CN201161536Y - Rocker-type diamond-shaped four-wheel lunar rover moving system - Google Patents

Abstract

The utility model discloses a moving system of a rocker-arm type rhombic four-wheel lunar rover, which comprises a rotatable rhombus frame and front wheels, rear wheels, left wheels and right wheels which are installed on the frame and have independent drive systems. The front wheel and the rear wheel are respectively fixed on the vehicle frame by the front suspension system and the rear suspension system, and the left wheel and the right wheel are respectively fixed on the vehicle frame by the left suspension system and the right suspension system. The front suspension system Both the suspension system and the rear suspension system are composed of a connecting mechanism and a steering mechanism. The utility model adopts a new structure of four-wheel three-axis diamond chassis, which has the advantages of compact structure, high light weight, low energy consumption, large load capacity, good off-road performance, convenient posture adjustment, strong terrain adaptability, stable and reliable vehicle body posture Advantages of high sex.

Description

Rocker-type diamond-shaped four-wheel lunar rover moving system

technical field

The utility model mainly relates to the design field of walking devices, in particular to a passive swing arm type variable diamond-shaped four-wheel moving system, which is applicable to unmanned detection and ore collection fields in harsh environments.

Background technique

For the lunar surface environment, the lunar rover needs to adapt to the unique lunar surface driving environment such as unfamiliar landforms, dusty layers, and microgravity, and realize the transfer between the earth and the moon, which has special requirements for the vehicle's lightweight and driving performance. Judging from the current domestic research on the lunar rover, it is believed that the traditional two-axis four-wheel mechanism has the advantages of compact structure, low energy consumption, large load capacity, and convenient attitude adjustment. The obstacle ability is not strong; the six-wheel mechanism has the advantages of three-axis characteristics, strong off-road performance and stability, but the disadvantage is that it is difficult to achieve light weight, and the gravity is not evenly distributed on each wheel, so the efficiency of the motor cannot be exerted. Considering the special working conditions on the moon, it is generally believed that the six-wheeled lunar rover is the best. Although the traditional four-wheeled vehicle is simpler and more reliable than the six-wheeled vehicle, it is not in the selection range because it does not have good off-road performance. within. To make use of the four-wheel vehicle's advantages of simple structure, easy light weight and strong reliability, and to make it have superior off-road performance, it is necessary to improve its off-road performance and other driving performance through innovative design of new concepts.

Utility model content

Aiming at the technical problems existing in the prior art, the problem to be solved by the utility model is that the utility model provides a vehicle with a simple and compact structure, low energy consumption, strong terrain adaptability, good obstacle-crossing performance, stable posture of the vehicle body, and reliability. High, high and lightweight passive rocker-type diamond-shaped four-wheeled lunar rover moving system.

In order to solve the above-mentioned technical problems, the solution proposed by the utility model is: a rocker-type diamond-shaped four-wheeled lunar rover moving system, which is characterized in that it includes a rotatable diamond-shaped frame and is installed on the frame with an independent drive The front wheel, the rear wheel, the left wheel and the right wheel of the system, the front wheel and the rear wheel are respectively fixed on the vehicle frame through the front suspension system and the rear suspension system, and the left wheel and the right wheel are respectively fixed on the vehicle frame through the left suspension system and the right suspension system. The frame system is fixed on the vehicle frame, and the front suspension system and the rear suspension system are both composed of a connecting mechanism and a steering mechanism.

The vehicle frame includes a front vehicle frame on which front wheels are installed and a rear vehicle frame on which rear wheels are installed. One end of the rear vehicle frame is provided with a rotating shaft, and the rear vehicle frame is hinged to the front vehicle frame through the rotating shaft.

The front frame is provided with a limit bearing seat, and the two ends of the rotating shaft of the rear frame are equipped with limit blocks and are positioned by the bearing and the limit bearing seat.

The horizontal distance between the axis of the rotating shaft and the axis of the left and right wheels is L ₁ , and the horizontal distance between the axis of the rotating shaft and the axis of the front wheel is L ₂ , 2L ₁ =L ₂ .

The connecting mechanism in the front suspension system and the rear suspension system includes a steering motor sleeve, a bearing seat, an angular contact bearing, a lock nut and a connecting arm, the connecting arm is fixedly connected with the front wheel or the rear wheel, and the steering motor The sleeve is fixedly connected with the vehicle frame, the angular contact bearing is installed in the bearing seat, the bearing seat is fixedly connected with the steering motor sleeve, and the connecting arm is positioned with the inner ring of the angular contact bearing through a lock nut.

The steering mechanism includes a steering motor, the steering motor is fixed in the steering motor sleeve, the output shaft of the steering motor is connected with the upper end of the connecting arm through a key, and the steering torque is delivered to the front wheel or the rear wheel through the connecting arm.

The ground contact point of the front wheel or the rear wheel does not intersect with the axis extension line of the output shaft of the steering motor.

Compared with the prior art, the utility model has the advantages of:

1. The "three axes" of the rocker-arm type diamond-shaped four-wheel lunar rover moving system of the utility model ensure good off-road performance and moving stability; the "four-wheel" ensures a higher degree of light weight than the six-wheel system; the "four-wheel diamond Arrangement" guarantees the distinct characteristics of independent innovation.

2. The utility model has the rocker-arm type diamond-shaped four-wheel lunar rover moving system with the least number of motors, low energy consumption, the simplest control, and higher reliability of driving and steering.

3. The mobile system of the rocker-arm type rhombic four-wheeled lunar rover of the utility model adopts a diamond-shaped chassis structure. Under the same steering angle, the steering radius of the lunar rover can be significantly reduced through the linkage steering of the front and rear wheels, and the steering flexibility of the lunar rover can be improved. sex. At the same time, it can also realize in-situ steering and avoid obstacles at any time, which significantly improves the adaptability of the lunar rover.

4. The mobile system of the rocker-arm type rhombic four-wheel lunar rover of the utility model has road adaptability, especially the grounding performance of lunar craters and climbing is better;

5. The mobile system of the utility model is driven by a rocker arm type rhombic four-wheeled lunar rover, which can realize the relative offset of the center of gravity left and right through the steering of the front wheel or the rear wheel, so that it has the stability of the four tracks when driving on a slope or when the road collapses.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present utility model;

Fig. 2 is the top view structural representation of the utility model;

Fig. 3 is the rear view structural representation of the utility model;

Fig. 4 is a side view structural representation of the utility model;

Fig. 5 is the top view structure schematic diagram of vehicle frame in the utility model;

Fig. 6 is the side view structure diagram of vehicle frame in the utility model

Fig. 7 is a schematic structural view of the front suspension system in the utility model;

Fig. 8 is a schematic diagram of driving of the utility model under severe working conditions;

Fig. 9 is a schematic diagram of the utility model traveling laterally on a slope;

Fig. 10 is a schematic diagram of the utility model traveling on a collapsed road surface;

Fig. 11 is a schematic diagram of the utility model turning in situ.

illustration

1. Front wheel 2. Rear wheel

3. Left wheel 4. Right wheel

5. Front suspension system 6. Rear suspension system

7. Left suspension system 8. Right suspension system

9. Frame 10. Steering motor

11. Front frame 12. Rear frame

13. Rotating shaft 14. Limit bearing seat

15. Limiting block 16. Steering motor sleeve

17. Bearing seat 18. Fastening nut

19. Angular contact bearing 20. Connecting arm

Detailed ways

The utility model will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

装置，通电转向电机转动，不通电时通过暴

固定。在较佳实施例中，转轴13的轴线跟左轮3和右轮4轴线的水平距离为L₁，转轴13的轴线跟前轮1轴线的水平距离为L₂，2L₁＝L₂。As shown in Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7, the passive rocker-type rhombic four-wheeled lunar rover moving system of the utility model includes a rotatable rhombus vehicle frame 9 and The front wheel 1, the rear wheel 2, the left wheel 3 and the right wheel 4 with independent drive system are installed on the vehicle frame 9, and the front wheel 1 and the rear wheel 2 are respectively fixed on the vehicle frame by the front suspension system 5 and the rear suspension system 6 9, the left wheel 3 and the right wheel 4 are respectively fixed on the vehicle frame 9 through the left suspension system 7 and the right suspension system 9, and the front suspension system 5 and the rear suspension system 6 are all made up of a connecting mechanism and a steering mechanism. Suspension system 7 and right suspension system 8 only do connecting mechanism. Vehicle frame 9 is made up of front vehicle frame 11, rear vehicle frame 12, rotating shaft 13, spacing bearing seat 14, spacing block 15. The rear frame 12 is fixedly connected with the rotating shaft 13 through bolts, the limit bearing seat 14 is fixedly connected with the front frame 11 through bolts, the limit block 15 is fixedly connected with the two ends of the rotating shaft 13, and the rotating shaft 13 is positioned with the limit bearing seat 14 through the bearing. The rear vehicle frame 12 can relatively rotate around the front vehicle frame 11 through the rotating shaft 13, and the rotation angle range is determined by the gap between the limiting block 15 and the limiting bearing seat 14. The front and rear suspensions are composed of a steering motor sleeve 16, a bearing seat 17, a fastening nut 18, an angular contact bearing 19, and a connecting arm 20, wherein the steering motor sleeve 16 is fixedly connected with the vehicle frame 9 by bolts, and the bearing seat 17 is connected by screws. It is fixedly connected with the steering motor sleeve 16, and the angular contact bearing 19 is installed in the bearing seat 17, and its outer ring is respectively positioned by the bearing seat 17 and the steering motor sleeve 16, and the connecting arm 20 is installed in the inner ring, and the connecting arm 20 passes through itself The boss and lock nut 18 are fixed with the inner ring of angular contact bearing 19. The lower end of the connecting arm 20 is fixedly connected with the wheel shaft by a pin. The steering motor 10 is installed in the steering motor sleeve 16 by screws, and its output shaft is connected with the connecting arm 20 by a key. When turning, its power is transmitted to the front and rear wheels through the connecting arm 20. Since the front and rear wheel ground points do not intersect with the extension line of the output shaft axis of the steering motor 10, the front and rear wheel ground points rotate around the front and rear steering motor 10 output shaft axes when turning. Steering motor 10 comes with storm

The device turns to the motor when it is energized, and passes through the storm when it is not energized.

fixed. In a preferred embodiment, the horizontal distance between the axis of the rotating shaft 13 and the axes of the left wheel 3 and the right wheel 4 is L ₁ , and the horizontal distance between the axis of the rotating shaft 13 and the axis of the front wheel 1 is L ₂ , 2L ₁ =L ₂ .

When driving on ordinary rough roads, the four wheels are directly driven, and the steering is steered through the linkage of the front wheel 1 and the rear wheel 2.

When running into relatively harsh working conditions, as shown in Figure 8, because the vehicle frame 9 of the present invention is divided into two sections of the front vehicle frame 11 and the rear vehicle frame 12, and the two sections can rotate relatively around the axis of the rotating shaft 13, so The wheels have good grounding performance and can keep the wheels on the ground all the time, so that the weight of the car can be carried by the four wheels evenly, and it can also be driven with greater ground adhesion, as shown in Figure 8.

When the vehicle is traveling laterally on a slope, as shown in Figure 9, the dotted lines in the figure indicate the positions of the ground contact points of each wheel along the traveling direction. Due to the gravity, the wheel gravity shared by the wheels located at the bottom in the left wheel 3 and the right wheel 4 is greater than all the other wheels, and the gravity shared by the top wheels is less than other wheels. The distribution of gravity on each wheel is not uniform like this, and the efficiency of the motor cannot be brought into play. Since the steering motor 10 axis and the ground intersection point and the front and rear wheel ground contact points do not coincide, the front and rear wheels can change the arrangement relative to the vehicle frame 9 . Taking Figure 9 as an example, the rear wheel 2 can be turned 180 degrees, so that its ground contact point can be relatively moved downward, which can not only reduce the gravity shared by the left wheel 3, but also increase the gravity shared by the right wheel 4, so that the gravity shared by each wheel Be as balanced as possible to maximize the efficiency of the drive motor.

When the car is driving on a road condition where one side of the road is prone to collapse, as shown in Figure 10, the dotted line in the figure indicates the position of each wheel ground contact point along the driving direction, and the shaded part represents the road surface that is prone to collapse. Because front and rear wheels of the present utility model can change arrangement mode by turning to relative vehicle frame 9. Take the example shown in Figure 10, the road on the right is easy to collapse, we can turn the rear wheel 2 180 degrees, so that the ground point is relatively moved to the right, so that the original four-wheel three-wheels become four-wheel four-wheels, at this time the car's The center of gravity is located in the triangle formed by the respective contact points of the front wheel 1, the rear wheel 2, and the left wheel 3, which reduces the gravity of the car shared by the right wheel 4, thereby reducing the possibility of the road surface on the right side collapsing. Even if the road surface on the right side collapses, the car can still drive smoothly because the center of gravity has shifted to the left.

When the car encounters an insurmountable obstacle, this car can play its super obstacle avoidance function of 360-degree in-situ steering. When turning in-situ, you only need to turn the front and rear wheels until the extension lines of the respective wheel axes pass through the center of gravity of the car, and then move forward. The differential speed between wheel 1 and rear wheel 2, and the differential speed between left wheel 3 and right wheel 4 are enough, as shown in Figure 11.

Claims (7)

1, a kind of passive rocking arm diamond-type four-wheel lunar rover moving system, it is characterized in that: it comprises rotating arch bar truck (9) and is installed on the front-wheel (1) that has independent driving system on the vehicle frame (9), trailing wheel (2), revolver (3) and right wheel (4), described front-wheel (1) and trailing wheel (2) are fixed on the vehicle frame (9) by front suspension system (5) and rear-suspension system (6) respectively, revolver (3) and right wheel (4) are fixed on the vehicle frame (9) by left suspension system (7) and right suspension system (8) respectively, and described front suspension system (5) and rear-suspension system (6) are formed by bindiny mechanism and steering hardware.

2, passive rocking arm diamond-type four-wheel lunar rover moving system according to claim 1, it is characterized in that: described vehicle frame (9) comprises front vehicle frame (11) that front-wheel (1) is installed and the back vehicle frame (12) that trailing wheel is installed, one end of back vehicle frame (12) is provided with rotating shaft (13), and back vehicle frame (12) is hinged by rotating shaft (13) and front vehicle frame (11).

3, passive rocking arm diamond-type four-wheel lunar rover moving system according to claim 2, it is characterized in that: described front vehicle frame (11) is provided with limit shaft bearing (14), and rotating shaft (13) two ends of back vehicle frame (12) are equiped with limiting stopper (15) and locate by bearing and limit shaft bearing (14).

4, passive rocking arm diamond-type four-wheel lunar rover moving system according to claim 3 is characterized in that: the axis of described rotating shaft (13) is L with the horizontal throw of revolver (3) and right wheel (4) axis ₁, the horizontal throw of wheel (1) axis is L in front of the axis of rotating shaft (13) ₂, 2L ₁=L ₂

5, according to claim 1 or 2 or 3 or 4 described passive rocking arm diamond-type four-wheel lunar rover moving systems, it is characterized in that: bindiny mechanism comprises steer motor sleeve (16) in described front suspension system (5) and the rear-suspension system (6), bearing seat (17), angular contact bearing (19), block nut (18) and connecting arm (20), described connecting arm (20) is connected with front-wheel (1) or trailing wheel (2), steer motor sleeve (16) is connected with vehicle frame (9), angular contact bearing (19) is installed in the bearing seat (17), bearing seat (17) is connected with steer motor sleeve (16), and connecting arm (20) is by block nut (18) and angular contact bearing (19) inner ring location.

6, passive rocking arm diamond-type four-wheel lunar rover moving system according to claim 5, it is characterized in that: described steering hardware comprises steer motor (10), steer motor (10) is fixed in the steer motor sleeve (16), the output shaft of steer motor (10) joins by key and connecting arm (20) upper end, and steering torque is transported on front-wheel (1) or the trailing wheel (2) by connecting arm (20).

7, passive rocking arm diamond-type four-wheel lunar rover moving system according to claim 6 is characterized in that: the axes extending line of the earth point of described front-wheel (1) or trailing wheel (2) and steer motor (10) output shaft is non-intersect.

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