CN107415618A - A kind of imitative automobile-used suspension of kangaroo leg - Google Patents

Abstract

The invention is a suspension for a vehicle imitating kangaroo legs. The purpose of the present invention is to imitate the structure composition and size ratio of kangaroo legs, and design a vehicle suspension with excellent performance imitating kangaroo legs. The suspension device of the present invention comprises a femoral rod, a tibia-fibula rod, a foot bone rod, and also includes large and small leg tendon springs, large and small leg muscle bundle dampers and large and small leg pneumatic artificial muscles; thigh tendon spring and thigh muscle bundle damping The upper end of the pneumatic artificial muscle of the thigh is connected with the body, and the lower end is connected with the lower end of the femoral rod; the calf tendon spring is connected in parallel with the calf muscle bundle damper, and its lower end is connected with the upper end of the foot bone rod. Connected to the femoral rod; the end of the foot rod is connected to the wheel. The kangaroo-like leg vehicle suspension can actively adapt to different road surfaces, and its posture can be actively adjusted by the large and small leg pneumatic artificial muscles to ensure that the vehicle has excellent passability, handling stability and comfort under different working conditions.

Description

A suspension for imitating kangaroo legs

technical field

The invention relates to the technical field of automobile suspension, in particular to a vehicle suspension with a structure and function imitating kangaroo legs.

Background technique

Automobile suspension is a buffer and vibration damping device that elastically connects the frame and axle or wheels, and is one of the three most important assemblies (engine, gearbox, and suspension) of an automobile; its main function is to transmit the force between the wheel and the body. All the force and moment, and moderate and attenuate the vibration and shock transmitted from the road surface to the body through the suspension through the wheel, so that the vehicle has good passability, handling stability and comfort.

A typical automobile suspension structure is composed of elastic elements, shock absorbers, and guiding mechanisms. These three parts play the roles of buffering, vibration reduction, and force transmission respectively. According to different structures, automotive suspensions can be divided into non-independent suspensions and independent suspensions; according to different control methods, automotive suspensions can be divided into passive suspensions, semi-active suspensions and active suspensions. Generally speaking, the damping, stiffness and other parameters of the passive suspension are passively adjusted as the vehicle's driving conditions change. and other high performance requirements; the semi-active suspension adopts a damper whose damping coefficient can be adjusted in a wide range to replace the damper in the passive suspension, and the suspension stiffness and the damping coefficient of the shock absorber can be graded Adjustment and automatic adjustment of vehicle body height; active suspension is the vehicle suspension with the best performance at present, which can adjust the damping, stiffness and other parameters of the suspension in real time through the actuator and control strategy to meet the needs of the vehicle under different working conditions. Passability, handling stability and comfort requirements.

The kangaroo is a marsupial belonging to the order Kangaroo. Different species of kangaroos live in a variety of natural environments, from cool-climate rainforests and desert plains to tropical regions. The jumping of the kangaroo is the most characteristic of the four-legged animals. It runs fast, consumes little energy, has low requirements on the ground environment, and moves fairly smoothly. Its ankle joint is the most critical part of jump drive output. Compared to the bones of a human leg, kangaroo leg bones are long and strong, providing attachment for muscles and tendons. The legs of kangaroos are similar to those of other mammals, the main difference being the relative length of the bones, with the femur being short and thick and the tibia and fibula being long. Just like using a spring, when the spring is compressed as much as possible, it will cause a large force to rebound after relaxing. When the kangaroo foot hits the ground, its tendon will also be greatly compressed to provide momentum for the next bounce. The kangaroo's knee joint is specialized with thick spongy cartilage, which effectively protects the kangaroo's knee as a shock absorber to reduce wear. The kangaroo's feet and toes have a well-developed structure that can cushion and absorb energy, and can be reused. The principle of reuse is: there is a special elastic tendon in the calf, which plays the role of energy storage and can assist the contraction of muscles.

Contents of the invention

The purpose of the present invention is to design a vehicle suspension with excellent performance imitating kangaroo legs by imitating the leg structure evolved by kangaroos to adapt to the natural environment. The suspension can make the vehicle actively adapt to various working conditions, and actively control the suspension attitude through the pneumatic artificial muscles, so that the vehicle has excellent passability, handling stability and comfort.

The present invention is realized by adopting the following technical solutions: a vehicle suspension for imitating kangaroo legs, including a femoral rod, a tibiofibular rod and a foot bone rod; The upper end of the fibula rod is hinged, and the hinge point constitutes the knee joint; the lower end of the tibiofibular rod is hinged with the foot bone rod, and the hinge point constitutes the ankle joint, and the end of the foot bone rod is connected with the wheel; it also includes a thigh muscle bundle damper, a calf muscle bundle damper, a thigh Pneumatic artificial muscles and calf pneumatic artificial muscles; the upper end of the thigh muscle bundle damper is hinged with the body, and the lower end is hinged with the lower end of the femoral rod; the thigh pneumatic artificial muscle is located between the thigh muscle bundle damper and the hip joint, and the upper end of the thigh pneumatic artificial muscle It is hingedly connected with the body, and the lower end is hinged with the femoral rod; the upper end of the calf artificial pneumatic muscle is hinged with the femoral rod, and the lower end is hinged with the front end of the foot bone rod; the calf muscle bundle damper is located between the tibiofibular rod and the calf artificial pneumatic muscle; The upper end of the calf muscle bundle damper is hingedly connected with the femoral rod, and the lower end is hingedly connected with the foot bone rod.

When the automobile passes through potholes on the road surface, in the face of the impact load generated, the suspension of the present invention drives the muscle bundle dampers of the large and small legs by controlling the pneumatic artificial muscles of the large and small legs to form a femoral rod, tibiofibular rod and foot bone rod The lever system is adjusted accordingly, so that the vehicle has the best coordinated movement posture when passing through different road surfaces.

Further, it also includes a calf tendon spring and a thigh tendon spring; the calf tendon spring is connected in parallel with the calf muscle bundle damper; and the thigh tendon spring is connected in parallel with the thigh muscle bundle damper.

The thigh tendon spring cooperates with the large muscle bundle damper, and at the same time, the calf tendon spring cooperates with the calf muscle bundle damper to jointly adjust the movement of the rod system composed of the femoral rod, tibiofibular rod and foot bone rod. When the beam damper is used alone, the vehicle has a better and more coordinated movement posture when passing through different road surfaces.

The thigh pneumatic artificial muscle realizes the height adjustment of the vehicle body relative to the femoral rod by controlling the angle between the femoral rod and the vehicle body.

The calf pneumatic artificial muscle realizes the height adjustment of the wheel relative to the tibiofibular rod by controlling the angle between the tibiofibular rod and the foot bone rod.

The foot bone rod forms a lever with the ankle joint as the support point, so the excitation input by the wheel part is transmitted to the femoral rod through the principle of leverage, which can make the calf pneumatic artificial muscle adjust the angle between the tibia-fibula rod and the foot bone rod, The height adjustment of the vehicle body relative to the ground is realized.

Further, the foot bone rod and the wheel are connected through the kingpin; by controlling the large and calf pneumatic artificial muscles to drive the large and calf tendon springs and the large and calf muscle bundle dampers, resulting in the femoral rod, tibia-fibula rod and foot bone rod The formed rod system is then adjusted for movement, so that the vehicle has the best coordinated movement posture when passing through different road surfaces.

The beneficial effects of the present invention: by controlling the pneumatic artificial muscles of the hamstring and shank to drive the tendon springs of the hamstring and the shank and the damper of the muscle bundles of the shank and the calf, the rod system composed of the femoral rod, the tibia-fibula rod and the foot bone rod will be adjusted accordingly. Make the vehicle have the best coordinated motion posture when passing through different road surfaces, so as to ensure that the vehicle has good passability, handling stability and comfort under different working conditions.

Description of drawings

Fig. 1 is a structural schematic diagram of an embodiment of the vehicle suspension according to the present invention.

FIG. 2 is a side view of FIG. 1 .

Fig. 3 is a structural schematic diagram of the pneumatic artificial muscle control unit according to the present invention.

Fig. 4 is a schematic diagram of the structure of the ankle joint according to the present invention.

Fig. 5 is a schematic diagram of the structure of the knee joint according to the present invention.

Fig. 6 is a schematic diagram of the structure of the hip joint according to the present invention.

1-body, 2-hip joint, 3-calf pneumatic artificial muscle, 4-calf tendon spring, 5-calf muscle bundle damper, 6-ankle joint, 7-thigh pneumatic artificial muscle, 8-thigh tendon spring, 9- Thigh muscle bundle damper, 10-femoral rod, 11-knee joint, 12-tibia-fibula rod, 13-foot bone rod, 14-king pin, 15-wheel, 16-lateral stabilizer bar.

detailed description

As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of imitation kangaroo leg vehicle suspension in the present embodiment comprises femoral rod 10, tibia-fibula rod 12 and foot bone rod 13 The upper end of the femoral rod 10 is hinged with the body 1, and the hinge point forms the hip joint 2, the lower end of the femoral rod 10 is hinged with the upper end of the tibiofibular rod 12, and the hinge point constitutes the knee joint 11; the lower end of the tibiofibular rod 12 is hinged with the foot bone rod 13, and the hinge point Constitute the ankle joint 6, the end of the foot bone rod 13 is connected with the wheel 15; it also includes the thigh muscle bundle damper 9, the calf muscle bundle damper 5, the thigh pneumatic artificial muscle 7 and the calf pneumatic artificial muscle 3; the thigh muscle bundle damper 9 The upper end is hinged with the body 1, and the lower end is hinged with the lower end of the femoral rod 10; the thigh pneumatic artificial muscle 7 is located between the thigh muscle bundle damper 9 and the hip joint 2, the upper end of the thigh pneumatic artificial muscle 7 is hinged with the body 1, and the lower end is connected with the femur The rod 10 is hingedly connected; the upper end of the calf artificial pneumatic muscle 3 is hinged to the femoral rod 10, and the lower end is hinged to the front end of the foot bone rod 13; the calf muscle bundle damper 5 is located between the tibiofibular rod 12 and the calf artificial pneumatic muscle 3; The upper end of muscle bundle damper 5 is hingedly connected with femoral rod 10, and the lower end is hingedly connected with foot bone rod 13; Also comprises calf tendon spring 4 and thigh tendon spring 8; Described calf tendon spring 4 is connected in parallel with calf muscle bundle damper 5; The thigh tendon spring 8 is connected in parallel with the thigh muscle bundle damper 9 .

When the calf tendon spring 4 is connected in parallel with the calf muscle bundle damper 5, the calf tendon spring 4 is set on the outside of the calf muscle bundle damper 5, the upper end of the calf tendon spring 4 is connected with the femoral rod 10, and the lower end is connected with the calf muscle bundle damper 5 When thigh tendon spring 8 is connected in parallel with thigh muscle bundle damper 9, thigh tendon spring 8 is set on the outside of thigh muscle bundle damper 9, and thigh tendon spring 8 upper end is connected with vehicle body 1, and the lower end is connected on thigh muscle bundle damper 9 .

Further, when the automobile passes through different road conditions, the road produces a corresponding impact load on the wheel 15. Since the suspension is connected to the wheel 15 through the kingpin 14, the impact load is transmitted to the suspension through the wheel 15 through the kingpin 14. On, and finally transmitted to the body 1, causing vibration.

Further, when the automobile passes through potholes, facing the impact load generated, the suspension of the present invention drives the thigh tendon spring 8, calf tendon spring 4 and thigh muscle bundle damping by controlling the thigh pneumatic artificial muscle 7 and the calf pneumatic artificial muscle 3. Device 9, calf muscle bundle damper 5, the rod system that femoral rod 10, tibia-fibula rod 12 and foot bone rod 13 are formed carry out motion regulation thereupon, make vehicle have the best coordinated movement posture when passing through different road surfaces.

Further, in the face of the transmitted impact load, by controlling the calf pneumatic artificial muscle 3 to drive the calf tendon spring 4 and the calf muscle constraint damper 5 to adjust the angle between the foot bone rod 13 and the tibiofibular rod 12, by adjusting The displacement change of the rod system caused by the angle first buffers part of the instantaneous impact load, and stores and dissipates the energy brought by the impact load through the calf tendon spring 4 and the calf muscle restraint damper 5 .

Furthermore, when the transmitted impact load is relatively large and the purpose of buffering cannot be achieved by adjusting the calf part, the thigh tendon spring 8 and the thigh muscle restraint damper 9 are driven by controlling the thigh pneumatic artificial muscle 7 to carry out the femoral rod 10 and the body. 1 is adjusted, and the remaining part of the impact load is buffered by the displacement change generated by adjusting the angle, and the energy of the impact load is stored and dissipated through the thigh tendon spring 8 and the thigh muscle restraint damper 9 .

Further, the corresponding thigh tendon spring 8, calf tendon spring 4, thigh muscle bundle damper 9, and calf muscle bundle damper 5 are controlled by the thigh pneumatic artificial muscle 7 and the calf pneumatic artificial muscle 3 to adjust the suspension rod system. When facing the impact load of the road surface, the suspension plays the role of adjusting buffer, adjusts the height between the vehicle body 1 and the tire 15, and achieves the purpose of vibration reduction.

Claims (7)

1. a kind of imitative automobile-used suspension of kangaroo leg, it is characterised in that including femur rod（10）, tibiofibula bar（12）With sufficient bone bar （13）；Femur rod（10）Upper end and vehicle body（1）Be hinged, pin joint forms hip joint（2）, femur rod（10）Lower end and tibiofibula Bar（12）Upper end is hinged, and pin joint forms knee joint（11）；Tibiofibula bar（12）Lower end and sufficient bone bar（13）It is be hinged, pin joint structure Into ankle-joint（6）, sufficient bone bar（13）End and wheel（15）It is connected；Also include leg muscle beam damper（9）, Calf muscle beam Damper（5）, thigh Pneumatic artificial muscle（7）And shank Pneumatic artificial muscle（3）；Leg muscle beam damper（9）It is upper End and vehicle body（1）It is hinged, lower end and femur rod（10）Lower end is hinged；Thigh Pneumatic artificial muscle（7）Positioned at leg muscle Beam damper（9）With hip joint（2）Between, thigh Pneumatic artificial muscle（7）Upper end and vehicle body（1）It is hinged, lower end and femur Bar（10）It is hinged；The artificial pneumatic muscles of shank（3）Upper end is hinged femur rod（10）, lower end is hinged sufficient bone bar（13）Before End；The Calf muscle beam damper（5）Positioned at tibiofibula bar（12）With the artificial pneumatic muscles of shank（3）Between；Calf muscle Beam damper（5）Upper end and femur rod（10）It is hinged, lower end and sufficient bone bar（13）It is hinged.

2. a kind of imitative automobile-used suspension of kangaroo leg as claimed in claim 1, it is characterised in that also including shank tendon spring（4） With big leg tendon spring（8）；The shank tendon spring（4）With Calf muscle beam damper（5）It is in parallel；The big leg tendon bullet Spring（8）With leg muscle beam damper（9）It is in parallel.

A kind of 3. imitative automobile-used suspension of kangaroo leg as claimed in claim 2, it is characterised in that shank tendon spring（4）With shank Muscle package damper（5）When in parallel, shank tendon spring（4）It is enclosed on Calf muscle beam damper（5）Outside, shank tendon spring （4）Upper end and femur rod（10）It is connected, lower end is connected to Calf muscle beam damper（5）On；Big leg tendon spring（8）With it is big Leg muscle beam damper（9）When in parallel, big leg tendon spring（8）It is enclosed on leg muscle beam damper（9）Outside, big leg tendon bullet Spring（8）Upper end and vehicle body（1）It is connected, lower end is connected to leg muscle beam damper（9）On.

A kind of 4. imitative automobile-used suspension of kangaroo leg as described in any one of claim 1 ~ 3, it is characterised in that thigh artificial pneumatic Muscle（7）By controlling femur rod（10）With vehicle body（1）Between angle, realize vehicle body（1）Relative to femur rod（10）'s Highly adjust.

A kind of 5. imitative automobile-used suspension of kangaroo leg as described in claim 1 ~ 3, it is characterised in that shank Pneumatic artificial muscle（3） By controlling tibiofibula bar（12）With sufficient bone bar（13）Between angle, realize wheel（15）Relative to tibiofibula bar（12）'s Highly adjust.

A kind of 6. imitative automobile-used suspension of kangaroo leg as described in claim 1 ~ 3, it is characterised in that sufficient bone bar（13）With ankle-joint （6）A lever is formd for the strong point, therefore wheel（15）The excitation of part input is transferred to femur rod by lever principle （10）On, shank Pneumatic artificial muscle can be made（3）To tibiofibula bar（12）With sufficient bone bar（13）Between angle be adjusted, it is real Vehicle body is showed（1）Adjusted relative to the height on ground.

A kind of 7. imitative automobile-used suspension of kangaroo leg as described in any one of claim 2 ~ 3, it is characterised in that the sufficient bone bar（13） With wheel（15）Pass through stub（14）It is attached；By controlling large and small leg Pneumatic artificial muscle（7、3）Drive large and small leg flesh Tendon spring（8、4）With large and small leg muscle beam damper（9、5）, cause femur rod（10）, tibiofibula bar（12）And sufficient bone bar （13）The leverage of composition carries out motor adjustment therewith, makes vehicle in the athletic posture by possessing optimal coordination during different road surfaces.