CN100364855C - Six wheel symmetrical active suspension mechanism of moon craft - Google Patents
Six wheel symmetrical active suspension mechanism of moon craft Download PDFInfo
- Publication number
- CN100364855C CN100364855C CNB2005100277138A CN200510027713A CN100364855C CN 100364855 C CN100364855 C CN 100364855C CN B2005100277138 A CNB2005100277138 A CN B2005100277138A CN 200510027713 A CN200510027713 A CN 200510027713A CN 100364855 C CN100364855 C CN 100364855C
- Authority
- CN
- China
- Prior art keywords
- swing arm
- arm
- swing
- car body
- bearing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The present invention relayes to a six wheel symmetrical active suspension mechanism of a moon detecting craft, which belongs to the technical field of machines. The present invention comprises two sets of suspension mechanisms, a craft body and balance mechanisms for a craft body, wherein the two sets suspension mechanisms are symmetrically arranged on both sides of the craft body and are hinged with the craft body; the balance mechanisms for a craft body are arranged in the craft body and are hinged with the suspension mechanisms. The present invention moves in a mode that six wheels are driven independently, and front and back four wheels are turned independently. A front wheel is folded and unfolded through a front rocker arm relative to the telescopic motion of the electric drive of a back rocker arm. A rotary swing arm rotates at 180 DEG through the electric drive to realize that a back wheel is folded towards the axle wire of the craft body, and the rotary swing arm also upwards swings through the electric drive to make the craft body lowered until the bottom of the craft body contacts the ground for realizing the folding in a height direction. In the course of running, the present invention can climb up a slope, climb off the slope and cross over an obstacle with certain height and a moat with certain depth and span through the passive swing of the front and the back rocker arms, the active swing of a swing arm and the active swing of the rotary swing arm.
Description
Technical field
What the present invention relates to is a kind of mechanism of field of mechanical technique, specifically, is that a kind of moon craft six is taken turns symmetrical active suspension mechanism.
Background technology
The existing moving vehicle that relates to extraterrestrial detection (moon, Mars etc.) mostly adopts the driven suspension fork mechanism of many wheel symmetrical expressions arranged side by side.Moon craft passes through emission, transfer orbit, lunar trajectory, around-the-moon flight, logs on the moon by lander, at present, extraterrestrial probe vehicles is little, in light weight towards volume, the direction of compact conformation develops, and has only 11.5 kilograms as the Suo Jiena mars exploration car weight amount of the U.S..The topography of lunar surface complexity, moon craft requires to have the very strong barrier of keeping away flexibly, obstacle detouring, with the self-alignment reset capability, wherein obstacle climbing ability requires the driving system of the lunar rover vehicle to have stronger climbing, cross trench, functions such as antidumping, at present, the mobile system of probe vehicles mainly contains the leg formula, crawler type and type such as wheeled, the structure of leg formula mobile system and control more complicated, the speed of travel is slower, the crawler type mobile system has good obstacle performance, stronger comformability and service life, but mobile system integral structure heaviness, complicated, wheeled mobile system is simple in structure, the speed of travel is fast, be equipped with exquisite design-calculated suspension fork mechanism, can have the very strong locomotivity on complex-terrain, the Apollo Personnel investigation Program of the U.S. " 15; 16; No. 17; " moon " 17 of the former Soviet Union; No. 21 probe vehicles mobile systems; the Robby that U.S. JPL develops, Go,-For, Rocky series mars exploration car, " sojourner " who climbs up Mars, " Suo Jiena ", " Opportunity Rover ", what " courage number " adopted all is wheeled mobile systems.The probe vehicles of wheeled mobile system is general adopt 2 take turns, 4 take turns, 6 take turns and 8 texture ratios of taking turns more common.At present, its suspension fork mechanism form of the probe vehicles mobile system of wheeled construction is one of emphasis of research, because it has great influence to the moving of probe vehicles, obstacle climbing ability etc.
Find that by prior art documents the Chinese patent publication number is 200410043801.2, open day be: on March 23rd, 2005, patent name is: eight take turns symmetrical suspension frame type vehicular mechanism.This patent disclosure a kind of eight take turns symmetrical suspension frame type vehicular mechanism, two one-sided independent suspension mechanisms are arranged on the left and right sides of main car body, the lower end, front side and the middle front-wheel of secondary-rocker are hinged, the rear side lower end and the middle trailing wheel of secondary-rocker are hinged, the front end and the front-wheel of preceding master rocker are hinged, the rear end of preceding master rocker and the front side of secondary-rocker are hinged, the front end of back master rocker and the rear side of secondary-rocker are hinged, the rear end and the trailing wheel of back master rocker are hinged, wheel train structure adopts and drives, transmission, the integrated mode of wheel body, main car body is contained on two pairs of master rockers by hinged, and main car body is supported by two transverse axis.Though this invention can provide a kind of car body good stability, have the certain adaptation to the ground and the suspension fork mechanism of obstacle climbing ability, but, owing to be the passive type suspension frame structure, obstacle climbing ability is limited, driving system does not have and draws and launch function in, and according to the report of the courage Marsokhod of U.S.'s emission in 2004, extraterrestrial detection moving vehicle should be selected for use has the active suspension mechanism that draws in and launch function.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art part, provide a kind of moon craft six to take turns, it is had draw in and the expansion function, and can adapt to complex-terrain symmetrical active suspension mechanism.
The present invention is achieved by the following technical solutions, the present invention includes: two groups of suspension fork mechanisms, car body, the car body equalizing gear, described suspension fork mechanism comprises: front arm, rear arm, swing arm, change swing arm, middle wheel, front-wheel, trailing wheel, the front end and the front-wheel of front arm are hinged, the rear end of rear arm and middle wheel are hinged, front arm is located in the rear arm, the front end of swing arm and the front end of rear arm are hinged, hinged between the rear end of swing arm and the car body, the front end of commentaries on classics swing arm and the rear end of car body and swing arm are hinged, the rear end and the trailing wheel that change swing arm are hinged
Described car body equalizing gear comprises: two semiaxis, coupler, two front frames, two after poppets and two torsion springs, connect by coupler between two semiaxis, two semiaxis and car body are hinged, front frame is located at the front and back of semiaxis respectively with after poppet and captives joint with car body, one end of torsion spring is connected with the front frame perforation, the other end and after poppet are fixed, and torsion spring is enclosed within on two semiaxis with torsional moment
Two groups of suspension fork mechanism symmetries are located at the both sides of car body, and two groups of suspension fork mechanisms and car body are hinged, and it is inner and hinged with suspension fork mechanism that the car body equalizing gear is located at car body.
Described front arm, its with rear arm between move for the gap and to cooperate and to form an electronic moving sets.
Described electronic moving sets comprises: sliding nut, rotating screw bolt, two angular contact ball bearings, the inner ring axle sleeve, the outer ring axle sleeve, bearing seat, motor bearing; rocking arm moving sets DC speed-reducing; rotating screw bolt is bearing in the bearing seat by two angular contact ball bearings; bearing seat and rear arm are affixed; rocking arm moving sets DC speed-reducing is connected with motor bearing screw; motor bearing and rear arm are fixed; the output shaft of rocking arm moving sets DC speed-reducing is connected by pin with rotating screw bolt; rotating screw bolt is connected with the sliding nut spiral, and sliding nut is captiveed joint with the front arm rear end.
Described swing arm comprises: the swing arm front frame, the front frame cover plate, the front frame plain bearing, connecting panel, back outer support, back outer support plain bearing, back outer support cover plate, back inner support cover, car body supports plain bearing, the swing arm driving driving gear, the swing arm driving motor cabinet, the swing arm driving driven gear, the swing arm driving DC speed-reducing, the front end of swing arm is fixed with two swing arm front frames, be press-fitted the front frame plain bearing in the hole of swing arm front frame, the front frame cover plate is connected with swing arm front frame screw, the rear end of swing arm is connected with connecting panel, back outer support is connected with the connecting panel screw respectively with back inner support cover, back outer support plain bearing press fit in the hole of back outer support, back outer support cover plate is connected with back outer support screw, back inner support cover is bearing in car body and supports in the plain bearing, car body supports plain bearing and press fit in the connecting bore of car body and suspension fork mechanism, the swing arm driving driving gear is connected with the output shaft pin of swing arm driving DC speed-reducing, the swing arm driving DC speed-reducing is fixed on the swing arm driving motor cabinet, the swing arm driving motor cabinet is fixed on the car body, the swing arm driving driven gear is connected with back inner support cover key, is interference fit between the endoporus of the outer ring of two swing back-up roller dynamic bearings and back inner support cover.
Described back inner support cover, itself and car body support plain bearing and are free-running fit and constitute revolute pair.
The front end of described rear arm is fixed with two rocking arm mandrels.
Described rocking arm mandrel and front frame plain bearing free-running fit.
Described commentaries on classics swing arm comprises: swing back-up roller dynamic bearing, change sealing in the swing arm cover plate, change the swing arm cover plate, change the arm shaft bearing, the rotary electric machine seat, change the swing arm cover, rotate DC speed-reducing, oscillating axle, antifriction-bearing box, the swing axle sleeve, the wobble drive driving gear, the swing motor cabinet, the wobble drive driven gear, the swing DC speed-reducing, sliding shaft sleeve, an end that changes swing arm changes the swing arm antifriction-bearing box by two and is bearing in the commentaries on classics arm shaft bearing, it is fixing with commentaries on classics swing arm cover to change the arm shaft bearing, rotating DC speed-reducing is connected with rotary electric machine seat screw, the rotary electric machine seat is fixing with commentaries on classics swing arm cover, the output shaft that rotates DC speed-reducing is connected with commentaries on classics swing arm pin, changeing to seal in the swing arm cover plate to be located at changes in the swing arm cover plate, changeing the swing arm cover plate is connected with commentaries on classics arm shaft bearing screw, oscillating axle is captiveed joint with the outside of changeing the swing arm cover, swing axle sleeve and inboard captive joint of changeing the swing arm cover, be press-fitted sliding shaft sleeve in the swing axle sleeve, semiaxis and sliding shaft sleeve constitute revolute pair, the wobble drive driving gear is connected with the output shaft pin of swing DC speed-reducing, the swing DC speed-reducing is connected with swing motor cabinet screw, the swing motor cabinet is fixed on the car body, the wobble drive driven gear is connected with the swing shaft sleeve key, supporting sliding shaft sleeve in the swing press fit in the hole of swinging axle sleeve, swing axle sleeve and two swing back-up roller dynamic bearing interference fit, and constitute revolute pair by sliding shaft sleeve between swing axle sleeve that the commentaries on classics swing arm is connected and the semiaxis, constitute revolute pair between the back inner support cover that swing axle sleeve and swing arm are connected, constitute revolute pair between back inner support cover and the car body.
When work, front-wheel by front arm with respect to the motorized motions of the rocking arm moving sets DC speed-reducing of rear arm by the flexible gathering and the expansion that can realize front arm and front-wheel of worm drive with respect to car body, that is: the output of rocking arm moving sets DC speed-reducing drives the rotating screw bolt rotation, sliding nut is produced move, move along rear arm thereby drive front arm.The output of rotating DC speed-reducing drives changes swing arm around self axis rotation, also rotate with changeing swing arm rear end pivotally attached trailing wheel thereupon, thereby realize gathering and the expansion of trailing wheel to the car body axis, changeing swing arm also makes the car body falling head contact with ground until the car body bottom by pendulum on the motorized motions of swing DC speed-reducing, thereby realize the gathering of car load short transverse, that is: the output of swing DC speed-reducing drives the rotation of wobble drive driving gear, the rotation of the wobble drive driven gear that is meshed with driving wobble drive driving gear drives the rotation of the commentaries on classics swing arm cover that is connected with it again by the swing axle sleeve, thereby the swing of drive commentaries on classics swing arm and trailing wheel realizes the lifting of height of the carbody direction.In the vehicle ' process, before and after rocking arm and respectively with variation meeting automatically the hinged secondary swing around rear arm and swing arm between of wheel in the front-wheel with mobile ground height, to adapt to the fluctuations of landforms, in addition, swing arm can also be around swinging with the hinged pair of car body under the driving of swing arm driving DC speed-reducing, change to adapt to bigger morphologic prominence, that is: the output of swing arm driving DC speed-reducing drives the rotation of swing arm driving driving gear, and the rotation of the swing arm driving driven gear that is meshed with it is again by back inner support cover, connecting panel, drive the swing of swing arm.Changeing swing arm also can be around swinging with the hinged pair of car body under the driving of swing DC speed-reducing, the needs that change with the variation that adapts to landforms and car body high and low position, by the passive swing of front and back rocking arm, the active roll of swing arm and the active roll of changeing swing arm, can realize the trench of upward slope, the descending of complex-terrain, the obstacle of crossing certain altitude and certain depth and span, have the locomotivity of very strong adaptation complex-terrain; The counter torque that the car body equalizing gear produces by torsion spring makes body gravity keep balance around the gravity torque that two fulcrum semiaxis axis produce, that is: counter torque one end of torsion spring generation acts on the front frame, the other end acts on the after poppet, make the counter-force that acts on front frame, the after poppet make car body keep balance, thereby realize the steady substantially of car body along the axis of semiaxis.
The present invention adopts six to take turns individual drive, the mode of front and back four-wheel independent steering moves, front-wheel draws in and launches with respect to flexible realization of the motorized motions of rear arm by front arm, change swing arm and realize that by motorized motions 180 degree rotations trailing wheel draws in to the car body axis, changeing swing arm also makes the car body falling head contact with ground until the car body bottom by pendulum on the motorized motions, thereby realize the gathering of short transverse, the present invention in the process of moving, passive swing by the front and back rocking arm, the active roll of swing arm, with the active roll of changeing swing arm, can realize the upward slope of complex-terrain, descending, cross the obstacle of certain altitude and the trench of certain depth and span, locomotivity with very strong adaptation complex-terrain, car body equalizing gear of the present invention can be realized the steady substantially of car body, and the present invention can be developed to a kind of planetary detection moving vehicle or a kind of senior toy car.
Description of drawings
Fig. 1 is a structural representation front view of the present invention.
Fig. 2 is a structural representation birds-eye view of the present invention.A partly is front arm, rear arm, swing arm junction, and B partly is rear arm inside, and C partly is swing arm, commentaries on classics swing arm, car body, car body equalizing gear junction.
Fig. 3 is an A part-structure scheme drawing of the present invention.
Fig. 4 is a B part-structure scheme drawing of the present invention.
Fig. 5 is a C part-structure scheme drawing of the present invention.
The specific embodiment
As Fig. 1,2,3,4, shown in 5, the present invention includes: two groups of suspension fork mechanisms 1, car body 2, car body equalizing gear 3, described suspension fork mechanism 1 comprises: front arm 4, rear arm 5, swing arm 6, change swing arm 7, middle wheel 8, front-wheel 11, trailing wheel 12, the front end of front arm 4 and front-wheel 11 are hinged, the rear end of rear arm 5 and middle wheel 8 are hinged, front arm 4 is located in the rear arm 5, the front end of the front end of swing arm 6 and rear arm 5 is hinged, hinged between the rear end of swing arm 6 and the car body 2, the front end of commentaries on classics swing arm 7 and the rear end of car body 2 and swing arm 6 are hinged, the rear end and the trailing wheel 12 that change swing arm 7 are hinged
Described car body equalizing gear 3 comprises: two semiaxis 9, coupler 10, two front frames 13, two after poppets 14 and two torsion springs 15, connect by coupler 10 between two semiaxis 9, two semiaxis 9 are hinged with car body 2, front frame 13 is located at the front and back of semiaxis 9 respectively with after poppet 14 and captives joint with car body 2, one end of torsion spring 15 is connected with front frame 13 perforation, the other end and after poppet 14 are fixing, and torsion spring 15 is enclosed within on two semiaxis 9 with torsional moment
Two groups of suspension fork mechanism 1 symmetries are located at the both sides of car body 2, and two groups of suspension fork mechanisms 1 are hinged with car body 2, and it is inner and hinged with suspension fork mechanism 1 that car body equalizing gear 3 is located at car body 2.
Described front arm 4, its with rear arm 5 between move for the gap and to cooperate and to form an electronic moving sets.
Described electronic moving sets comprises: sliding nut 30, rotating screw bolt 31, two angular contact ball bearings 33, inner ring axle sleeve 34, outer ring axle sleeve 35, bearing seat 36, motor bearing 37; rocking arm moving sets DC speed-reducing 38; rotating screw bolt 31 is bearing in the bearing seat 36 by two angular contact ball bearings 33; bearing seat 36 is affixed with rear arm 5; rocking arm moving sets DC speed-reducing 38 is connected with motor bearing 37 screws; motor bearing 37 and rear arm 5 are fixed; the output shaft of rocking arm moving sets DC speed-reducing 38 and rotating screw bolt 31 are connected by pin; rotating screw bolt 31 is connected with sliding nut 30 spirals, and sliding nut 30 is captiveed joint with front arm 4 rear ends.
Described swing arm 6 comprises: swing arm front frame 16, front frame cover plate 17, front frame plain bearing 18, connecting panel 19, back outer support 20, back outer support plain bearing 21, back outer support cover plate 22, back inner support cover 23, car body supports plain bearing 24, swing arm driving driving gear 25, swing arm driving motor cabinet 26, swing arm driving driven gear 27, swing arm driving DC speed-reducing 29, the front end of swing arm 6 is fixed with two swing arm front frames 16, be press-fitted front frame plain bearing 18 in the hole of swing arm front frame 16, front frame cover plate 17 is connected with swing arm front frame 16 screws, the rear end of swing arm 6 is connected with connecting panel 19, back outer support 20 is connected with connecting panel 19 screws respectively with back inner support cover 23, back outer support plain bearing 21 press fit in the hole of back outer support 20, back outer support cover plate 22 is connected with back outer support 20 screws, back inner support cover 23 is bearing in car body and supports in the plain bearing 24, car body support plain bearing 24 press fit in the connecting bore of car body 2 and suspension fork mechanism 1, swing arm driving driving gear 25 is connected with the output shaft pin of swing arm driving DC speed-reducing 29, swing arm driving DC speed-reducing 29 is fixed on the swing arm driving motor cabinet 26, swing arm driving motor cabinet 26 is fixed on the car body 2, swing arm driving driven gear 27 overlaps 23 keys with the back inner support and is connected, and is interference fit between the endoporus of the outer ring of two swing back-up roller dynamic bearings 28 and back inner support cover 23.
Described back inner support cover 23, itself and car body support plain bearing 24 are for free-running fit and constitute revolute pair.
The front end of described rear arm 5 is fixed with two rocking arm mandrels 32.
Described rocking arm mandrel 32 and front frame plain bearing 18 free-running fits.
Described commentaries on classics swing arm 7 comprises: swing back-up roller dynamic bearing 28, change sealing 39 in the swing arm cover plate, change swing arm cover plate 40, change arm shaft bearing 41, rotary electric machine seat 42, change swing arm cover 43, rotate DC speed-reducing 44, oscillating axle 45, antifriction-bearing box 46, swing axle sleeve 47, wobble drive driving gear 48, swing motor cabinet 49, wobble drive driven gear 50, swing DC speed-reducing 51, sliding shaft sleeve 52, an end that changes swing arm 7 changes swing arm antifriction-bearing box 46 by two and is bearing in the commentaries on classics arm shaft bearing 41, it is fixing with commentaries on classics swing arm cover 43 to change arm shaft bearing 41, rotating DC speed-reducing 44 is connected with rotary electric machine seat 42 screws, rotary electric machine seat 42 is fixing with commentaries on classics swing arm cover 43, the output shaft that rotates DC speed-reducing 44 is connected with commentaries on classics swing arm 7 pins, changeing the interior sealing 39 of swing arm cover plate is located in the commentaries on classics swing arm cover plate 40, changeing swing arm cover plate 40 is connected with commentaries on classics arm shaft bearing 41 screws, oscillating axle 45 is captiveed joint with the outside of changeing swing arm cover 43, swing axle sleeve 47 is captiveed joint with the inboard of commentaries on classics swing arm cover 43, be press-fitted sliding shaft sleeve 52 in the swing axle sleeve 47, semiaxis 9 constitutes revolute pair with sliding shaft sleeve 52, wobble drive driving gear 48 is connected with the output shaft pin of swing DC speed-reducing 51, swing DC speed-reducing 51 is connected with swing motor cabinet 49 screws, swing motor cabinet 49 is fixed on the car body 2, wobble drive driven gear 50 is connected with swing axle sleeve 47 keys, supporting sliding shaft sleeve 52 in the swing press fit in the hole of swinging axle sleeve 47, swing axle sleeve 47 and two swing back-up roller dynamic bearing 28 interference fit, and constitute revolute pairs by sliding shaft sleeve 52 between swing axle sleeve 47 that commentaries on classics swing arm 7 is connected and the semiaxis 9, constitute revolute pair between the back inner support cover 23 that swing axle sleeve 47 and swing arm 6 are connected, constitute revolute pair between back inner support cover 23 and the car body 2.
Claims (8)
1. a moon craft six is taken turns symmetrical active suspension mechanism, comprise: two groups of suspension fork mechanisms (1), car body (2), car body equalizing gear (3), it is characterized in that, described suspension fork mechanism (1) comprising: front arm (4), rear arm (5), swing arm (6), change swing arm (7), middle wheel (8), front-wheel (11), trailing wheel (12), the front end of front arm (4) and front-wheel (11) are hinged, the rear end of rear arm (5) and middle wheel (8) are hinged, front arm (4) is located in the rear arm (5), the front end of the front end of swing arm (6) and rear arm (5) is hinged, hinged between the rear end of swing arm (6) and the car body (2), the front end of commentaries on classics swing arm (7) and the rear end of car body (2) and swing arm (6) are hinged, the rear end and the trailing wheel (12) that change swing arm (7) are hinged, form electronic moving sets between front arm (4) and the rear arm (5), front-wheel (11) draws in and launches with respect to flexible realization of the motorized motions of rear arm (5) by front arm (4), commentaries on classics swing arm (7) is rotated by motorized motions 180 degree and is realized trailing wheels (12) to the gathering of car body (2) axis, changes swing arm (7) and also makes car body (2) falling head contact the gathering that realizes short transverse with ground until car body (2) bottom by pendulum on the motorized motions;
Described car body equalizing gear (3) comprising: two semiaxis (9), coupler (10), two front frames (13), two after poppets (14) and two torsion springs (15), connect by coupler (10) between two semiaxis (9), two semiaxis (9) are hinged with car body (2), front frame (13), be located at the front and back of semiaxis (9) respectively with after poppet (14) and captive joint with car body (2), one end of torsion spring (15) is connected with front frame (13) perforation, the other end and after poppet (14) are fixing, torsion spring (15) is enclosed within on two semiaxis (9) with torsional moment
Two groups of suspension fork mechanisms (1) symmetry is located at the both sides of car body (2), and two groups of suspension fork mechanisms (1) are hinged with car body (2), and it is inner and hinged with suspension fork mechanism (1) that car body equalizing gear (3) is located at car body (2).
2. moon craft six according to claim 1 is taken turns symmetrical active suspension mechanism, it is characterized in that, moves for the gap between described front arm (4) and the rear arm (5) to cooperate.
3. moon craft six according to claim 2 is taken turns symmetrical active suspension mechanism, it is characterized in that, described electronic moving sets comprises: sliding nut (30), rotating screw bolt (31), two angular contact ball bearings (33), inner ring axle sleeve (34), outer ring axle sleeve (35), bearing seat (36), motor bearing (37); rocking arm moving sets DC speed-reducing (38); rotating screw bolt (31) is bearing in the bearing seat (36) by two angular contact ball bearings (33); bearing seat (36) is affixed with rear arm (5); rocking arm moving sets DC speed-reducing (38) is connected with motor bearing (37) screw; motor bearing (37) is fixing with rear arm (5); the output shaft of rocking arm moving sets DC speed-reducing (38) is connected by pin with rotating screw bolt (31); rotating screw bolt (31) is connected with sliding nut (30) spiral, and sliding nut (30) is captiveed joint with front arm (4) rear end.
4. moon craft six according to claim 1 is taken turns symmetrical active suspension mechanism, it is characterized in that, described swing arm (6) comprising: swing arm front frame (16), front frame cover plate (17), front frame plain bearing (18), connecting panel (19), back outer support (20), back outer support plain bearing (21), back outer support cover plate (22), back inner support cover (23), car body supports plain bearing (24), swing arm driving driving gear (25), swing arm driving motor cabinet (26), swing arm driving driven gear (27), swing arm driving DC speed-reducing (29), the front end of swing arm (6) is fixed with two swing arm front frames (16), be press-fitted front frame plain bearing (18) in the hole of swing arm front frame (16), front frame cover plate (17) is connected with swing arm front frame (16) screw, the rear end of swing arm (6) is connected with connecting panel (19), back outer support (20) is connected with connecting panel (19) screw respectively with back inner support cover (23), back outer support plain bearing (21) press fit in the hole of back outer support (20), back outer support cover plate (22) is connected with back outer support (20) screw, back inner support cover (23) is bearing in car body and supports in the plain bearing (24), car body support plain bearing (24) press fit in the connecting bore of car body (2) and suspension fork mechanism (1), swing arm driving driving gear (25) is connected with the output shaft pin of swing arm driving DC speed-reducing (29), swing arm driving DC speed-reducing (29) is fixed on the swing arm driving motor cabinet (26), swing arm driving motor cabinet (26) is fixed on the car body (2), swing arm driving driven gear (27) is connected with back inner support cover (23) key, is interference fit between the endoporus of the outer ring of two swing back-up roller dynamic bearings (28) and back inner support cover (23).
5. moon craft six according to claim 4 is taken turns symmetrical active suspension mechanism, it is characterized in that, described back inner support cover (23), and itself and car body support plain bearing (24) are for free-running fit and constitute revolute pair.
6. moon craft six according to claim 1 is taken turns symmetrical active suspension mechanism, it is characterized in that, the front end of described rear arm (5) is fixed with two rocking arm mandrels (32).
7. moon craft six according to claim 6 is taken turns symmetrical active suspension mechanism, it is characterized in that, described rocking arm mandrel (32) and front frame plain bearing (18) free-running fit.
8. moon craft six according to claim 1 is taken turns symmetrical active suspension mechanism, it is characterized in that, described commentaries on classics swing arm (7) comprising: swing back-up roller dynamic bearing (28), change sealing (39) in the swing arm cover plate, change swing arm cover plate (40), change arm shaft bearing (41), rotary electric machine seat (42), change swing arm cover (43), rotate DC speed-reducing (44), oscillating axle (45), antifriction-bearing box (46), swing axle sleeve (47), wobble drive driving gear (48), swing motor cabinet (49), wobble drive driven gear (50), swing DC speed-reducing (51), sliding shaft sleeve (52), an end that changes swing arm (7) changes swing arm antifriction-bearing box (46) by two and is bearing in the commentaries on classics arm shaft bearing (41), it is fixing with commentaries on classics swing arm cover (43) to change arm shaft bearing (41), rotating DC speed-reducing (44) is connected with rotary electric machine seat (42) screw, rotary electric machine seat (42) is fixing with commentaries on classics swing arm cover (43), the output shaft that rotates DC speed-reducing (44) is connected with commentaries on classics swing arm (7) pin, changeing the interior sealing of swing arm cover plate (39) is located in the commentaries on classics swing arm cover plate (40), changeing swing arm cover plate (40) is connected with commentaries on classics arm shaft bearing (41) screw, oscillating axle (45) is captiveed joint with the outside of changeing swing arm cover (43), swing axle sleeve (47) and inboard captive joint of changeing swing arm cover (43), be press-fitted sliding shaft sleeve (52) in the swing axle sleeve (47), semiaxis (9) constitutes revolute pair with sliding shaft sleeve (52), wobble drive driving gear (48) is connected with the output shaft pin of swing DC speed-reducing (51), swing DC speed-reducing (51) is connected with swing motor cabinet (49) screw, swing motor cabinet (49) is fixed on the car body (2), wobble drive driven gear (50) is connected with swing axle sleeve (47) key, supporting sliding shaft sleeve (52) in the swing press fit in the hole of swinging axle sleeve (47), swing axle sleeve (47) and two swing back-up roller dynamic bearing (28) interference fit, and constitute revolute pair by sliding shaft sleeve (52) between swing axle sleeve (47) that commentaries on classics swing arm (7) is connected and the semiaxis (9), constitute revolute pair between the back inner support cover (23) that swing axle sleeve (47) and swing arm (6) are connected, constitute revolute pair between back inner support cover (23) and the car body (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100277138A CN100364855C (en) | 2005-07-14 | 2005-07-14 | Six wheel symmetrical active suspension mechanism of moon craft |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2005100277138A CN100364855C (en) | 2005-07-14 | 2005-07-14 | Six wheel symmetrical active suspension mechanism of moon craft |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1718509A CN1718509A (en) | 2006-01-11 |
| CN100364855C true CN100364855C (en) | 2008-01-30 |
Family
ID=35930479
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2005100277138A Expired - Fee Related CN100364855C (en) | 2005-07-14 | 2005-07-14 | Six wheel symmetrical active suspension mechanism of moon craft |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN100364855C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101638148B (en) * | 2009-07-23 | 2012-05-23 | 哈尔滨工业大学 | Suspension type foldable wheel type vehicle-mounted mechanism |
Families Citing this family (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486382B (en) * | 2008-01-18 | 2011-06-15 | 中国北方车辆研究所 | Expandable and actively adjusting balanced suspension system |
| CN101456433B (en) * | 2008-11-11 | 2010-10-13 | 吉林大学 | Quadrangle suspension mechanism suitable for six-wheel environment detection vehicle |
| CN101544187B (en) * | 2009-05-06 | 2012-02-08 | 哈尔滨工业大学 | Active and passive combined six-wheel probe vehicle moving mechanism |
| CN102963543B (en) * | 2012-11-29 | 2014-12-10 | 哈尔滨工业大学 | Six-wheel single drive folding extendable rocker arm type vehicle-mounted device |
| CN104149990A (en) * | 2014-06-30 | 2014-11-19 | 上海宇航系统工程研究所 | Novel manned lunar vehicle chassis |
| CN104589919B (en) * | 2014-12-19 | 2017-10-24 | 贾克 | Barrier-exceeding vehicle drive axle walking beam |
| CN105329335B (en) * | 2015-11-12 | 2017-11-28 | 机器时代(北京)科技有限公司 | A kind of six wheel robot chassis and robot |
| CN105291750A (en) * | 2015-11-13 | 2016-02-03 | 机器时代(北京)科技有限公司 | Novel four-wheel robot chassis and robot |
| CN105568890A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Shock-absorption stop board assembly |
| CN105568888A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Parking warning board assembly |
| CN105568887A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Parking warning board assembly |
| CN105544422A (en) * | 2015-12-28 | 2016-05-04 | 江阴皇润车业有限公司 | Parking warning board device |
| CN105575257A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Parking warning board |
| CN105544428A (en) * | 2015-12-28 | 2016-05-04 | 江阴皇润车业有限公司 | Stop warning board |
| CN105568891A (en) * | 2015-12-28 | 2016-05-11 | 江阴皇润车业有限公司 | Temporary parking plate |
| CN107128400A (en) * | 2017-04-24 | 2017-09-05 | 江南大学 | One kind six takes turns 4 wheel driven obstacle detouring platform |
| CN109176457A (en) * | 2018-10-23 | 2019-01-11 | 广东博智林机器人有限公司 | A kind of omni-directional moving mechanism having obstacle crossing function and robot system |
| CN109343042B (en) * | 2018-11-20 | 2023-09-29 | 吉林大学 | Road surface detection device suitable for mining area transport vehicle |
| CN109649686B (en) * | 2018-12-29 | 2021-08-31 | 中国科学院沈阳自动化研究所 | Star detection autonomous obstacle avoidance mobile robot |
| CN110001816B (en) * | 2019-04-19 | 2021-06-11 | 南京涵铭置智能科技有限公司 | Ground-contact walking exploration vehicle and ground-contact method thereof |
| CN110002007A (en) * | 2019-05-06 | 2019-07-12 | 吉林大学 | A kind of adjustable suspension of manned lunar rover of four-wheel |
| CN110525537A (en) * | 2019-10-15 | 2019-12-03 | 大连海事大学 | One kind six takes turns obstacle detouring information acquisition vehicle device |
| CN110962524B (en) * | 2019-11-19 | 2021-04-13 | 北京空间飞行器总体设计部 | Variable active suspension mechanism of planet vehicle |
| CN112158275B (en) * | 2020-10-13 | 2021-11-09 | 中国科学院沈阳自动化研究所 | Flexible six rounds of mobile robots of variable wheel base |
| CN112874676B (en) * | 2021-02-04 | 2022-02-01 | 安徽小龙仔儿童用品有限公司 | Rollover-prevention children's carriage and using method thereof |
| CN113089794A (en) * | 2021-04-07 | 2021-07-09 | 周勇 | Hydraulic engineering drainage system based on water conservancy pipeline |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1600587A (en) * | 2004-10-13 | 2005-03-30 | 哈尔滨工业大学 | Eight wheels torsion bar spring pendant type carriage carrying mechanism |
-
2005
- 2005-07-14 CN CNB2005100277138A patent/CN100364855C/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1600587A (en) * | 2004-10-13 | 2005-03-30 | 哈尔滨工业大学 | Eight wheels torsion bar spring pendant type carriage carrying mechanism |
Non-Patent Citations (3)
| Title |
|---|
| 六轮月球探测车运动学建模与分析. 王佐伟，梁斌，吴宏鑫.宇航学报，第24卷第05期. 2003 * |
| 管道形轮腿式月球探测机器人的运动学建模. 刘方湖，李满华，马培荪.东南大学学报(自然科学版)，第33卷第06期. 2003 * |
| 行星越障轮式月球车的设计. 邓宗全，高海波，胡明，王少纯.哈尔滨工业大学学报，第35卷第02期. 2003 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101638148B (en) * | 2009-07-23 | 2012-05-23 | 哈尔滨工业大学 | Suspension type foldable wheel type vehicle-mounted mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN1718509A (en) | 2006-01-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100364855C (en) | Six wheel symmetrical active suspension mechanism of moon craft | |
| JP5711121B2 (en) | Suspension box module, vehicle parametric chassis system and vehicle body shell | |
| US4469188A (en) | Articulated tricycle | |
| CN111542468B (en) | Motorcycle landing device | |
| CN103661667A (en) | Smart quadruped robot with flexible waist | |
| CN211892751U (en) | All-wheel-drive omnidirectional damping intelligent vehicle chassis | |
| CN103273977A (en) | Passive self-adaption deformable continuous track type mobile robot platform | |
| CN103879467A (en) | Passive self-adaption crawler belt deformable rocking bar differential motion mobile robot platform | |
| CN101249854A (en) | Pavement self-adaptive rhombic moonmobile moving system | |
| JP2002087363A (en) | Rear wheel suspension device for vehicle | |
| JPH0781639A (en) | Off-road travel six wheeler | |
| CN109080700A (en) | A kind of 4 wheel driven independent steering gear | |
| CN112441257B (en) | Star detection vehicle | |
| CN112429273B (en) | Suspension structure and planet detection vehicle | |
| CN213501652U (en) | Movable chassis | |
| CN214689852U (en) | Robot chassis with traveling system having switching function | |
| CN210652581U (en) | Wheel hub motor suspension device of planet wheel type vehicle | |
| CN208760707U (en) | A kind of 4 wheel driven independent steering gear | |
| CN112896367A (en) | Robot chassis capable of being switched between steering wheel and universal wheel | |
| CN112124023B (en) | Chassis suspension mechanism and walking motion system | |
| CN101249852B (en) | Driven swinging arm type rhombic moonmobile moving system with actively-adjustable front and rear frames | |
| CN112607058B (en) | Collapsible rotation type suspension structure and planet detection car | |
| CN220090474U (en) | Remote control model car frame structure and remote control model car | |
| CN213799967U (en) | Chassis suspension mechanism and walking motion system | |
| CN216916099U (en) | Walking wheel assembly, walking mechanism and walking device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080130 Termination date: 20100714 |