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CN-121973582-A - Electric drive chassis bionic angle module structure imitating ferocious cat muscle and ostrich achilles tendon

CN121973582ACN 121973582 ACN121973582 ACN 121973582ACN-121973582-A

Abstract

The invention provides an electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendons, which is applied to the technical field of angle module structure design, wherein a suspension structure comprises an active adjusting mechanism, a force transmission guiding mechanism, a damping hydraulic rod, an arc spring and a detection mechanism, the active adjusting mechanism is used for driving an adjusting lever to change the posture of the suspension structure and adjusting the pretightening force of the adjusting spring through a servo motor, the force transmission guiding mechanism is composed of a multi-connecting-rod structure and is used for transmitting impact load generated by wheels to a vehicle body and guiding the motion track of the wheels, the arc spring is elastically deformed in the motion process of the suspension structure to store impact energy, the damping hydraulic rod is used for providing damping energy consumption for the motion of the suspension structure, and the detection mechanism is used for detecting the stress change of the suspension structure and providing feedback for active adjustment. The grading absorption and stable transmission of the impact load of the wheels are realized through the synergistic effect of multi-connecting rod guiding, arc spring energy storage and hydraulic damping, so that the running stability of the vehicle and the response performance of a suspension structure are improved.

Inventors

  • GAO XIAOYU
  • ZHANG LU
  • XU WENCHAO
  • QIAO YUHENG
  • SHU ZHIHAO
  • ZHANG TING

Assignees

  • 吉林大学

Dates

Publication Date
20260505
Application Date
20260407

Claims (10)

  1. 1. The electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendons is characterized by comprising a suspension structure and a steering structure, wherein the suspension structure and the steering structure are respectively connected with a tire assembly (8), and the suspension structure comprises an active adjusting mechanism, a force transmission guiding mechanism, a damping hydraulic rod (3), an arc spring (4) and a detection mechanism; The active adjusting mechanism comprises a servo motor (101), an adjusting spring (102), an adjusting lever (103) and a loop bar (104), one end of the loop bar (104) is hinged with a first base (601) on the vehicle body, the adjusting spring (102) is sleeved on the loop bar (104) and connected with the servo motor (101), the servo motor (101) is in sliding connection with the loop bar (104), the adjusting lever (103) is hinged with a third base (603) on the vehicle body, the third base (603) is used as a lever fulcrum to swing, one end of the adjusting lever (103) is connected with the servo motor (101), the other end of the adjusting lever is connected with a damping hydraulic rod (3), and the other end of the damping hydraulic rod (3) is connected with a force transmission guide mechanism and a detection mechanism; The force transmission guide mechanism is of a multi-connecting-rod structure, the force transmission guide mechanism is connected with a second base (602) on the vehicle body, the force transmission guide mechanism is connected with a third base (603) through a first supporting rod (605), is connected with the first base (601) through a second supporting rod (606), is connected with a wheel end base (604) through a third supporting rod (607), and the wheel end base (604) is connected with a tire assembly (8) through a wheel end fixing rod (709); The arc-shaped spring (4) is arranged between the first supporting rod (605) and the force transmission guide mechanism, and two ends of the arc-shaped spring are respectively connected with the first supporting rod (605) and the rod body of the force transmission guide mechanism; the detection mechanism comprises a detection spring (5) and an elastic sensor arranged on the detection spring (5), one end of the detection spring (5) is connected with the damping hydraulic rod (3) and the force transmission guide mechanism, and the other end of the detection spring is connected with the wheel end base (604).
  2. 2. The electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendon according to claim 1, wherein the force transmission guiding mechanism is a triangle structure formed by sequentially connecting a first connecting rod (201), a second connecting rod (202) and a third connecting rod (203), wherein the connecting end of the first connecting rod (201) and the connecting end of the second connecting rod (202) are the first connecting end, the connecting end of the second connecting rod (202) and the connecting end of the third connecting rod (203) are the second connecting end, and the connecting end of the first connecting rod (201) and the connecting end of the third connecting rod (203) are the third connecting end.
  3. 3. The electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendons according to claim 2, wherein two ends of the arc spring (4) are respectively connected with the first supporting rod (605) and the rod body of the first connecting rod (201).
  4. 4. The electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendon according to claim 2, wherein the first connecting end of the force transmission guiding mechanism is hinged with the second base (602) on the car body, so that the force transmission guiding mechanism swings along the second base (602), the first supporting rod (605) is arranged between the second base (602) and the third base (603), and the second supporting rod (606) is arranged between the second base (602) and the first base (601).
  5. 5. The electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendon according to claim 2, wherein a second connecting end of the force transmission guiding mechanism is connected with a third supporting rod (607), the other end of the third supporting rod (607) is connected with a wheel end base (604), and the third supporting rod (607) is a telescopic rod.
  6. 6. The electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendons according to claim 2, wherein a connecting end III of the force transmission guide mechanism is connected with a cylinder end of the damping hydraulic rod (3) and one end of the detection spring (5).
  7. 7. The electrically driven chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendon according to claim 1, wherein one end of the adjusting spring (102) is connected with the first base (601).
  8. 8. The electrically driven chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendons according to claim 1, wherein the distance between the third base (603) and the servo motor (101) is smaller than the distance between the third base (603) and the shock absorbing hydraulic rod (3).
  9. 9. The electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendon according to claim 1, wherein the steering structure comprises a steering motor (701), a universal transmission shaft (704), a first revolute pair (705), a second revolute pair (706), an upper fork arm (707) and a lower fork arm (708), the steering motor (701) is in driving connection with the first revolute pair (705) and the second revolute pair (706) through the universal transmission shaft (704), the first revolute pair (705) is connected with a tire assembly (8) through the upper fork arm (707), and the second revolute pair (706) is connected with the tire assembly (8) through the lower fork arm (708).
  10. 10. The electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendon according to claim 9, wherein the steering motor (701) is mounted on the steering supporting arm (702), the steering supporting arm (702) is connected with a vehicle body through the steering supporting base (703), a first positioning rod (7010) and a second positioning rod (7011) are mounted on the steering supporting base (703), the other end of the first positioning rod (7010) is connected with the first revolute pair (705), and the other end of the second positioning rod (7011) is connected with the second revolute pair (706).

Description

Electric drive chassis bionic angle module structure imitating ferocious cat muscle and ostrich achilles tendon Technical Field The invention belongs to the technical field of angle module structure design, and particularly relates to an electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendons. Background With the wide application of the distributed electric drive chassis in special vehicles, intelligent robots and high-performance carriers, higher requirements are put on the integration and modularization degree of a chassis system. The corner module is used as a chassis functional unit integrating driving, braking, steering and suspension systems, and becomes a core component of the distributed electric driving chassis due to the advantages of compact structure, flexible control, convenient modularized configuration and the like. The distributed driving vehicle based on the angle modules has multiple controllable degrees of freedom and a compact chassis structure, and is an important platform for realizing advanced linear chassis technology. In the technical field of angle modules, the conventional suspension structure mostly adopts a traditional spring element (such as a cylindrical spring, a spiral spring or a plate spring) as an elastic buffer component, and is matched with an independent shock absorber to realize a damping function. The structure can meet basic vibration reduction requirements under conventional working conditions, but under complex road conditions or extreme load conditions, the traditional spring element is easy to have stress concentration phenomenon, so that the fatigue life is shortened, and the reliability is reduced. Meanwhile, the supporting members and the vibration reduction members in the conventional angle module suspension are arranged in a separated mode, the structural redundancy is high, the unsprung mass is large, and the light-weight design space of the angle module is limited. Therefore, how to design a bionic angle module structure which can optimize structural stress, realize multi-stage absorption of impact load and energy collaborative management, and further reduce unsprung quality, so as to better adapt to four-wheel independent control requirements of a distributed electric drive chassis and improve the dynamic performance of the whole vehicle has become a technical problem to be solved in the field. Disclosure of Invention In view of the problems in the prior art, the invention aims to provide an electric drive chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles tendons, which realizes graded absorption and stable transmission of wheel impact load through the synergistic effect of multi-connecting rod guiding, arc spring energy storage and hydraulic damping, thereby improving the running stability and suspension response performance of a vehicle. The electrically driven chassis bionic angle module structure imitating ferocious cat muscles and ostrich achilles comprises a suspension structure, a steering structure, a driving structure and a braking structure, wherein the suspension structure and the steering structure are respectively connected with a tire assembly, the suspension structure comprises an active adjusting mechanism, a force transmission guide mechanism, a damping hydraulic rod, an arc-shaped spring and a detection mechanism, the active adjusting mechanism comprises a servo motor, an adjusting spring, an adjusting lever and a loop bar, one end of the loop bar is hinged with a first base on a vehicle body, the adjusting spring is sleeved on the loop bar and connected with the servo motor, the servo motor is connected with the loop bar in a sliding mode, the adjusting lever is hinged with a third base on the vehicle body, the third base is used as a lever fulcrum to swing, one end of the adjusting lever is connected with the servo motor, the other end of the adjusting lever is connected with the damping hydraulic rod, the other end of the damping hydraulic rod is connected with a force transmission guide mechanism and a detection mechanism, the force transmission guide mechanism is in a multi-link structure, the force transmission guide mechanism is connected with a second base on the vehicle body, the force transmission guide mechanism is connected with the third base through a first supporting rod, the force transmission guide mechanism is connected with a first supporting rod and a first base, the end of the detection mechanism is connected with a tire assembly through a first supporting rod and a detection end seat, the end of the elastic wheel assembly is connected with the end of the elastic wheel assembly through a detector. Preferably, the force transmission guide mechanism is a triangle structure formed by sequentially connecting a first connecting rod, a second connecting rod and a third connecting rod, wherein the connecting end of the first