CN105857001A - Rocker arm wheeler - Google Patents

Abstract

The present invention relates to the technical field of vehicles, in particular to a rocker wheeled vehicle, comprising a vehicle body, a torsion bar spring suspension and wheels, the wheels are arranged in pairs on the outer side of the vehicle body, and the torsion bar spring suspension is located The car body and the wheels are connected one by one. The torsion bar spring suspension includes a driving device, a torsion bar spring and a rocker arm. One end of the rocker arm is connected to the wheel, and the other end is connected to the end of the torsion bar spring passing through the car body. The driving device It is connected with the other end of the torsion bar spring, and by driving the torsion bar spring to rotate, the rocker arm is driven to rotate to lift the wheel to a certain height to overcome obstacles. The invention drives the torsion bar spring to rotate through the driving device, drives the rocker arm to swing at a certain angle, and then realizes the lifting or lowering of the wheels, so that the rocker arm wheeler can easily overcome some special obstacles or change the bottom height of the rocker arm wheeler from the ground, and improves the rocker arm wheel. The arm wheel vehicle has the ability to pass through obstacles and cross-country, ensuring that the wheels can actively cross individual obstacles such as ditches and vertical walls.

Description

a rocker wheel

technical field

The invention relates to the technical field of vehicles, in particular to a rocker wheeled vehicle.

Background technique

In the existing torsion bar spring suspension, the torsion bar spring is a spring steel round bar, one end is fixed on the vehicle frame, and the other end is connected with the wheel by a rocking arm. When the wheel is beating, the torsion bar spring is twisted and deformed to convert the kinetic energy of the vehicle vibration into elastic potential energy, which alleviates the vehicle's bumpy vibration caused by the unevenness of the ground. The traditional wheeled walking mechanism cannot pass through independent obstacles such as steps or vertical walls. Although the walking mechanism using simulated animal "legs" has good passability, it cannot travel at high speeds on paved roads, and has a complex structure and low efficiency. The vehicle height adjustable suspension adopting air or oil-pneumatic springs cannot lift the wheels of the running gear. Although the traditional rocker wheel vehicles abroad can realize the lifting and lowering of the wheels, the suspension is rigid during the adjustment process, so it can only be adjusted when parking or at extremely low speeds.

Contents of the invention

(1) Technical problems to be solved

The technical problem to be solved by the present invention is to solve the problem that the ordinary wheeled traveling mechanism cannot pass through the independent obstacles in the form of steps or vertical walls. The suspension of the existing rocker wheel vehicle to control the lifting and falling of the wheels to overcome obstacles is rigid and can only be adjusted by parking Or a problem with regulation at very low speeds.

(2) Technical solutions

In order to solve the above technical problems, the present invention provides a rocker wheeled vehicle, which includes a vehicle body, a torsion bar spring suspension and wheels, the wheels are arranged in pairs on the outside of the vehicle body, and the torsion bar spring suspension Located on the inner side of the vehicle body and passing through the vehicle body to connect with the wheels one by one, the torsion bar spring suspension includes a driving device, a torsion bar spring and a rocker arm, one end of the rocker arm is connected to the The other end is connected with the end of the torsion bar spring passing through the car body, and the driving device is connected with the other end of the torsion bar spring to drive the torsion bar spring to rotate to drive the rocker The rotation of the arm makes the wheel lift to a certain height to overcome obstacles.

Wherein, the driving device includes a motor and a transmission assembly, the motor is connected to the transmission assembly, and the transmission assembly is splined to the fixed end of the torsion bar spring.

Wherein, the transmission assembly includes a worm gear and a worm, the worm is connected to the motor, the worm gear is meshed with the worm, and the worm gear is connected to the torsion bar spring.

Wherein, the rocker arm is provided with a rotation angle sensor to detect the swing angle of the rocker arm.

Wherein, the inner side of the vehicle body is provided with roll angle and pitch angle sensors to detect the posture of the vehicle body.

Wherein, a control system is also included, and the control system is connected with the driving device, the rotation angle sensor, and the roll angle and pitch angle sensors.

(3) Beneficial effects

The technical solution of the present invention has the following advantages: the present invention connects one end of the torsion bar spring fixed on the car body in the prior art to the driving device, drives the torsion bar spring to rotate through the driving device, and adjusts the fixed end rotation angle of the torsion bar spring , so as to drive the rocker arm to swing at a certain angle, and then realize the lifting or lowering of the wheel relative to the vehicle body, so that the rocker wheel car is convenient to cross some special obstacles or change the bottom height of the rocker wheel car. The torsion bar spring suspension retains the elastic buffer performance of the torsion bar spring, so that the rocker wheel can run at a normal high speed during the adjustment process, realize the adjustment of the attitude of the wheel during the travel of the rocker wheel, and improve the ability of the rocker wheel to pass through obstacles and off-road driving capability, each wheel of the present invention is connected to a torsion bar spring suspension correspondingly, and the driving device of each torsion bar spring suspension independently drives the wheels connected to each other without interfering with each other, and the attitude adjustment of a single wheel is realized. Ensure that the wheels can actively cross individual obstacles such as ditches and vertical walls, and can also adjust the body posture.

In addition to the above-described technical problems solved by the present invention, the technical features of the formed technical solutions and the advantages brought by the technical features of these technical solutions, other technical features of the present invention and the advantages brought by these technical features, Further description will be made in conjunction with the accompanying drawings.

Description of drawings

Fig. 1 is a schematic structural view of a rocker wheeled vehicle according to an embodiment of the present invention;

Fig. 2-Fig. 7 are schematic diagrams of the process of overcoming obstacles of the rocker wheeled vehicle according to the embodiment of the present invention.

In the figure: 1: driving device; 2: torsion bar spring; 3: rocker arm; 4: wheel; 5: car body; 6: angle sensor; 11: motor; 12: transmission component; 41: front wheel; 42: center wheel; 43; rear wheel; 121: worm gear; 122: worm.

detailed description

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, 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. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it may be mechanically connected or electrically connected; it may be directly connected or indirectly connected through an intermediary, and it may be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention in specific situations.

In addition, in the description of the present invention, unless otherwise specified, the meanings of "multiple", "multiple roots" and "multiple groups" are two or more, "several", "several roots", "several "Group" means one or more than one.

As shown in Figure 1, the rocker wheeled vehicle provided by Embodiment 1 of the present invention includes a car body 5, a torsion bar spring suspension and wheels 4, and the wheels 4 are arranged in pairs on the outside of the car body 5, and the torsion bar spring suspension is located on the outside of the car body 5. The inner side of the car body 5 passes through the car body 5 and is connected with the wheels 4 in one-to-one correspondence. The torsion bar spring suspension includes a driving device 1, a torsion bar spring 2 and a rocker arm 3. One end of the rocker arm 3 is connected with the wheel 4, and the rocker arm The other end of 3 is connected with the end of the torsion bar spring 2 passing through the car body 5, and the driving device 1 is connected with the other end of the torsion bar spring 2, so as to rotate the torsion bar spring 2 to drive the rocker arm 3 to rotate to make the wheels of the traveling mechanism 4 Lift a certain height to overcome obstacles.

The present invention connects one end of the torsion bar spring fixed on the vehicle body in the prior art to the driving device, drives the torsion bar spring to rotate through the driving device, and adjusts the fixed end rotation angle of the torsion bar spring, thereby driving the rocker arm to swing at a certain angle, and then Realize the lifting or lowering of the wheels relative to the vehicle body, so that the rocker wheel vehicle is convenient to cross some special obstacles or change the ground height of the rocker wheel car, while the torsion bar spring suspension of the rocker wheel car of the present invention retains the torsion bar spring The elastic cushioning performance of the rocker wheel can make the rocker wheel run normally at high speed during the adjustment process, realize the adjustment of the attitude of the wheel when the rocker wheel is moving, and improve the rocker wheeler's ability to pass obstacles and off-road driving. Each of the present invention The wheels are correspondingly connected to a torsion bar spring suspension, and the driving device of each torsion bar spring suspension independently drives the wheels connected to each other without interfering with each other. Individual obstacles such as walls can also adjust the body posture.

Specifically, the driving device 1 includes a motor 11 and a transmission assembly 12 , the motor 11 is connected to the transmission assembly 12 , and the transmission assembly 12 is connected to the torsion bar spring 2 . The motor drives the transmission assembly, thereby driving the torsion bar spring to rotate by a corresponding angle. When the attitude of the vehicle needs to be adjusted, multiple motors can be coordinated to control the work.

Wherein, the transmission assembly 12 includes a worm wheel 121 and a worm screw 122 , the worm wheel 122 is connected to the motor 11 , the worm wheel 121 is meshed with the worm screw 122 , and the worm wheel 121 is connected to the fixed end of the torsion bar spring 2 through a spline. The motor drives the worm to rotate, the worm is engaged with the worm gear for transmission, and the worm gear rotates to drive the torsion bar spring to rotate. When the motor is not working, the worm gear is self-locking. The torsion bar spring suspension of the rocker wheel vehicle of the present invention has the same function as the suspension of the prior art, and the self-locking property of the worm gear and worm is used to maintain the present invention's ability to operate on ordinary roads. Excellent high-speed driving ability; when an obstacle is encountered, the motor drives the worm to rotate, and the power is transmitted to the torsion bar spring through the worm gear to lift the wheel over the obstacle.

Further, the rocker arm 3 is provided with a rotation angle sensor 6 to detect the swing angle of the rocker arm 3 . A rotation angle sensor is installed on the rocking arm connected to the other end of the torsion bar spring to detect the swing angle of the rocking arm to obtain the height of wheel adjustment.

In addition, the inside of the vehicle body 5 is provided with roll angle and pitch angle sensors to detect the attitude of the vehicle body 5 . There is also a roll angle and pitch angle sensor in the vehicle body, which is used for attitude adjustment of the rocker wheel vehicle. When the motor is not working, it is necessary to adjust the vehicle attitude, which specifically includes adjusting the height of the bottom of the vehicle from the ground and the pitch and roll angle of the vehicle body. Multi-motors cooperate to control the swing angle of the torsion bar spring suspension to realize the height of the rocker wheel vehicle from the ground. Therefore, the present invention can also realize the adjustment of vehicle body attitude, so that no matter what position the rocker wheel vehicle is in, it can level the vehicle body, increase the height of the vehicle body from the ground, improve the passability of the vehicle on bad ground, prevent bottoming, and reduce the The height from the ground can improve the stability of the operation of the rocker wheeled vehicle at high speed.

Wherein, the rocker wheel vehicle of the present invention also includes a control system, and the control system is connected with the driving device 1, the rotation angle sensor 6, and the roll angle and pitch angle sensors. The control system can control the rotation angle of the torsion bar spring by controlling the motor of the driving device. The rotation angle sensor and the roll angle and pitch angle sensors transmit signals to the control system. Wheel car attitude status, and control the driving device to adjust according to the actual situation. The control system can simultaneously control multiple driving devices, rotation angle sensors, roll angle and pitch angle to make them work together.

Shown in Fig. 2-Fig. 7 is the obstacle surmounting process of the rocker wheel vehicle of the present invention, the rocker wheel car of the present embodiment comprises three pairs of oppositely arranged wheels, as shown in Figure 2, the rocker wheel car is in the direction of travel First, the front wheel 41 is close to the obstacle. First, the swing arm of the front wheel 41 is controlled to lift the front wheel 41 forward, and the middle wheel 42 and the rear wheel 43 maintain a normal traveling posture on the ground. As shown in Figure 3, the front wheel 41 touches the upper surface of the obstacle, the middle wheel 42 leaves the ground due to the lifting of the car body 5, and the rear wheel 43 maintains a normal traveling posture on the ground. As shown in Figure 4, the front wheel 41 travels normally on the upper surface of the obstacle, and the rear wheel Wheel 43 maintains a normal traveling posture on the ground, middle wheel 42 is in a suspended state, and the rocking arm of controlling middle wheel 42 is vertically downward, as shown in Figure 5, the rocking arm of controlling front wheel 41 is vertically downward on the obstacle surface , control the rocking arm of rear wheel 43 vertically downward on the ground, make car body 5 be in the highest position, control the rocking arm swing of middle wheel 42 to lift middle wheel 42 backward, as shown in Figure 6, front wheel 41 and Rear wheel 43 keeps the state of Fig. 6 and continues to advance, and middle wheel 42 contacts the upper surface of obstacle, and as shown in Figure 7, middle wheel 43 and front wheel 41 keep advancing normally on obstacle upper surface, and car body 5 is between front wheel rocker arm and Under the support of the rocking arm of the middle wheel 42, it is raised as a whole, higher than the upper surface of the obstacle, driving the rear wheel 43 to be in a suspended state, and finally the whole car body 5 of the rocker wheel vehicle is placed on the obstacle. Wherein, the driving device of the torsion bar spring suspension can independently drive the torsion bar spring connected to it, thereby driving the swing arm to swing, changing the height position of the wheel or the height position of the vehicle body.

In summary, the present invention connects one end of the torsion bar spring fixed on the car body in the prior art to the driving device, drives the torsion bar spring to rotate through the driving device, and adjusts the fixed end angle of the torsion bar spring, thereby driving the rocker arm Swing at a certain angle, and then realize the lifting or lowering of the wheels relative to the vehicle body, so that the rocker wheel vehicle is convenient to cross some special obstacles or change the height of the rocker wheel vehicle from the ground, while the torsion bar spring suspension of the rocker wheel vehicle of the present invention retains The elastic cushioning performance of the torsion bar spring is improved, so that the rocker wheel can run at high speed during the adjustment process, the attitude of the wheel can be adjusted during the rocker wheel, and the ability of the rocker wheel to pass obstacles and off-road driving is improved. Each wheel of the invention is correspondingly connected to a torsion bar spring suspension, and the driving device of each torsion bar spring suspension independently drives the wheels connected to each other without interfering with each other, realizing the attitude adjustment of a single wheel and ensuring that the wheels can actively straddle It can also adjust the posture of the body when passing individual obstacles such as ditches and vertical walls.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still be Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims (6)

1. a rocking arm wheel car, it is characterised in that: include car body, torsion bar suspension and wheel, Described wheel is arranged in pairs in the outside of described car body, and described torsion bar suspension is positioned at described car The inner side of body and pass described car body and connect one to one with described wheel, described torsion-bar spring is hanged Frame includes that driving means, torsion-bar spring and rocking arm, one end of described rocking arm are connected with described wheel, One end that the other end passes described car body with described torsion-bar spring is connected, described driving means and institute The other end stating torsion-bar spring connects, by driving described torsion-bar spring to rotate, to drive described Rocking arm rotates and makes described wheel lift certain altitude obstacle detouring.

Rocking arm the most according to claim 1 wheel car, it is characterised in that: described driving means Including motor and transmission component, described motor is connected with described transmission component, described transmission component It is connected with described torsion-bar spring.

Rocking arm the most according to claim 2 wheel car, it is characterised in that: described transmission component Including worm gear and worm screw, described worm screw is connected with described motor, and described worm gear is nibbled with described worm screw Closing, described worm gear is connected by spline with the fixing end of described torsion-bar spring.

Rocking arm the most according to claim 1 wheel car, it is characterised in that: set on described rocking arm There is rotary angle transmitter, to detect the pendulum angle of described rocking arm.

Rocking arm the most according to claim 4 wheel car, it is characterised in that: described car body interior Side is provided with angle of heel and pitch reference, to detect the attitude of described car body.

Rocking arm the most according to claim 5 wheel car, it is characterised in that: also include controlling system System, described control system all with described driving means, described rotary angle transmitter and described inclination Angle and pitch reference connect.