CN100581906C - Pavement self-adaptive rhombic moonmobile moving system - Google Patents
Pavement self-adaptive rhombic moonmobile moving system Download PDFInfo
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- CN100581906C CN100581906C CN200810030900A CN200810030900A CN100581906C CN 100581906 C CN100581906 C CN 100581906C CN 200810030900 A CN200810030900 A CN 200810030900A CN 200810030900 A CN200810030900 A CN 200810030900A CN 100581906 C CN100581906 C CN 100581906C
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- wheel
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- jointed shaft
- vehicle frame
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Abstract
Disclosed is a road surface self-adapting rhombus lunar rover moving system, which comprises a rotational lunar rover frame, a front wheel, a rear wheel, a left wheel and a right wheel, wherein the front wheel, the rear wheel, the left wheel and the right wheel are installed on the lunar rover frame and are in rhombus arrangement. The front wheel and the rear wheel are respectively fixed on the lunar rover frame via a front suspension system and a rear suspension system, the left wheel and the right wheel are respectively fixed on the lunar rover frame via a left suspension system and a right suspension system, the lunar rover frame comprises a front lunar rover frame and a rear lunar rover frame, the left suspension system is fixed on a left hinge joint shaft, the right suspension system is fixed on a right hinge joint shaft, the left hinge joint shaft is fixedly connected with the rear lunar rover frame via a connecting base, a motor is fixedly installed at the end of the left hinge joint shaft, the output shaft of the motor is fixedly connected with the right hinge joint shaft, a hinge joint bearing base is fixed on the front lunar rover frame, the left hinge joint shaft and the right hinge joint shaft are in hinge joint with the front lunar rover frame via the hinge joint bearing base with bearings. The lunar rover moving system utilizes a novel structure of a rhombus chassis with four wheels and three shafts, which is compact in structure, high in light weight degree, convenient in posture adjusting, fine in off-road performance, strong in terrain adaptive capacity and high in reliability.
Description
Technical field
The present invention is mainly concerned with the design field of running gear, refers in particular to a kind of pavement self-adaptive rhombic moonmobile moving system, gathers the field applicable to unmanned probing under the harsh environment and ore.
Background technology
For the lunar surface environment, the lunar rover vehicle requires unique moonscape running environment such as the unfamiliar landforms of adaptation and many grieshoch, microgravity and realizes ground month transfer, and this lightweight and rideability to vehicle has special requirement.From present domestic research lunar rover vehicle situation, everybody thinks that traditional diaxon four wheel mechanism has compact conformation, power consumption is low, load-carrying capacity is big, attitude is easy to adjust advantage, and shortcoming is the less stable of car body, and climbing and obstacle climbing ability are not strong; Six wheel mechanisms are owing to have three characteristics, cross-country traveling ability and the stronger advantage of stability, and shortcoming is to be difficult to realize lightweight, the maldistribution of gravity on each wheel can not be given full play to efficiency of motor.Consider operating mode special on the moon, people generally believe in the lunar wheeled vehicle six, and to take turns be optimum, although and traditional four-wheeled is simpler, reliable than six wheel constructions owing to do not possess good cross-country traveling ability not within range of choice.If will bring into play the advantage that is easy to lightweight and good reliability simple in structure of four-wheeled, make it have superior off-road capability again, just must improve rideabilities such as its cross-country traveling ability by the innovative design of new ideas.
Summary of the invention
At the technical matters that prior art exists, the problem to be solved in the present invention just is: the invention provides a kind of simple and compact for structure, the landform adaptive capacity is strong, obstacle performance good, the car body attitude is steady, reliability is high, high weight-saving pavement self-adaptive rhombic moonmobile moving system.
For solving the problems of the technologies described above, the solution that the present invention proposes is: a kind of pavement self-adaptive rhombic moonmobile moving system, it is characterized in that: it comprises rotating vehicle frame and is installed on the front-wheel that rhombus is arranged on the vehicle frame, trailing wheel, revolver and right wheel, described front-wheel and trailing wheel are fixed on the vehicle frame by front suspension system and rear-suspension system respectively, revolver and right wheel are separately fixed on left suspension system and the right suspension system, described vehicle frame comprises the front vehicle frame that is connecting described front suspension system, the back vehicle frame and the jointed shaft bearing that are connecting described rear-suspension system, left side jointed shaft, right jointed shaft, motor, Connection Block, left side suspension system is fixed on the left jointed shaft, right suspension system is fixed on the right jointed shaft, described left jointed shaft is connected by Connection Block and back vehicle frame, motor is fixedly mounted on left jointed shaft end, the output shaft of motor and right jointed shaft are connected, the jointed shaft bearing is fixed on the front vehicle frame, and described left jointed shaft and right jointed shaft are all hinged by vehicle frame in front of the jointed shaft bearing that bearing is housed.
Described front suspension system and rear-suspension system are formed by bindiny mechanism and steering hardware, described steering hardware comprises steer motor, steer motor is fixed in the steer motor sleeve, the output shaft of steer motor joins by the connecting arm upper end of key and bindiny mechanism, and connecting arm links to each other with front-wheel or trailing wheel.
Described bindiny mechanism comprises bearing seat, angular contact bearing and connecting arm, the steer motor sleeve links to each other with the bearing seat of bindiny mechanism, angular contact bearing is installed in the bearing seat, its outer ring is respectively by bearing seat and steer motor sleeve location, connecting arm is installed in the inner ring, described connecting arm links to each other with the angular contact bearing inner ring with block nut by the boss of himself, and connecting arm links to each other with front-wheel or trailing wheel.
The axes extending line of the earth point of described front-wheel or trailing wheel and steer motor output shaft is non-intersect.
Compared with prior art, advantage of the present invention just is:
1, " three " of pavement self-adaptive rhombic moonmobile moving system of the present invention guarantee good off-road capability and move stability; " four-wheel " guarantees the lightweight than six wheel system higher degrees;
2,, pavement self-adaptive rhombic moonmobile moving system motor number of the present invention is few, energy consumption is low, controls the simplyst, the reliability that drives and turn to is higher;
3, pavement self-adaptive rhombic moonmobile moving system of the present invention, utilize the motor of installing on the forward and backward vehicle frame jointed shaft to realize that left and right wheel can swing relatively, when obstacle detouring, can reduce the side tilt angle of car body and improve roll stability on the slope during cross running;
4, pavement self-adaptive rhombic moonmobile moving system of the present invention adopts the rhombus chassis structure, under same steering angle, by the front and back wheel linked steering, can significantly reduce the Turning radius of the lunar rover vehicle, improves the steering flexibility of the lunar rover vehicle.Simultaneously can also realize pivot stud, can realize keeping away barrier at any time, significantly improve the comformability of the lunar rover vehicle;
5, pavement self-adaptive rhombic moonmobile moving system of the present invention has pavement self-adaptive preferably, and especially the ground connection property of moon hole and climbing is better;
6, pavement self-adaptive rhombic moonmobile moving system of the present invention can be realized center of gravity left and right sides relativity shift by turning to of front-wheel or trailing wheel, makes to have domatic to travel or the four rut stability of road surface when caving in.
Description of drawings
Fig. 1 is a perspective view of the present invention;
Fig. 2 is the structural representation of the forward and backward suspension of the present invention.
Marginal data
1, front-wheel 2, trailing wheel
3, revolver 4, right wheel
5, front suspension system 6, rear-suspension system
7, left suspension system 8, right suspension system
9, vehicle frame 10, steer motor
11, front vehicle frame 12, back vehicle frame
13, motor 14, connecting arm
15, angular contact bearing 16, steer motor sleeve
17, bearing seat 18, block nut
19, jointed shaft bearing 20, left jointed shaft
21, right jointed shaft 22, Connection Block
The specific embodiment
Below with reference to the drawings and specific embodiments the present invention is described in further details.
As Fig. 1, shown in Figure 2, pavement self-adaptive rhombic moonmobile moving system of the present invention, it comprises rotating vehicle frame 9 and is installed on the front-wheel 1 that rhombus is arranged on the vehicle frame 9, trailing wheel 2, revolver 3 and right wheel 4, 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 separately fixed on left suspension system 7 and the right suspension system 8, vehicle frame 9 comprises the front vehicle frame 11 that is connecting front suspension system 5, the back vehicle frame 12 and the jointed shaft bearing 19 that are connecting rear-suspension system 6, left side jointed shaft 20, right jointed shaft 21, motor 13, Connection Block 22, left side suspension system 7 is fixed on the left jointed shaft 20, right suspension system 8 is fixed on the right jointed shaft 21, left side jointed shaft 20 is connected by Connection Block 22 and back vehicle frame 12, motor 13 is fixedly mounted on left jointed shaft 20 ends, motor 13 carries magnet stopper, the output shaft of motor 13 and right jointed shaft 21 are connected, jointed shaft bearing 19 is fixed on the front vehicle frame 11, and left jointed shaft 20 and right jointed shaft 21 are all hinged by the jointed shaft bearing 19 front vehicle frames 11 that bearing is housed.Front suspension system 5 and rear-suspension system 6 are formed by bindiny mechanism and steering hardware, 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 connecting arm 14 upper ends of key and bindiny mechanism, and connecting arm 14 links to each other with front-wheel 1 or trailing wheel 2.Wherein, steer motor sleeve 16 is connected with vehicle frame 9 by bolt, bearing seat 17 is connected to motor sleeve 16 by the screw transfer, angular contact bearing 15 is installed in the bearing seat 17, its outer ring is respectively by bearing seat 17 and steer motor sleeve 16 location, connecting arm 14 is installed in the inner ring, and connecting arm 14 is fixed with angular contact bearing 15 inner rings by himself boss and block nut 18.Connecting arm 14 lower ends are connected by pin with axletree.Steer motor 10 is installed in the steer motor sleeve 16 by screw, and its output shaft connects by key with connecting arm 14.Its power is sent on the front and back wheel by connecting arm 14 when turning to.Because front and back wheel earth point and steer motor 10 output shaft axes extending lines are non-intersect, so the front and back wheel earth point rotates around front and back steer motor 10 output shaft axle center when turning to.In preferred embodiment, steer motor 10 carries magnet stopper.
When road conditions were not obstacle detouring or negative and positive road surface, the magnet stopper that motor 13 has passed through self to be with was braked, and the direct drive four-wheel turns to by front-wheel 1, trailing wheel 2 linked steerings.Because vehicle frame 9 of the present invention is divided into front vehicle frame 11 and 12 liang of joints of back vehicle frame, and the front and back vehicle frame is hinged, make wheel that good ground connection performance be arranged, can remain on rough road wheel ground connection all the time when travelling, so both can also obtain bigger traction and be driven so that the gravity of car can on average be carried by four-wheel.
When the car obstacle detouring or when walking the negative and positive road surface, can active adjustment motor 13, reach the purpose of slowing down or eliminating inclination by regulating relatively rotating of left and right sides suspension.
When car on the slope during cross running because gravity, make that being positioned at the wheel gravity that following wheel shares in revolver 3 and the right wheel 4 is greater than all the other each wheels, and the gravity that the top wheel is shared is less than other wheels.The maldistribution of gravity on each wheel can not be brought into play efficiency of motor like this.Because steer motor 10 axis do not overlap with the front and back wheel earth point with the ground intersection point, so front and back wheel vehicle frame 9 change arrangements relatively.Add revolver 3 following, can turn to 180 degree to trailing wheel 2, thereby its earth point is moved down relatively, so both can reduce the gravity that revolver 3 is shared, can increase right wheel 4 gravity of sharing again, so the gravity that makes each wheel share is balanced as much as possible, bring into play the efficient of drive motor to the full extent.
When the road conditions of caving in easily on road surface, one side when car were travelled, front and back wheel of the present invention can change arrangements by turning to relative vehicle frame 9.Cave in easily such as road surface, the right, can turn to 180 degree to trailing wheel 2, thereby its earth point is moved to right relatively, make original four-wheel three often become four-wheel four often like this, this moment, the center of gravity of car was arranged in front-wheel 1, trailing wheel 2, revolver 3 triangle formed of earth point separately, alleviated the gravity of the car that right wheel 4 shares like this, thus the possibility that less road surface, the right caves in.Promptly road surface, the right caves at last, because center of gravity left avertence relatively, so car still can travel by held stationary.
When car runs into impassable obstacle, this car can be brought into play the superpower barrier avoiding function of its 360 degree pivot stud, only need during pivot stud with front-and rear-wheel steer to wheel axis extended line separately by the center of gravity of car, front-wheel 1 and trailing wheel 2 differentials then, revolver 3 and right wheel 4 differentials get final product.
Claims (4)
1, a kind of pavement self-adaptive rhombic moonmobile moving system, it is characterized in that: it comprises rotating vehicle frame (9) and is installed on vehicle frame (9) goes up the front-wheel (1) that rhombus is arranged, 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 separately fixed on left suspension system (7) and the right suspension system (8), described vehicle frame (9) comprises the front vehicle frame (11) that is connecting described front suspension system (5), the back vehicle frame (12) and the jointed shaft bearing (19) that are connecting described rear-suspension system (6), left side jointed shaft (20), right jointed shaft (21), motor (13), Connection Block (22), left side suspension system (7) is fixed on the left jointed shaft (20), right suspension system (8) is fixed on the right jointed shaft (21), described left jointed shaft (20) is connected by Connection Block (22) and back vehicle frame (12), motor (13) is fixedly mounted on left jointed shaft (20) end, the output shaft of motor (13) and right jointed shaft (21) are connected, jointed shaft bearing (19) is fixed on the front vehicle frame (11), and described left jointed shaft (20) and right jointed shaft (21) are all hinged by vehicle frame (11) in front of the described jointed shaft bearing (19) that bearing is housed.
2, pavement self-adaptive rhombic moonmobile moving system according to claim 1, it is characterized in that: described front suspension system (5) and rear-suspension system (6) are formed by bindiny mechanism and steering hardware, described steering hardware comprises steer motor (10), steer motor (10) is fixed in the steer motor sleeve (16), steer motor sleeve (16) is fixed on the vehicle frame (9), and the output shaft of steer motor (10) joins by connecting arm (14) upper end of key and bindiny mechanism.
3, pavement self-adaptive rhombic moonmobile moving system according to claim 2, it is characterized in that: described bindiny mechanism comprises bearing seat (17), angular contact bearing (15) and described connecting arm (14), steer motor sleeve (16) links to each other with the bearing seat (17) of bindiny mechanism, angular contact bearing (15) is installed in the bearing seat (17), the outer ring of angular contact bearing (15) is respectively by bearing seat (17) and steer motor sleeve (16) location, described connecting arm (14) is installed in the inner ring, described connecting arm (14) links to each other with angular contact bearing (15) inner ring with block nut (18) by the boss of himself, and described connecting arm (14) links to each other with front-wheel (1) or trailing wheel (2).
4, according to claim 2 or 3 described pavement self-adaptive rhombic moonmobile moving systems, it 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810030900A CN100581906C (en) | 2008-03-25 | 2008-03-25 | Pavement self-adaptive rhombic moonmobile moving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200810030900A CN100581906C (en) | 2008-03-25 | 2008-03-25 | Pavement self-adaptive rhombic moonmobile moving system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101249854A CN101249854A (en) | 2008-08-27 |
| CN100581906C true CN100581906C (en) | 2010-01-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200810030900A Expired - Fee Related CN100581906C (en) | 2008-03-25 | 2008-03-25 | Pavement self-adaptive rhombic moonmobile moving system |
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| Country | Link |
|---|---|
| CN (1) | CN100581906C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103921955A (en) * | 2014-03-28 | 2014-07-16 | 北京空间飞行器总体设计部 | Patroller pit digging and attitude adjusting method for moon probe projects |
| CN104309718B (en) * | 2014-10-20 | 2017-01-18 | 哈尔滨工业大学 | Lever lateral mobile damping four-wheel type manned lunar rover folding system |
| CN105584550A (en) * | 2014-11-18 | 2016-05-18 | 郝成武 | Eight-wheel walking robot |
| CN105644292A (en) * | 2016-02-23 | 2016-06-08 | 北京理工大学 | Rocker suspension system of high-speed unmanned vehicle mobile platform |
| CN105857001A (en) * | 2016-05-13 | 2016-08-17 | 北京理工大学 | Rocker arm wheeler |
| IT201600123114A1 (en) * | 2016-12-05 | 2018-06-05 | Segrall S R L | FRAME FOR STROLLERS. |
| CN110104212B (en) * | 2019-05-11 | 2021-02-02 | 北京工业大学 | Lunar vehicle assisting in building lunar base and collecting lunar rock samples |
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2008
- 2008-03-25 CN CN200810030900A patent/CN100581906C/en not_active Expired - Fee Related
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| CN101249854A (en) | 2008-08-27 |
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Granted publication date: 20100120 Termination date: 20120325 |