A disengagement mechanism capable of being used in a wheel-leg vehicle suspension

Abstract

The invention discloses a separation and joint mechanism that can be used for wheel-leg type vehicle suspension, comprising electromagnetic pins arranged outside the thigh motor mounting seat, the thigh motor mounting seat is fixedly connected with the vehicle body, and thighs are installed on one side of the thigh motor mounting seat The motor, the thigh motor is connected with the upper end of the thigh which is movable in the mounting seat of the thigh motor, and the upper end of the thigh is provided with a suspension mechanism. Transmission connection; the thigh motor mounting seat and the upper end of the thigh are provided with a plurality of first oblong holes arranged in the axial direction, the lower part of the electromagnetic pin is provided with a telescopic part, and the end of the telescopic part can pass through the thigh motor mounting seat and the upper end of the thigh in turn The first oblong hole, and abuts against the torsion spring support seat of the suspension mechanism. The invention realizes the active control of the separation and combination of the suspension of the wheel-leg vehicle, so as to achieve the purpose of the suspension function and vibration reduction during the wheel-type movement, and the purpose that the suspension does not function during the leg-type movement.

Description

technical field [0001] The present invention relates to the technical field of wheel-leg type vehicle auxiliary devices, and in particular, to a disengagement and engagement mechanism that can be used for a wheel-leg type vehicle suspension. Background technique [0002] As a platform with multiple motion modes, wheel-legged vehicle has both the rapidity of wheeled vehicle and the high mobility of footed platform. It is a new type of mobile platform with broad application prospects. When in wheeled motion, wheel-legged vehicles will be impacted from the ground, which requires wheel-legged vehicles to require buffering and vibration reduction systems to eliminate the impact of road impact, so common wheeled platforms will have a suspension system. ; When in leg motion, since the wheel-leg vehicle can control the motor compliantly, and the tires also have a certain rigidity, the reaction force of the ground can be reduced, so in the state of leg motion, the buffer and vibratio...

AI Technical Summary

Problems solved by technology

[0004] When the wheel-legged mobile platform without vibration reduction system is in wheeled movement, the action of the ground will have a greater impact on the stability and balance of the vehicle body, causing the platform to shake and overturn; the spring is arranged between the hip joint and the knee joint. The solution between the two can realize the cushioning of the impact on the ground under the wheeled movement, but when the platform is in the leg movement, the spring will act as a resistance element, affecting the control of the drive system on the leg joints, resulting in increased energy consumption, Inaccurate control accuracy and other issues

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