Front and rear buffer assembly of all terrain vehicle and design method of front and rear buffer assembly

Abstract

The invention discloses a front and rear buffer assembly of a dune buggy and a design method thereof, and belongs to the field of dune buggies. The front and back buffer assembly of the all terrain vehicle and the design method of the front and back buffer assembly of the all terrain vehicle comprise a vehicle frame, buffer structures are arranged on the two sides of the vehicle frame, each buffer structure comprises supporting assemblies arranged on the two sides of the vehicle frame, the supporting assemblies are connected with the vehicle frame through dampers, and the supporting assemblies and the dampers can weaken impact force; the buffering structures are arranged at the two ends of the frame, when the frame is impacted, impact can be weakened through the supporting assemblies on the two sides of the frame, redundant impact force is transmitted to the dampers to be controlled, the influence of the impact force on the frame is greatly reduced, and the service life of the frame is prolonged. And meanwhile, the impact force suffered by the frame can be effectively judged, and the shielding structure is released to shield and protect the driving position of the vehicle when excessive impact is sensed, so that the harm of external chippings to a user is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of beach vehicles, and in particular to a front and rear buffer assembly of a beach vehicle and a design method thereof. Background Art

[0002] ATVs are light motor vehicles designed specifically for off-road driving. They usually have wide tires, high ground clearance and a powerful power system so that they can travel on various complex terrains, including but not limited to beaches, mud, grass, mountains, deserts and snow. Due to their special tire design and chassis structure, ATVs can easily cope with various rugged terrains.

[0003] For example, the patent application number published on the China Patent Network is: 201921638174.5, and the patent name is: A frame buffer device for a beach vehicle, including a frame and a buffer mechanism, the frame includes two main beams, a cross beam and a mounting plate, the two main beams are welded and fixed by the cross beam, the ends of the main beams are fixed with connecting plates by welding, the mounting plates are fixed to the connecting plates by bolts, the buffer mechanism is fixed to the front side wall of the mounting plate, the buffer mechanism includes an anti-collision plate, two support rods, a buffer member, a second spring and a positioning rod; the setting of the frame buffer device for the beach vehicle has a reasonable structural design, and a buffer mechanism is installed at the front part of the beach vehicle frame. When the vehicle body collides with an obstacle in front, the anti-collision plate, support rod and buffer member in the buffer mechanism cooperate with each other to work together, which can greatly reduce the impact force generated by the collision of the vehicle, thereby avoiding collision between the human body and the frame and improving the safety of vehicle use.

[0004] Since the terrain on which the ATV travels is rugged, the control stability of the ATV is affected, which can easily lead to accidental collisions. Therefore, a buffer structure is needed to reduce impact damage. However, the existing buffer structure mainly uses a metal frame for hard protection. The impact force generated during the impact will be transmitted to the entire vehicle through the metal frame, causing impact damage to users sitting inside the vehicle.

[0005] At the same time, when a high-intensity impact occurs, the vehicle casing and other parts will be broken, and the debris affected by the impact force will directly cause splashing impact on the user, affecting the user's safety. Summary of the invention

[0006] The purpose of the present invention is to solve the problem in the prior art that the rigid support buffer easily causes the user to collide with the frame, and to propose a beach vehicle front and rear buffer assembly and a design method thereof.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions: A beach vehicle front and rear buffer assembly and a design method thereof, comprising a frame, wherein buffer structures are arranged on both sides of the frame, wherein the buffer structures include support assemblies arranged on both sides of the frame, wherein the support assemblies are connected to the frame via dampers, wherein both the support assemblies and the dampers can weaken impact forces, wherein shielding structures are arranged on both sides of the top of the frame, wherein the shielding structures can shield impact debris, and wherein a fixing structure is arranged on the surface of the support assembly, wherein the fixing structure can fix the shielding structure when the frame is not impacted.

[0008] As a preferred technical solution of the present application, the support assembly includes a connecting plate arranged on both sides of the frame, the outer side of the connecting plate is fixedly connected to an elastic component, the inner side of the connecting plate is fixedly connected to a connecting block, the side of the connecting block away from the connecting plate is interconnected with the damper, the side of the damper away from the connecting block is fixedly connected to a bearing plate, and the bearing plate is located inside the frame and fixedly connected to the frame.

[0009] As a preferred technical solution of the present application, the damper includes a shrinkage tube movably connected to the inside of the connecting block through a pin shaft, the surface of the shrinkage tube is sleeved with a sleeve, the sleeve is fixedly connected to the supporting plate, the surfaces of the sleeve and the shrinkage tube are both sleeved with compression springs, and the surface of the damper is provided with a decompression structure, which can distribute the pressure on the damper.

[0010] As a preferred technical solution of the present application, the decompression structure includes a toothed plate fixedly connected to the surface of the sleeve, and a bracket corresponding to the toothed plate is fixedly connected to the surface of the shrinkable tube, and the bracket extends to the outer side of the toothed plate away from the shrinkable tube and is movably connected to a gear through a bearing, and the gear and the toothed plate are meshed with each other, and a rocker arm is fixedly connected to the surface of the gear, and the gear can drive the rocker arm to swing, and a spring plate is fixedly connected to the outer side of the rocker arm, and the spring plate is in contact with the surface of the bracket on the side away from the rocker arm.

[0011] As a preferred technical solution of the present application, a traction plate is fixedly connected to the outer side of the rocker arm, and the traction plate extends to the outer side of the bracket away from the rocker arm. A bellows is fixedly connected to the inner side of the traction plate, and the bellows is fixedly connected to the outer side of the bracket away from the traction plate.

[0012] As a preferred technical solution of the present application, the shielding structure includes movable blocks fixedly connected to both sides of the frame, the inner side of the movable block is movably connected with a baffle through a pin shaft, the bottom of the baffle is fixedly connected with a support plate, the bottom of the support plate is in contact with the surface of the frame, the support plate is elastic, and the top of the baffle is fixedly connected with a buffer pad, and the interior of the buffer pad is set to be hollow.

[0013] As a preferred technical solution of the present application, the fixed structure includes a hook fixedly connected to the back of the connecting plate, and a grabbing groove is provided on the surface of the baffle. The side of the hook away from the connecting plate sequentially passes through the frame and the grabbing groove and extends to the top of the grabbing groove. The hook can be disconnected from the grabbing groove when the connecting plate moves backward due to impact.

[0014] A beach vehicle front and rear buffer assembly and a design method thereof, comprising the following steps: S1: The elastic component on the surface of the connecting plate on the outside of the vehicle first contacts the impacting object, and the elastic component weakens the impact force by using the elasticity of the material, while driving the connecting plate to move toward the side of the frame; S2: When the connecting plate uses the movable block to squeeze the shrink tube, the shrink tube moves toward the inside of the sleeve and compresses the air inside the sleeve. The shrink tube is supported during the increase of air pressure, which can partially eliminate the impact force. At the same time, the compression spring sleeved on the surface of the shrink tube and the sleeve can be deformed when squeezed and the deformation force is used to synchronously weaken the impact force. S3: During the movement of the casing, the casing uses the toothed plate to push the gear to rotate, and the gear drives the swing rod to rotate. The swing rod squeezes the spring plate to deform the spring plate and use the elastic force to reduce the impact force. It can also limit the casing when the spring plate is deformed to the maximum stroke. S4: The swinging of the pendulum can drive the traction plate to move synchronously. The traction plate pulls the bellows to diffuse the gas pressure inside the bellows and use the tension of the gas compression to assist in weakening the impact force. S5: When the vehicle frame is subjected to a strong collision and the connecting plate continues to move to one side of the frame, the connecting plate contacts the frame and feeds back the final impact force to the frame for distribution. The connecting plate drives the hook to move synchronously during the movement. When the connecting plate moves to the maximum stroke and contacts the frame, the hook can slide inside the grab groove and disengage from the baffle. In the process of separation from the grab hook, the baffle is affected by the elastic force of the support plate and swings quickly around the pin shaft inside the movable block. When the baffle moves to the outside of the driving position of the frame, it achieves the effect of shielding external impact objects to prevent users from being impacted by debris.

[0015] As the preferred technical solution of the present application, in S4 of the beach vehicle front and rear buffer assembly and the design method thereof, an intelligent algorithm is added to adjust the stretching speed and amplitude of the bellows through real-time monitoring of the air pressure in the bellows, so that the air pressure diffusion process is smoother and the buffering performance is enhanced; the specific steps are as follows: 1. Sensor configuration and data collection 1. Sensor configuration Install sensors at key locations of the beach vehicle buffer assembly. The installation locations of each sensor are as follows: The air pressure sensor is installed in the middle of the bellows and directly contacts the internal gas; The angle sensor is installed at the bearing of the pendulum to detect the angle change of the pendulum in real time; The speed sensor is installed on the slide rail of the traction plate, and the moving speed is obtained by photoelectric detection or magnetic induction; The stretch sensor is installed at the connection between the traction plate and the bellows to measure the stretch length of the traction plate; 2. Data Collection The sensor collects data in real time. The specific data are as follows: Air pressure inside bellows ; Swing angle of the pendulum ; Moving speed of traction plate ; The stretching range of the traction plate ; Collecting each moment through sensors data to form a time series data set ,in is the number of time steps; 2. Data Preprocessing 1. Noise filtering Use Kalman filtering algorithm to filter noise from the collected data to improve data accuracy; The state update formula of Kalman filter is as follows: ; in, It's time state estimation; is the observed value at time k; is the observation matrix; It's time The Kalman gain of Kalman gain calculation formula: ; in, It's time The covariance matrix of is the covariance matrix of the observation noise; State covariance matrix update formula: ; in, is the identity matrix; 2. Data Normalization Normalize the sensor data to unify the parameters into the same dimension range. The formula is as follows: ; in, It is the original data; and are the minimum and maximum values ​​of the data respectively; is the normalized data; After preprocessing It will serve as input for subsequent models; They represent the normalized air pressure inside the bellows, the swing angle of the pendulum, the moving speed of the traction plate, and the stretching amplitude of the traction plate respectively; 3. Improved ST-GAT model We add LSTM to ST-GAT to capture more complex temporal dependencies and use the firefly algorithm to optimize the model parameters; 1. Graph Attention Layer The graph attention layer is used to capture the spatial dependencies between nodes; Attention coefficient calculation formula: ; in, Is a node and nodes The attention coefficient between is the activation function; is the weight matrix, is the attention vector; and The nodes are and nodes The eigenvector of Represents a splicing operation; The attention weight is calculated through the softmax operation: ; in, Is a node For Node The attention weight of is an exponential function; Is a node The set of neighbor nodes; Represents a compute node Neighbors is the exponential sum of the attention scores of all nodes in; Is a node and nodes The attention coefficient between ; Node feature updates: ; in, Is a node Updated feature vector; is the activation function; Is a node The eigenvector of is the weight matrix; 2. LSTM Layer Introduce LSTM layer to capture temporal dependencies: Input is ,in is the number of nodes, is the feature dimension, is the number of time steps; is the field of real numbers; The update formula of LSTM is as follows: (1) Forget Gate: ; in, is the output of the forget gate; is the Sigmoid activation function; is the weight matrix of the forget gate; is the hidden state at the previous time step and the input of the current time step Combined vector; is the bias term of the forget gate; (2) Input gate: ; ; in, is the output of the input gate; is the weight matrix of the input gate; is the bias term of the input gate; is the current time step Candidate cell states; is the hyperbolic tangent activation function; is the weight matrix of the candidate cell states; is the bias term of the candidate cell state; (3) Cell status update: ; in, is the current time step The cell state; is the cell state at the previous time step t-1; (4) Output gate: ; ; in, is the output of the output gate; is the weight matrix of the output gate; is the bias term of the output gate; is the hidden state at the current time step t; Is the cell state Nonlinear transformation of 3. Improved ST-GAT-LSTM model The improved ST-GAT-LSTM model is constructed by combining the graph attention layer and the LSTM layer: ; in, For preprocessed data , The output is a new feature vector for each node ; It is the graph attention network operation; ; Among them, the input is the output of the graph attention layer , output The hidden state of each node at each time step is ; It is a long short-term memory network operation; 4. Intelligent optimization algorithm The firefly algorithm is introduced to optimize the model parameters; the main steps of the firefly algorithm are as follows: (1) Initialization: The initial population is randomly generated, and each firefly represents a model parameter combination; Generate initial population ,in It is The parameter combination of fireflies, is the population size; (2) Calculation of brightness and attractiveness: Brightness represents the fitness function value: ; ; in, Indicates brightness; represents the loss function; is the sample size; The model is parameterized Next pair The predicted value of samples; It is The true value of samples; is the square of the Euclidean norm; Attraction decays based on distance and brightness: ; ; in, It is Firefly Pair The attraction of fireflies; It is the biggest attraction; is the attraction coefficient; It is and The distance between fireflies; It is The position vector of each firefly; It is The position vector of each firefly; (3) Firefly Movement firefly To the fireflies that are brighter than me move: ; in, It is The position vector of each firefly; It is The position vector of each firefly; is the random shift coefficient; is a random number that follows a standard normal distribution; It is Firefly Pair The attraction of fireflies; (4) Iteration Repeat the brightness and attraction calculation and firefly movement steps until the stopping condition is reached (the fitness function converges); (5) Real-time prediction and adjustment In actual use, real-time sensor data is input into the trained model, which predicts the optimal pulling speed and amplitude of the traction plate according to the current impact conditions; Real-time data input , model prediction value for: ; in It is the best parameter combination after optimization by the firefly algorithm; Indicates the ST-GAT-LSTM model operation; Adjust the traction board's movements based on the prediction results: Pulling speed of the traction plate ; The stretching range of the traction plate ; Compared with the prior art, the present invention provides a beach vehicle front and rear buffer assembly and a design method thereof, which has the following beneficial effects: 1. The front and rear buffer assemblies of the beach vehicle and the design method thereof, by arranging buffer structures at both ends of the frame, can weaken the impact by utilizing the support components on both sides of the frame when the frame is impacted, and the excess impact force is transmitted to the damper for control, thereby greatly reducing the impact of the impact force on the frame. At the same time, the impact force suffered by the frame can be effectively judged and the shielding structure can be released to shield and protect the driving position of the vehicle when excessive impact is sensed, thereby reducing the damage caused to the user by external debris.

[0016] 2. The front and rear buffer assemblies of the beach vehicle and the design method thereof first contact the impact object through the elastic components on the surface of the connecting plate. The elastic components weaken the impact force by utilizing the elasticity of the material, and can preliminarily reduce the external impact, while also protecting the impact object itself.

[0017] 3. The front and rear buffer assemblies of the beach vehicle and the design method thereof squeeze the shrink tube through the movable block, and the shrink tube moves toward the inside of the sleeve and compresses the air inside the sleeve. The shrink tube is supported during the increase of air pressure, which can partially eliminate the impact force. At the same time, the compression springs sleeved on the surface of the shrink tube and the sleeve can deform when squeezed and use the deformation force to deal with the impact force, which can weaken the impact force for a second time and greatly improve the supporting effect of the connecting plate.

[0018] 4. The front and rear buffer assemblies of the beach vehicle and their design methods use a sleeve to drive the gear to rotate by using a toothed plate, and the gear drives the swing rod to rotate. The swing rod squeezes the spring plate to deform the spring plate and use the elastic force to reduce the impact force. When the spring plate is deformed to the maximum stroke, the sleeve can be limited. 5. The front and rear buffer assemblies of the beach vehicle and the design method thereof can drive the traction plate to move synchronously during the swing of the swing rod. The traction plate pulls the bellows to diffuse the air pressure inside the bellows and use the tension of the gas compression to assist in weakening the impact force. 6. The front and rear buffer assemblies of the beach vehicle and the design method thereof can shield external debris and reduce damage caused by splashing debris by setting a baffle that uses the elastic force of the support plate to reset and swing. At the same time, the buffer pads set on the surface of the baffle can protect the internal users and reduce the collision damage caused to the users when they are bounced by impact.

[0019] 7. The front and rear buffer assemblies of the beach vehicle and the design method thereof can position the baffle plate by using the elastic force of the damper by setting hooks and grabbing grooves, thereby preventing the baffle plate from affecting the normal driving of the vehicle frame and effectively controlling the release strength of the baffle plate.

[0020] 8. By introducing the ST-GAT model, combined with the graph attention network and LSTM network, the spatial and temporal dependencies in the sensor data are effectively captured. The graph attention network can handle the complex relationships between nodes, while the LSTM is good at processing time series data.

[0021] 9. Optimize model parameters by introducing the firefly algorithm. The firefly algorithm is a global optimization algorithm that uses the mutual attraction mechanism between fireflies to avoid falling into the local optimum, thereby finding the global optimal parameter combination of the model and improving the prediction accuracy of the model.

[0022] 10. The data from different sensors are represented as a graph structure through the Graph Attention Network (GAT), and the data from different sensors are fused using the attention mechanism to ensure effective interaction and fusion between different types of data. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a structural schematic diagram of the present invention; Figure 2 It is a bottom view structural schematic diagram of the present invention; Figure 3 It is a schematic diagram of the shielding structure of the present invention; Figure 4 It is a schematic diagram of the fixing structure of the present invention; Figure 5 It is a schematic diagram of the support assembly structure of the present invention; Figure 6 It is a schematic diagram of the structure of the damper of the present invention; Figure 7 It is a schematic diagram of the decompression structure of the present invention; Figure 8 For the present invention Figure 3 The enlarged structural diagram at A in the middle; Fig. 9 It is the flow chart of the intelligent algorithm of the present invention.

[0024] In the figure: 1. frame; 2. buffer structure; 3. support assembly; 4. damper; 5. shielding structure; 6. fixing structure; 7. connecting plate; 8. elastic component; 9. connecting block; 10. bearing plate; 11. shrink tube; 12. sleeve; 13. compression spring; 14. decompression structure; 15. tooth plate; 16. bracket; 17. gear; 18. rocker arm; 19. spring plate; 20. traction plate; 21. bellows; 22. movable block; 23. baffle; 24. support plate; 25. buffer pad; 26. hook; 27. grab groove; 28. connecting ring; 29. ​​guide rod. DETAILED DESCRIPTION

[0025] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention; it is obvious that the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments, and all other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making creative work are within the scope of protection of the present invention.

[0026] Embodiment 1: Reference Figure 1-8A front and rear buffer assembly of a beach vehicle includes a frame 1, and a buffer structure 2 is provided on both sides of the frame 1. The buffer structure 2 includes a support assembly 3 provided on both sides of the frame 1, and the support assembly 3 is connected to the frame 1 through a damper 4. The support assembly 3 and the damper 4 can both weaken the impact force. A shielding structure 5 is provided on both sides of the top of the frame 1, and the shielding structure 5 can shield the impact debris. A fixing structure 6 is provided on the surface of the support assembly 3, and the fixing structure 6 can fix the shielding structure 5 when the frame 1 is not impacted. The support assembly 3 includes a connecting plate 7 provided on both sides of the frame 1, and an elastic component 8 is fixedly connected to the outer side of the connecting plate 7, and a connecting block 9 is fixedly connected to the inner side of the connecting plate 7, and the connecting block 9 is away from the connecting plate 7. One side of the connecting plate 7 is interconnected with the damper 4, and the side of the damper 4 away from the connecting block 9 is fixedly connected with a bearing plate 10, the bearing plate 10 is located inside the frame 1 and is fixedly connected to the frame 1, the elastic component 8 is made of rubber or damping material, the interior of the elastic component 8 is set to be hollow, the elastic component 8 on the surface of the connecting plate 7 first contacts the impact object, the elastic component 8 weakens the impact force by the elasticity of the material, can preliminarily reduce the external impact, and can also protect the impact object itself, the damper 4 includes a shrink tube 11 movably connected to the inside of the connecting block 9 through a pin shaft, the surface of the shrink tube 11 is sleeved with a sleeve 12, the sleeve 12 is fixedly connected to the bearing plate 10, and the surfaces of the sleeve 12 and the shrink tube 11 are both sleeved with a compression Spring 13, the surface of the damper 4 is provided with a decompression structure 14, the decompression structure 14 can distribute the pressure on the damper 4, the interior of the sleeve 12 and the shrink tube 11 is set to be hollow, the sleeve 12 and the shrink tube 11 can be plugged, the surface of the sleeve 12 is fixedly connected with a guide rod 29, the shrink tube 11 is sleeved on the surface of the guide rod 29 and is slidably connected to the guide rod 29, the shrink tube 11 is squeezed by the movable block 22, the shrink tube 11 moves toward the inside of the sleeve 12 and compresses the air inside the sleeve 12, and the shrink tube 11 is supported during the increase of air pressure, which can partially eliminate the impact force, and at the same time, the compression spring 13 sleeved on the surface of the shrink tube 11 and the sleeve 12 can be deformed when squeezed and use the deformation force to deal with the impact force. The impact force can be weakened for a second time, greatly improving the supporting effect of the connecting plate 7. The decompression structure 14 includes a tooth plate 15 fixedly connected to the surface of the sleeve 12. A bracket 16 corresponding to the tooth plate 15 is fixedly connected to the surface of the shrink tube 11. The bracket 16 extends to the outer side of the tooth plate 15 away from the shrink tube 11 and is movably connected to a gear 17 through a bearing. The gear 17 and the tooth plate 15 are meshed with each other. A swing rod 18 is fixedly connected to the surface of the gear 17. The gear 17 can drive the swing rod 18 to swing. A spring plate 19 is fixedly connected to the outer side of the swing rod 18. The side of the spring plate 19 away from the swing rod 18 contacts with the surface of the bracket 16. There are several tooth plates 15 that are evenly arranged around. The number of brackets 16 corresponds to the number of tooth plates 15.The surface of the toothed plate 15 is fixedly connected with a connecting ring 28 sleeved on the surface of the sleeve 12. The toothed plate 15 is used to push the gear 17 to rotate through the sleeve 12, and the gear 17 drives the swing rod 18 to rotate. The swing rod 18 squeezes the spring plate 19 to deform the spring plate 19 and use the elastic force to reduce the impact force. When the spring plate 19 is deformed to the maximum stroke, it can limit the sleeve 12. The outer side of the swing rod 18 is fixedly connected with a traction plate 20. The side of the traction plate 20 away from the swing rod 18 extends to the outer side of the bracket 16. The inner side of the traction plate 20 is fixedly connected with a bellows 21. The side of the bellows 21 away from the traction plate 20 is connected to the bracket The outer side of the bellows 21 is fixedly connected, the bellows 21 is elastic, the surface of the bellows 21 is connected to an intake pipe connected to the external environment, and a piston filter is arranged at the outer end of the intake pipe to prevent external impurities from entering the interior of the bellows 21. When the bellows 21 is pulled, the intake pipe can slowly extract the external airflow to prevent the bellows 21 from being pulled and broken due to excessive low air pressure. The traction plate 20 can be driven to move synchronously during the swing of the swing rod 18. The traction plate 20 pulls the bellows 21 to diffuse the air pressure inside the bellows 21 and use the pulling force during gas compression to assist in weakening the impact force, thereby shielding the bellows 21. The structure 5 includes a movable block 22 fixedly connected to both sides of the frame 1, a baffle 23 is movably connected to the inner side of the movable block 22 through a pin shaft, a support plate 24 is fixedly connected to the bottom of the baffle 23, the bottom of the support plate 24 contacts the surface of the frame 1, the support plate 24 is elastic, a buffer pad 25 is fixedly connected to the top of the baffle 23, the inside of the buffer pad 25 is set to be hollow, and the baffle 23 that uses the elastic force of the support plate 24 to reset and swing can be set to block external debris and reduce the damage caused by the splashing of debris. At the same time, the buffer pad 25 set on the surface of the baffle 23 can protect the internal user and reduce the user In order to prevent collision damage when the vehicle is bounced up by impact, the fixing structure 6 includes a hook 26 fixedly connected to the back of the connecting plate 7, and a grabbing groove 27 is provided on the surface of the baffle 23. The hook 26, which is away from the connecting plate 7, passes through the frame 1 and the grabbing groove 27 in sequence and extends to the top of the grabbing groove 27. The hook 26 can be disconnected from the grabbing groove 27 when the connecting plate 7 moves backward by impact. By setting the hook 26 and the grabbing groove 27, the elastic force of the damper 4 can be used to position the baffle 23 to prevent the baffle 23 from affecting the normal driving of the frame 1, and the release strength of the baffle 23 can be effectively controlled.

[0027] A method for designing a front and rear buffer of a beach vehicle comprises the following steps: S1: The elastic component 8 on the surface of the connecting plate 7 on the outside of the vehicle first contacts the impacting object, and the elastic component 8 weakens the impact force by utilizing the elasticity of the material, while driving the connecting plate 7 to move toward the side of the frame 1; S2: When the connecting plate 7 uses the movable block 22 to squeeze the shrink tube 11, the shrink tube 11 moves toward the inside of the sleeve 12 and compresses the air inside the sleeve 12. The shrink tube 11 is supported during the increase of air pressure, which can partially eliminate the impact force. At the same time, the compression spring 13 sleeved on the surface of the shrink tube 11 and the sleeve 12 can be deformed when squeezed and use the deformation force to synchronously weaken the impact force; S3: During the movement of the sleeve 12, the sleeve 12 uses the toothed plate 15 to push the gear 17 to rotate, and the gear 17 drives the swing rod 18 to rotate. The swing rod 18 squeezes the spring plate 19 to deform the spring plate 19 and reduce the impact force by elastic force. Moreover, the sleeve 12 can be limited when the spring plate 19 is deformed to the maximum stroke. S4: During the swinging process of the swing rod 18, the traction plate 20 can be driven to move synchronously, and the traction plate 20 pulls the bellows 21, so that the gas pressure inside the bellows 21 is diffused and the tension during gas compression is used to assist in weakening the impact force; Fig. 9 , where the specific steps of the intelligent algorithm are as follows: 1. Sensor Configuration and Data Collection In a collision experiment, we collected the following data (time step is 1 second): ; 2. Data Preprocessing We use the Kalman filter algorithm to filter the noise of the collected data. Assume that the filtered data is as follows: ; Normalize the data and unify each parameter to the range of 0 to 1: ; 3. Improved Model Establishment 1. Graph Attention Layer: The input data is normalized sensor data: ; The graph attention layer calculates the attention coefficients and weights to update the feature vector: ; ; ; Assume that the calculated attention coefficient and updated feature vector are as follows: ; 2.LSTM layer: The input is the feature vector output by the graph attention layer: ; The LSTM layer captures temporal dependencies, and the hidden state is updated as follows: ; ; ; ; ; ; Assume that the hidden state after processing by the LSTM layer is as follows: ; 3. Firefly Algorithm Initialize the population, each firefly represents a model parameter combination. Assuming the population size is 3, the parameter combination represented by each individual is as follows: ; ; ; Brightness represents the fitness function value: ; ; Assuming the target value The ideal combination of pulling speed and amplitude of the traction plate Attractiveness calculation: ; Among them, assuming

[0028] Assumptions The distance between ,but: ; Firefly Mobile: ; Among them, assuming , It follows a standard normal distribution.

[0029] 4. Real-time prediction and adjustment Real-time sensor data is fed into the trained model, which predicts the optimal pulling plate stretching speed and amplitude.

[0030] Assume that the real-time input data is: ; After preprocessing: ; Model predictions: ; Assume the predicted value is: ; It shows that the best pulling plate stretching speed is 3.3 m / s and the stretching amplitude is 18 mm.

[0031] According to the prediction results, the central control system adjusts the action of the traction plate: Pulling speed of traction plate: 3.3 m / s The stretching range of the traction plate: 18 mm S5: When the vehicle frame 1 is subjected to a strong collision and the connecting plate 7 continues to move toward one side of the vehicle frame 1, the connecting plate 7 contacts the vehicle frame 1 and feeds back the final impact force to the vehicle frame 1 for distribution. The connecting plate 7 drives the hook 26 to move synchronously during the movement. When the connecting plate 7 moves to the maximum stroke and contacts the vehicle frame 1, the hook 26 can slide inside the grabbing groove 27 and disengage from the baffle 23. In the process of separation from the grabbing hook, the baffle 23 is affected by the elastic force of the support plate 24 and quickly swings around the pin shaft inside the movable block 22. When the baffle 23 moves to the outside of the driving position of the vehicle frame 1, it achieves the effect of shielding external impact objects to prevent the user from being impacted by debris. Specifically, when the front and rear buffer assemblies of the beach vehicle and the design method thereof are in operation / in use: the buffer structure 2 on both sides of the vehicle can ensure the structural strength of the vehicle and prevent the vehicle from being subjected to dry collision. When the vehicle suffers a slight collision, the elastic component 8 on the surface of the connecting plate 7 on the outside of the vehicle first contacts the impact object. The elastic component 8 weakens the impact force by utilizing the elasticity of the material and drives the connecting plate 7 to move toward one side of the frame 1. When the connecting plate 7 squeezes the shrink tube 11 by utilizing the movable block 22, the shrink tube 11 moves toward the inside of the sleeve 12 and compresses the air inside the sleeve 12. The shrink tube 11 is supported during the increase of air pressure, and the impact force can be partially eliminated. At the same time, the compression spring 13 sleeved on the surface of the shrink tube 11 and the sleeve 12 can deform when squeezed and use the deformation force to synchronously weaken the impact force. During the movement of the sleeve 12, the sleeve 12 uses the tooth plate 15 to push the gear 17 to rotate, and the gear 17 drives the swing rod 18 to rotate. The swing rod 18 squeezes the spring plate 19 to deform the spring plate 19 and use the elastic force to reduce the impact force. When the spring plate 19 is deformed to the maximum stroke, the sleeve 12 can be limited. During the swing of the swing rod 18, the traction plate 20 can be driven to move synchronously. The traction plate 20 pulls the bellows 21 to diffuse the gas pressure inside the bellows 21 and use the tension of the gas compression to assist in weakening the impact force. Through the above-mentioned multiple weakening methods, the frame 1 can be prevented from being damaged by ordinary collisions. When the frame 1 is subjected to a strong collision and the connecting plate 7 continues to move to one side of the frame 1, the connecting plate 7 contacts the frame 1 and the final impact The impact force is fed back to the frame 1 for distribution, and the connecting plate 7 drives the hook 26 to move synchronously during the movement. When the connecting plate 7 moves to the maximum stroke and contacts the frame 1, the hook 26 can slide inside the grabbing groove 27 and disengage from the baffle 23. In the process of separation from the grab hook, the baffle 23 is affected by the elastic force of the support plate 24 and quickly swings around the pin shaft inside the movable block 22 as the axis. When the baffle 23 moves to the outside of the driving position of the frame 1, it achieves the effect of shielding external impact objects to prevent the user from being impacted by debris.

[0032] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A beach vehicle front and rear buffer assembly, comprising a vehicle frame (1), characterized in that: Buffer structures (2) are provided on both sides of the frame (1), and the buffer structures (2) include support assemblies (3) provided on both sides of the frame (1), and the support assemblies (3) are connected to the frame (1) via dampers (4), and both the support assemblies (3) and the dampers (4) are capable of weakening impact forces; shielding structures (5) are provided on both sides of the top of the frame (1), and the shielding structures (5) are capable of shielding impact debris; and a fixing structure (6) is provided on the surface of the support assembly (3), and the fixing structure (6) is capable of fixing the shielding structure (5) when the frame (1) is not impacted.

2. The front and rear buffer assembly of a beach vehicle according to claim 1, characterized in that: The support assembly (3) comprises a connecting plate (7) arranged on both sides of the frame (1); an elastic component (8) is fixedly connected to the outer side of the connecting plate (7); a connecting block (9) is fixedly connected to the inner side of the connecting plate (7); a side of the connecting block (9) away from the connecting plate (7) is connected to the damper (4); a side of the damper (4) away from the connecting block (9) is fixedly connected to a bearing plate (10); the bearing plate (10) is located inside the frame (1) and is fixedly connected to the frame (1).

3. The front and rear buffer assembly of a beach vehicle according to claim 2, characterized in that: The damper (4) comprises a shrinkable tube (11) movably connected to the interior of a connection block (9) via a pin shaft, a sleeve (12) is sleeved on the surface of the shrinkable tube (11), the sleeve (12) is fixedly connected to a bearing plate (10), and compression springs (13) are sleeved on the surfaces of the sleeve (12) and the shrinkable tube (11), and a decompression structure (14) is provided on the surface of the damper (4), and the decompression structure (14) is capable of distributing the pressure applied to the damper (4).

4. The front and rear buffer assembly of a beach vehicle according to claim 3, characterized in that: The decompression structure (14) comprises a toothed plate (15) fixedly connected to the surface of the sleeve (12); a bracket (16) corresponding to the toothed plate (15) is fixedly connected to the surface of the shrink tube (11); a side of the bracket (16) away from the shrink tube (11) extends to the outside of the toothed plate (15) and is movably connected to a gear (17) via a bearing; the gear (17) and the toothed plate (15) are meshed with each other; a swing rod (18) is fixedly connected to the surface of the gear (17); the gear (17) can drive the swing rod (18) to swing; a spring plate (19) is fixedly connected to the outside of the swing rod (18); a side of the spring plate (19) away from the swing rod (18) contacts the surface of the bracket (16).

5. The front and rear buffer assembly of a beach vehicle according to claim 4, characterized in that: A traction plate (20) is fixedly connected to the outer side of the swing rod (18), and a side of the traction plate (20) away from the swing rod (18) extends to the outer side of the bracket (16). A bellows (21) is fixedly connected to the inner side of the traction plate (20), and a side of the bellows (21) away from the traction plate (20) is fixedly connected to the outer side of the bracket (16).

6. The front and rear buffer assembly of a beach vehicle according to claim 2, characterized in that: The shielding structure (5) comprises a movable block (22) fixedly connected to both sides of the vehicle frame (1); a baffle (23) is movably connected to the inner side of the movable block (22) via a pin shaft; a support plate (24) is fixedly connected to the bottom of the baffle (23); the bottom of the support plate (24) contacts the surface of the vehicle frame (1); the support plate (24) is elastic; a buffer pad (25) is fixedly connected to the top of the baffle (23); the interior of the buffer pad (25) is arranged to be hollow.

7. The front and rear buffer assembly of a beach vehicle according to claim 6, characterized in that: The fixing structure (6) comprises a hook (26) fixedly connected to the back of the connecting plate (7); a gripping groove (27) is provided on the surface of the baffle plate (23); the hook (26) passes through the vehicle frame (1) and the gripping groove (27) in sequence on the side away from the connecting plate (7) and extends to the top of the gripping groove (27); the hook (26) can be disconnected from the gripping groove (27) when the connecting plate (7) moves backwards due to an impact.

8. The method for designing a front and rear buffer assembly of a beach vehicle according to claim 3, characterized in that: The following steps are involved: S1: The elastic component (8) on the surface of the connecting plate (7) on the outside of the vehicle first contacts the impacting object, and the elastic component (8) weakens the impact force by utilizing the elasticity of the material, while driving the connecting plate (7) to move toward one side of the vehicle frame (1); S2: When the connecting plate (7) uses the movable block (22) to squeeze the shrink tube (11), the shrink tube (11) moves toward the inside of the sleeve (12) and compresses the air inside the sleeve (12). The shrink tube (11) is supported during the increase of air pressure, and the impact force can be partially eliminated. At the same time, the compression spring (13) sleeved on the surface of the shrink tube (11) and the sleeve (12) can be deformed when squeezed and the deformation force is used to synchronously weaken the impact force. S3: During the movement of the sleeve (12), the sleeve (12) uses the toothed plate (15) to push the gear (17) to rotate, and the gear (17) drives the swing rod (18) to rotate. The swing rod (18) squeezes the spring plate (19) to deform the spring plate (19) and use the elastic force to reduce the impact force. In addition, when the spring plate (19) is deformed to the maximum stroke, it can limit the sleeve (12); S4: During the swinging process of the swing rod (18), the traction plate (20) can be driven to move synchronously, and the traction plate (20) pulls the bellows (21), so that the gas pressure inside the bellows (21) is diffused and the tensile force when the gas is compressed is used to assist in weakening the impact force; S5: When the vehicle frame (1) is subjected to a strong collision and the connecting plate (7) continues to move toward one side of the vehicle frame (1), the connecting plate (7) contacts the vehicle frame (1) and feeds back the final impact force to the vehicle frame (1) for distribution. During the movement, the connecting plate (7) drives the hook (26) to move synchronously. When the connecting plate (7) moves to the maximum stroke and contacts the vehicle frame (1), the hook (26) can slide inside the grabbing groove (27) and disengage from the baffle (23). During the separation process from the grabbing hook, the baffle (23) is affected by the elastic force of the support plate (24) and quickly swings around the pin shaft inside the movable block (22). When the baffle (23) moves to the outside of the driving position of the vehicle frame (1), it achieves the effect of shielding external impact objects, thereby preventing the user from being impacted by debris.

9. The method for designing a front and rear buffer assembly of a beach vehicle according to claim 8, characterized in that: In S4, an intelligent algorithm is added to adjust the stretching speed and amplitude of the bellows through real-time monitoring of the air pressure in the bellows, so as to make the air pressure diffusion process more stable and enhance the buffering performance; the specific steps are as follows:

1. Sensor configuration and data collection 1. Sensor configuration Install sensors at key locations of the beach vehicle buffer assembly. The installation locations of each sensor are as follows: The air pressure sensor is installed in the middle of the bellows and directly contacts the internal gas; The angle sensor is installed at the bearing of the pendulum to detect the angle change of the pendulum in real time; The speed sensor is installed on the slide rail of the traction plate, and the moving speed is obtained by photoelectric detection or magnetic induction; The stretch sensor is installed at the connection between the traction plate and the bellows to measure the stretch length of the traction plate; 2. Data Collection The sensor collects data in real time. The specific data are as follows: Air pressure inside bellows ; Swing angle of the pendulum ; Moving speed of traction plate ; The stretching range of the traction plate ; Collecting each moment through sensors data to form a time series data set ,in is the number of time steps; 2. Data Preprocessing 1. Noise filtering Use Kalman filtering algorithm to filter noise from the collected data to improve data accuracy; The state update formula of Kalman filter is as follows: ； in, It's time state estimation; is the observed value at time k; is the observation matrix; It's time The Kalman gain of Kalman gain calculation formula: ； in, It's time The covariance matrix of is the covariance matrix of the observation noise; State covariance matrix update formula: ； in, is the identity matrix; 2. Data Normalization Normalize the sensor data to unify the parameters into the same dimension range. The formula is as follows: ； in, It is the original data; and are the minimum and maximum values ​​of the data respectively; is the normalized data; After preprocessing It will serve as input for subsequent models; They represent the normalized air pressure inside the bellows, the swing angle of the pendulum, the moving speed of the traction plate, and the stretching amplitude of the traction plate respectively; 3. Improved ST-GAT model Based on the spatiotemporal graph attention network ST-GAT, a long short-term memory network LSTM is added to capture more complex temporal dependencies, and the firefly algorithm is used to optimize the model parameters; 1. Graph Attention Layer The graph attention layer is used to capture the spatial dependencies between nodes; Attention coefficient calculation formula: ； in, Is a node and nodes The attention coefficient between is the activation function; is the weight matrix, is the attention vector; and The nodes are and nodes The eigenvector of Represents a splicing operation; The attention weight is calculated through the softmax operation: ； in, Is a node For Node The attention weight of is an exponential function; Is a node The set of neighbor nodes of Represents a compute node Neighbors is the exponential sum of the attention scores of all nodes in; Is a node and nodes The attention coefficient between ; Node feature updates: ； in, Is a node Updated feature vector; is the activation function; Is a node The eigenvector of is the weight matrix; 2. LSTM Layer Introduce LSTM layer to capture time dependencies: Input is ,in is the number of nodes, is the feature dimension, is the number of time steps; is the field of real numbers; The update formula of LSTM is as follows: (1) Forget Gate: ； in, is the output of the forget gate; is the Sigmoid activation function; is the weight matrix of the forget gate; is the hidden state at the previous time step and the input of the current time step Combined vector; is the bias term of the forget gate; (2) Input gate: ； ； in, is the output of the input gate; is the weight matrix of the input gate; is the bias term of the input gate; is the current time step Candidate cell states; is the hyperbolic tangent activation function; is the weight matrix of the candidate cell states; is the bias term of the candidate cell state; (3) Cell status update: ； in, is the current time step The cell state; is the cell state at the previous time step t-1; (4) Output gate: ； ； in, is the output of the output gate; is the weight matrix of the output gate; is the bias term of the output gate; is the hidden state at the current time step t; Is the cell state Nonlinear transformation of 3. Improved ST-GAT-LSTM model The improved ST-GAT-LSTM model is constructed by combining the graph attention layer and the LSTM layer: ； in, For preprocessed data , The output is a new feature vector for each node ; It is the graph attention network operation; ； Among them, the input is the output of the graph attention layer , output The hidden state of each node at each time step is ; It is a long short-term memory network operation; 4. Intelligent optimization algorithm The firefly algorithm is introduced to optimize the model parameters; the main steps of the firefly algorithm are as follows: (1) Initialization: The initial population is randomly generated, and each firefly represents a model parameter combination; Generate initial population ,in It is The parameter combination of fireflies, is the population size; (2) Calculation of brightness and attractiveness: Brightness represents the fitness function value: ； ； in, Indicates brightness; represents the loss function; is the sample size; The model is parameterized Next pair The predicted value of samples; It is The true value of samples; is the square of the Euclidean norm; Attraction decays based on distance and brightness: ； ； in, It is Firefly Pair The attraction of fireflies; It is the biggest attraction; is the attraction coefficient; It is and The distance between fireflies; It is The position vector of each firefly; It is The position vector of each firefly; (3) Firefly Movement firefly To the fireflies that are brighter than me move: ； in, It is The position vector of each firefly; It is The position vector of each firefly; is the random shift coefficient; is a random number that follows a standard normal distribution; It is Firefly Pair The attraction of fireflies; (4) Iteration Repeat the brightness and attraction calculation and firefly movement steps until the stopping condition is reached (the fitness function converges); (5) Real-time prediction and adjustment In actual use, real-time sensor data is input into the trained model, which predicts the optimal pulling speed and amplitude of the traction plate according to the current impact conditions; Real-time data input , model prediction value for: ； in It is the best parameter combination after optimization by the firefly algorithm; Indicates the ST-GAT-LSTM model operation; Adjust the traction board's movements based on the prediction results: Pulling speed of the traction plate ; The stretching range of the traction plate .

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