CN108583184A - A kind of imitative kangaroo leg suspension of diamond shape - Google Patents
A kind of imitative kangaroo leg suspension of diamond shape Download PDFInfo
- Publication number
- CN108583184A CN108583184A CN201810333641.7A CN201810333641A CN108583184A CN 108583184 A CN108583184 A CN 108583184A CN 201810333641 A CN201810333641 A CN 201810333641A CN 108583184 A CN108583184 A CN 108583184A
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- Prior art keywords
- muscle
- artificial
- damper
- hinged
- bar
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G3/00—Resilient suspensions for a single wheel
- B60G3/18—Resilient suspensions for a single wheel with two or more pivoted arms, e.g. parallelogram
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G11/00—Resilient suspensions characterised by arrangement, location or kind of springs
- B60G11/14—Resilient suspensions characterised by arrangement, location or kind of springs having helical, spiral or coil springs only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G15/00—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type
- B60G15/02—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring
- B60G15/06—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper
- B60G15/062—Resilient suspensions characterised by arrangement, location or type of combined spring and vibration damper, e.g. telescopic type having mechanical spring and fluid damper the spring being arranged around the damper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/10—Type of spring
- B60G2202/12—Wound spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2202/00—Indexing codes relating to the type of spring, damper or actuator
- B60G2202/30—Spring/Damper and/or actuator Units
- B60G2202/31—Spring/Damper and/or actuator Units with the spring arranged around the damper, e.g. MacPherson strut
- B60G2202/312—The spring being a wound spring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G2204/00—Indexing codes related to suspensions per se or to auxiliary parts
- B60G2204/10—Mounting of suspension elements
- B60G2204/12—Mounting of springs or dampers
- B60G2204/124—Mounting of coil springs
- B60G2204/1242—Mounting of coil springs on a damper, e.g. MacPerson strut
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Vehicle Body Suspensions (AREA)
Abstract
The invention discloses a kind of diamond shapes to imitate kangaroo leg suspension, belongs to automobile technical field.A kind of diamond shape imitates kangaroo leg suspension, including femur rod, tibiofibula bar, the sufficient bone bar being symmetrically installed, longitudinally mounted thigh artificial-muscle；One end of two femur rods is hinged with thigh artificial-muscle, and centre position hingedly limits artificial-muscle, and the other end is hinged with damper I；The top of thigh artificial-muscle, limit artificial-muscle and damper I is connect with vehicle body；Two femur rods are also hinged tibiofibula bar and damper II with I hinged end of damper, and the centre position of tibiofibula bar and thigh artificial-muscle are hinged, and the other end and sufficient bone bar and shank artificial-muscle are hinged；Thigh artificial-muscle is hinged with damper III；Two sufficient bone bars and damper III are hinged, and pass through main shaft and wheel articulation.Suspension of the present invention can make vehicle actively adapt to various operating modes, and energy Active control suspension posture, and vehicle is made to have excellent passability, control stability and comfort etc..
Description
Technical field
The invention belongs to automobile technical fields, are related to automotive suspension, and in particular to a kind of imitative kangaroo leg suspension of diamond shape.
Background technology
Automotive suspension is resilient connection vehicle frame and vehicle bridge or the buffering shock-absorbing device of wheel, is that automobile most important three is big total
One of at, main function is to transmit that institute between wheel and vehicle body is strong and torque, and mitigate and the road excitation that decays passes through vehicle
Wheel is transmitted to the vibration and impact of vehicle body through suspension, and vehicle is made to possess good passability, control stability and comfort etc..
Typical automotive suspension structure by elastic element, damper and guiding mechanism, form, this three parts rises slow respectively
The transmission effect of punching, vibration damping and power.According to structure difference, automotive suspension can be divided into two kinds of rigid axle suspension and independent suspension；Root
According to control mode difference, automotive suspension can be divided into passive suspension, semi-active suspension and Active suspension.In general, passive suspension
The parameters such as damping, rigidity passively adjusted with the variation of vehicle driving-cycle, adjustable range and limitation, it is difficult to
Meet the passability, control stability of vehicle and comfort grade height performance requirement under different operating modes；Semi-active suspension mostly uses one
A damped coefficient can in wide range adjustable damper, to replace the damper in passive suspension, and can be to suspension rate
The automatic adjustment for having grade adjusting and bodywork height is carried out with shock absorber damping；Active suspension is the automobile-used of current best performance
Suspension, the parameters such as damping, rigidity that can adjust suspension in real time by executing agency and control strategy, to meet vehicle not
With requirements such as passability, control stability and comforts under operating mode.
The jump of kangaroo is most characteristic in quadruped, and running speed is fast, and energy consumption is small, to ground environment requirement
Low, movement is quite steady.Its ankle-joint is the most critical position of jump driving force output.It is compared with the bone of human leg, bag
The thigh bone of mouse is long and solid, and attachment is provided to muscle and tendon.The leg of kangaroo is similar with other mammals, and the main distinction is bone
The relative length of bone, femur is short and thick, and shin bone and fibula are very long.Kangaroo leg size proportionate relationship is as follows：The thigh of kangaroo
Length accounts for about the 23% of the leg total length, and lower-leg length accounts for about the 46% of leg total length, and entire foot（Including sole and foot
Toe）Length accounts for about 31%（The lower-leg length of kangaroo is about twice of thigh length, and the ratio of sole and toe is about 2:1, sole
It is almost equal with thigh length）.Just as using spring, when spring is pressed onto as more as possible, very great can be caused after loosening
Rebound.When kangaroo foot lands, tendon also significantly the spring of boil down to next time can provide impulse force.The knee of kangaroo closes
The thick spongy cartilage of specialization is saved, the knee of kangaroo is effectively protected as the damper for reducing abrasion.The foot of kangaroo,
Toe structure is flourishing, can buffer and absorb energy, and can utilize again.The principle utilized again is：Shank has a Gent different
Elastic tendon, play the role of energy storage, can be with the contraction of auxiliary muscle.
The present invention designs a kind of imitative kangaroo leg suspension of the diamond shape of function admirable by the leg structure of imitation kangaroo.
Invention content
The object of the present invention is to provide a kind of diamond shapes to imitate kangaroo leg suspension, and vehicle is made to have excellent passability, manipulate surely
Qualitative and comfort.
The present invention is achieved by the following technical solutions：
A kind of diamond shape imitates kangaroo leg suspension, including femur rod, tibiofibula bar, the sufficient bone bar being symmetrically installed, longitudinally mounted thigh
Artificial-muscle；
One end of wherein described two femur rods is hinged with the top of thigh artificial-muscle, and centre position has been respectively articulated with limit
The limit artificial-muscle of effect, the other end are hinged with two dampers for being set with spring I respectively；
The top of the thigh artificial-muscle, limit artificial-muscle and damper I is connect with vehicle body respectively；
Described two femur rods are also respectively articulated with tibiofibula bar and the damper of sheathed spring simultaneously with I hinged end of damper
II, the centre position of tibiofibula bar and the bottom end of thigh artificial-muscle are hinged, the other end respectively with sufficient bone bar and shank artificial muscle
Meat is hinged；
The bottom end of the thigh artificial-muscle and the top of the damper III of sheathed spring are hinged；
The end and the bottom end of damper III of described two foot bone bars are hinged, and pass through main shaft and wheel articulation.
Further, the femur rod：Tibiofibula bar：The length ratio of sufficient bone bar is 1:2:1-1.35.
The thigh artificial-muscle is thigh Pneumatic artificial muscle, and the limit artificial-muscle is limit artificial pneumatic
Muscle, the shank artificial-muscle are shank Pneumatic artificial muscle.
The damper I is thigh damper, and the damper II is limited displacement damper, and the damper III is
Shank damper.
Suspension of the present invention is mounted in a kind of diamond shape between vehicle body and wheel and imitates kangaroo leg draft hitch, when installation, hangs
Frame top is connect with vehicle body, and lower part is connect by axis pin with wheel, and when automobile is by different road conditions, road surface generates phase to wheel
The shock loading answered, since suspension is attached with wheel by axis pin, so shock loading is reached by wheel via axis pin
On suspension, and vehicle body is finally reached, causes to vibrate.Length ratio relationship wherein between femur rod, tibiofibula bar and sufficient bone bar
It is 1:2:1-1.35 constitutes Double Diamond and imitates kangaroo leg suspension frame structure, the left and right femur rod upper end being symmetrically installed, thigh artificial muscle
Meat upper end hingedly constitutes hip joint with vehicle body；It left and right femur rod lower end and left and right tibiofibula bar upper end, damper I and rises about
The damper II of beam function hingedly constitutes knee joint；Left and right tibiofibula bar is hingedly constituted with the sufficient bone bar in left and right, shank artificial-muscle
Ankle-joint；The sufficient bone bar in left and right, damper III are connected with wheel；When operation, by control artificial-muscle drive leg tendon spring and
Damper makes the Double Diamond leverage of femur rod, tibiofibula bar and sufficient bone bar composition carry out motor adjustment therewith, makes vehicle logical
The athletic posture for possessing optimal coordination when crossing different road surfaces, makes vehicle possess good passability, control stability and comfort
Deng.
Structure of the invention suspension can make vehicle actively adapt to various operating modes, and energy Active control suspension posture, and vehicle is made to have
There are excellent passability, control stability and comfort etc..
Description of the drawings
Fig. 1 is the structural schematic diagram that diamond shape of the present invention imitates kangaroo leg suspension.
In figure：1- vehicle bodies, 2- femur rods, 3- tibiofibulas bar, 4- foot bones bar, 5- thighs artificial-muscle, 6- limit artificial muscle
Meat, 7- dampers I, 8- dampers II, 9- shanks artificial-muscle, 10- dampers III, 11- main shafts.
Specific implementation mode
The present invention is further detailed with reference to specific embodiment, it is to be understood that these embodiments are only used
In illustrating the present invention rather than limit the scope of the invention.Those skilled in the art on the basis of the present invention make the present invention
Various changes or modification, should all equally fall within protection scope of the present invention.
A kind of diamond shape imitates kangaroo leg suspension, including femur rod 2, tibiofibula bar 3, the sufficient bone bar 4 being symmetrically installed, longitudinally mounted
Thigh artificial-muscle 5；
Wherein one end of described two femur rods 2 and the top of thigh artificial-muscle 5 is hinged, and centre position has been respectively articulated with limit
The limit artificial-muscle 6 of position effect, the other end are hinged with two dampers for being set with spring I 7 respectively；
The top of the thigh artificial-muscle 5, limit artificial-muscle 6 and damper I 7 is connect with vehicle body 1 respectively；
Described two femur rods 2 are also respectively articulated with the damping of tibiofibula bar 3 and sheathed spring with I 7 hinged end of damper simultaneously
Device II 8, the centre position of tibiofibula bar 3 and the bottom end of thigh artificial-muscle 5 are hinged, the other end respectively with sufficient bone bar 4 and shank
Artificial-muscle 9 is hinged；
The bottom end of the thigh artificial-muscle 5 and the top of the damper III 10 of sheathed spring are hinged；
The end and the bottom end of damper III 10 of described two foot bone bars 4 are hinged, and pass through main shaft 11 and wheel articulation.
Wherein femur rod：Tibiofibula bar：The length ratio of sufficient bone bar is 1:2:1-1.35 preferably 1:2:1.
Thigh artificial-muscle is, limit artificial-muscle, shank artificial-muscle are pneumatic structure, or hydraulic structure；
Damper I 7 is thigh damper, and damper II 8 is limited displacement damper, and damper III 10 is shank damper.
Claims (5)
1. a kind of diamond shape imitates kangaroo leg suspension, which is characterized in that including the femur rod, tibiofibula bar, sufficient bone bar being symmetrically installed, indulge
To the thigh artificial-muscle of installation；
One end of wherein described two femur rods is hinged with the top of thigh artificial-muscle, and centre position has been respectively articulated with limit
The limit artificial-muscle of effect, the other end are hinged with two dampers for being set with spring I respectively；
The top of the thigh artificial-muscle, limit artificial-muscle and damper I is connect with vehicle body respectively；
Described two femur rods are also respectively articulated with tibiofibula bar and the damper of sheathed spring simultaneously with I hinged end of damper
II, the centre position of tibiofibula bar and the bottom end of thigh artificial-muscle are hinged, the other end respectively with sufficient bone bar and shank artificial muscle
Meat is hinged；
The bottom end of the thigh artificial-muscle and the top of the damper III of sheathed spring are hinged；
The end and the bottom end of damper III of described two foot bone bars are hinged, and pass through main shaft and wheel articulation.
2. a kind of diamond shape according to claim 1 imitates kangaroo leg suspension, which is characterized in that the femur rod：Tibiofibula
Bar：The length ratio of sufficient bone bar is 1:2:1-1.35.
3. a kind of diamond shape according to claim 2 imitates kangaroo leg suspension, which is characterized in that the femur rod：Tibiofibula
Bar：The length ratio of sufficient bone bar is 1:2:1.
4. a kind of diamond shape according to claim 1 or 2 imitates kangaroo leg suspension, which is characterized in that the thigh artificial muscle
Meat is thigh Pneumatic artificial muscle, and the limit artificial-muscle is limit Pneumatic artificial muscle, the shank artificial-muscle
For shank Pneumatic artificial muscle.
5. a kind of diamond shape according to claim 1 or 2 imitates kangaroo leg suspension, which is characterized in that the damper I is big
Leg damper, the damper II are limited displacement damper, and the damper III is shank damper.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810333641.7A CN108583184B (en) | 2018-04-13 | 2018-04-13 | Diamond-shaped kangaroo leg-imitating suspension |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810333641.7A CN108583184B (en) | 2018-04-13 | 2018-04-13 | Diamond-shaped kangaroo leg-imitating suspension |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108583184A true CN108583184A (en) | 2018-09-28 |
| CN108583184B CN108583184B (en) | 2021-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810333641.7A Active CN108583184B (en) | 2018-04-13 | 2018-04-13 | Diamond-shaped kangaroo leg-imitating suspension |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108583184B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928199A (en) * | 2018-07-20 | 2018-12-04 | 太原科技大学 | A kind of overturning-preventing and attitude regulating mechanism of imitative kangaroo leg Double Diamond suspension |
| CN111152617A (en) * | 2020-02-21 | 2020-05-15 | 太原科技大学 | Kangaroo leg-imitating suspension with arc-shaped shock absorber |
| CN112549890A (en) * | 2020-12-09 | 2021-03-26 | 湖南科技大学 | Suspension mechanism of wheeled lunar vehicle |
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| US3174771A (en) * | 1959-12-04 | 1965-03-23 | Daimler Benz Ag | Wheel suspension for vehicles, especially motor vehicles |
| RU2189322C2 (en) * | 2000-06-07 | 2002-09-20 | Елизарьев Николай Владимирович | Wheel parallelogram suspension |
| CN102556202A (en) * | 2012-02-20 | 2012-07-11 | 上海交通大学 | Robot foot with buffering function |
| CN102642578A (en) * | 2012-04-24 | 2012-08-22 | 北京航空航天大学 | Wheel-legged detector for planet surface detection |
| CN102765434A (en) * | 2012-07-03 | 2012-11-07 | 上海交通大学 | Leg buffer structure of walker |
| US20160347387A1 (en) * | 2015-05-29 | 2016-12-01 | Oregon State University | Leg configuration for spring-mass legged locomotion |
| CN106985928A (en) * | 2017-03-09 | 2017-07-28 | 大连理工大学 | A kind of walking robot high-adaptability foot end mechanism |
| CN107415618A (en) * | 2017-07-19 | 2017-12-01 | 太原科技大学 | A kind of imitative automobile-used suspension of kangaroo leg |
| CN107600217A (en) * | 2017-08-29 | 2018-01-19 | 重庆大学 | Hopping robot leg and hopping robot |
-
2018
- 2018-04-13 CN CN201810333641.7A patent/CN108583184B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3174771A (en) * | 1959-12-04 | 1965-03-23 | Daimler Benz Ag | Wheel suspension for vehicles, especially motor vehicles |
| RU2189322C2 (en) * | 2000-06-07 | 2002-09-20 | Елизарьев Николай Владимирович | Wheel parallelogram suspension |
| CN102556202A (en) * | 2012-02-20 | 2012-07-11 | 上海交通大学 | Robot foot with buffering function |
| CN102642578A (en) * | 2012-04-24 | 2012-08-22 | 北京航空航天大学 | Wheel-legged detector for planet surface detection |
| CN102765434A (en) * | 2012-07-03 | 2012-11-07 | 上海交通大学 | Leg buffer structure of walker |
| US20160347387A1 (en) * | 2015-05-29 | 2016-12-01 | Oregon State University | Leg configuration for spring-mass legged locomotion |
| CN106985928A (en) * | 2017-03-09 | 2017-07-28 | 大连理工大学 | A kind of walking robot high-adaptability foot end mechanism |
| CN107415618A (en) * | 2017-07-19 | 2017-12-01 | 太原科技大学 | A kind of imitative automobile-used suspension of kangaroo leg |
| CN107600217A (en) * | 2017-08-29 | 2018-01-19 | 重庆大学 | Hopping robot leg and hopping robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108928199A (en) * | 2018-07-20 | 2018-12-04 | 太原科技大学 | A kind of overturning-preventing and attitude regulating mechanism of imitative kangaroo leg Double Diamond suspension |
| CN108928199B (en) * | 2018-07-20 | 2021-10-01 | 太原科技大学 | Anti-toppling and posture adjusting device of kangaroo leg-imitating double-diamond suspension |
| CN111152617A (en) * | 2020-02-21 | 2020-05-15 | 太原科技大学 | Kangaroo leg-imitating suspension with arc-shaped shock absorber |
| CN112549890A (en) * | 2020-12-09 | 2021-03-26 | 湖南科技大学 | Suspension mechanism of wheeled lunar vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108583184B (en) | 2021-05-18 |
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