arm is hinged to the first end of the first connecting rod, the second end of the first connecting rod is hinged to the first end of the second connecting rod, and the second end of the second connecting rod is fixedly connected to the lower leg. The second end of the swing arm is hinged to the first end of the first connecting rod via a first hinge shaft, and the locking structure is used to restrict the position of the first hinge shaft; The locking structure includes a servo motor and a locking sleeve. The servo motor is fixed on the connecting frame. The output shaft of the servo motor is coaxial with and fixedly connected to the locking sleeve. One end of the first hinge shaft extends into the locking sleeve. The side wall of the locking sleeve is provided with a notch. When the angular position of the locking sleeve is the unlocked position, the first hinge shaft can leave the locking sleeve through the notch, thereby unlocking the lower leg drive structure; when the angular position of the locking sleeve deviates from the unlocked position, the side wall of the locking sleeve is used to limit the first hinge shaft, thereby locking the lower leg drive structure.

2. The wheel-leg system capable of wide-range vibration reduction according to claim 1, characterized in that, The first connecting rod includes a lead screw, a first connecting member, and a second connecting member; the first connecting member includes a first nut and a first sleeve, the first end of the lead screw is threadedly connected to the first nut, the first sleeve is fixedly connected to the first nut, and the first hinge shaft passes through the first sleeve; the second connecting member includes a second nut and a second sleeve, the second end of the lead screw is threadedly connected to the second nut, and the second sleeve is fixedly connected to the second nut; the first end of the second connecting rod is hinged to the second sleeve via a second hinge shaft, and the second hinge shaft passes through the first end of the second connecting rod and the second sleeve.

3. The wheel-leg system capable of wide-range vibration reduction according to claim 2, characterized in that, A shock absorber bracket is fixed on the connecting frame, and the first end of the shock absorber is hinged to the shock absorber bracket to achieve an indirect hinge between the shock absorber and the connecting frame; a shock-absorbing pad is fixed on the thigh, and the second end of the shock absorber is hinged to the shock-absorbing pad to achieve an indirect hinge between the shock absorber and the thigh.

4. The wheel-leg system capable of wide-range vibration reduction according to claim 3, characterized in that, The thigh drive structure includes a thigh drive motor, which is fixed to the connecting frame. The output shaft of the thigh drive motor is fixedly connected to the first end of the thigh to drive the thigh to swing around its first end.

5. The wheel-leg system capable of wide-range vibration reduction according to claim 4, characterized in that, The thigh includes a first side plate, a second side plate, and a middle plate. The first side plate and the second side plate are parallel to each other, and the middle plate is located between the first side plate and the second side plate. The middle plate is fixedly connected to both the first side plate and the second side plate.

6. The wheel-leg system capable of wide-range vibration reduction according to claim 5, characterized in that, The connecting frame includes a third side plate, a fourth side plate, and a locking pin. The third side plate and the fourth side plate are parallel to each other, and the locking pin is fixedly connected to both the third side plate and the fourth side plate. The thigh drive motor is located between the third side plate and the fourth side plate; the servo motor is located on the side of the third side plate opposite to the thigh drive motor, and the calf drive motor is located on the side of the fourth side plate opposite to the thigh drive motor.

7. A wheel-legged vehicle, characterized in that, Including the wheel-leg system that can achieve wide-range vibration reduction as described in any one of claims 1 to 6.

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