CN105346731A - Active and auxiliary rocker engaging and disengaging mechanism of active suspension type mars rover - Google Patents
Active and auxiliary rocker engaging and disengaging mechanism of active suspension type mars rover Download PDFInfo
- Publication number
- CN105346731A CN105346731A CN201510696273.9A CN201510696273A CN105346731A CN 105346731 A CN105346731 A CN 105346731A CN 201510696273 A CN201510696273 A CN 201510696273A CN 105346731 A CN105346731 A CN 105346731A
- Authority
- CN
- China
- Prior art keywords
- major
- rocking arm
- adapter shaft
- bolt
- rocker
- 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.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60G—VEHICLE SUSPENSION ARRANGEMENTS
- B60G7/00—Pivoted suspension arms; Accessories thereof
Abstract
The invention relates to an active and auxiliary rocker engaging and disengaging mechanism, in particular to an active and auxiliary rocker engaging and disengaging mechanism of an active suspension type mars rover. The active and auxiliary rocker engaging and disengaging mechanism of the active suspension type mars rover solves the problems that in the prior art, when a wheel of the active and auxiliary rocker mars rover breaks down, the rover does not have the autonomous fault removing capacity, and the fault wheel becomes burdens not favorable for running. Under the condition that a suspension structure is not substantially changed, an engaging and disengaging mechanism and a main rocker length segment field angle adjustor are used in cooperation for lifting the fault wheel away from the ground according to wheel faults and sinking resistant rotation, and normal running of the rover is ensured. The active and auxiliary rocker engaging and disengaging mechanism comprises a main rocker, an auxiliary rocker, a main and auxiliary rocker connecting shaft, a magnetic yoke, a movable ring, a fixed ring, a positioning ring, an installing base connecting plate, a flat key, a limiting nut, a buckle plate installing base, a potentiometer, a fourth bolt, a plurality of third bolts, a plurality of fifth bolts, a second sealing cover, a sixth bolt and a plurality of seventh bolts. The active and auxiliary rocker engaging and disengaging mechanism is used for the application field of mars rovers.
Description
Technical field
The present invention relates to major-minor rocking arm engaging and disengaging gear, be specifically related to active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear.
Background technology
Mars is with a varied topography, and geologic condition is changeable, requires that Marsokhod takes into account weak soil and hard soil, and possesses large depression state and to get rid of poverty and wide-angle hill climbing ability, requires very high to probe vehicles driveability.In existing major-minor rocker-arm Marsokhod, secondary-rocker rotates with landform relative to master rocker, the advantage of which is the ride comfort that improve vehicle, shortcoming is the ability that vehicle does not possess autonomous trouble-shooting when wheel breaks down, and fault wheel becomes the disadvantageous burden of traveling.Therefore, need when little amplitude changes suspension frame structure, development one utilize engaging and disengaging gear to secondary-rocker relative to master rocker rotate control very necessary.Turn for wheel fault and depression resistance, major-minor rocking arm engaging and disengaging gear coordinates fault to be taken turns with master rocker length section subtended angle regulating control and is lifted away from ground, and guarantee car amount normally travels.At present, the Marsokhod major-minor rocking arm engaging and disengaging gear also not having a kind of reliability high.
Summary of the invention
The present invention does not possess the ability of autonomous trouble-shooting in order to vehicle when solving that in prior art major-minor rocker-arm Marsokhod, wheel breaks down, fault wheel becomes the disadvantageous burden of traveling, need when little amplitude changes suspension frame structure, turn for wheel fault and depression resistance, engaging and disengaging gear coordinates with master rocker length section subtended angle regulating control fault to take turns and is lifted away from ground, ensure the engaging and disengaging gear that car amount normally travels, and then a kind of active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear is provided.
The present invention is the technical scheme adopted that solves the problem:
Active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear, it comprises master rocker, secondary-rocker, major-minor rocking arm adapter shaft, yoke, rotating ring, fixed ring, steady ring, mount pad connecting panel, flat key, stop nut, buckle mount pad, potentiometer, the 4th bolt, multiple 3rd bolt, multiple 5th bolt, the second seal cover cap, the 6th bolt, multiple 7th bolt, master rocker and secondary-rocker are cylinder, an end face of master rocker is processed with adapter shaft mounting groove, the bottom land of adapter shaft mounting groove is processed with the first through hole to another end face of master rocker, an end face of secondary-rocker is processed with groove, another end face of secondary-rocker is processed with annular body, the annular centre hole of body one end is communicated with the bottom land of groove, the lateral wall of the centre hole of the annular body other end is processed with the second seal cover cap embedding groove, second seal cover cap is fixedly mounted on the second seal cover cap embedding groove by multiple 7th bolt, one end of major-minor rocking arm adapter shaft is processed with counterbore, one end major-minor rocking arm adapter shaft being processed with counterbore is fixedly mounted in adapter shaft mounting groove, the other end of major-minor rocking arm adapter shaft is processed with outside thread, yoke and steady ring are sleeved on major-minor rocking arm adapter shaft, major-minor rocking arm adapter shaft is embedded with a flat key, and major-minor rocking arm adapter shaft is connected by flat key with yoke, rotating ring and fixed ring are sleeved on the periphery of steady ring, rotating ring is arranged near yoke, and between rotating ring and yoke, be provided with spring holder, major-minor rocking arm adapter shaft is inserted in secondary-rocker, the lateral wall of secondary-rocker is fixedly connected with mount pad connecting panel by multiple 5th bolt, yoke, rotating ring, fixed ring and steady ring are all arranged in groove, major-minor rocking arm adapter shaft is processed with externally threaded one end pass the centre hole of annular body and be threaded with stop nut, buckle mount pad is buckled in stop nut outside, and buckle mount pad is fixedly mounted on the end face of annular body by multiple 3rd bolt, potentiometer is fixedly mounted on buckle mount pad by the 4th bolt.
The invention has the beneficial effects as follows: when the present invention works, two active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear of the present invention are arranged on respectively the engaging and disengaging gear installation place, both sides in active suspension formula Marsokhod, Marsokhod coordinates the work of master rocker length section subtended angle regulating control by major-minor rocking arm engaging and disengaging gear, major-minor rocking arm type suspension can be made by major-minor rocking arm engaging and disengaging gear to possess following function with coordinating of master rocker subtended angle regulating control: exhibition rolled over by suspension, suspension launches, front-wheel lifting, in take turns lifting, trailing wheel lifting, forward wheels-step compound is advanced and is backwardly taken turns-walk compound and advance, the fault wheel realized in Marsokhod is lifted away from ground, effectively prevent fault wheel and depression causes car load to lose locomotivity.Major-minor rocking arm engaging and disengaging gear innovation realization rocking arm turns to the change of posture Marsokhod mode of operation, major-minor rocking arm can be eliminated relatively rotate, and coordinate master rocker length section subtended angle regulating mechanism to change the type of mobile system structure, and then mobile system is made to possess fault wheel eliminating function.The present invention has that structure is simple, the requirement that meets design, convenient operation, feature that usability is strong.
Accompanying drawing explanation
Fig. 1 is the front view that the present invention is arranged on active suspension formula Marsokhod, and Fig. 2 is the lateral plan of Fig. 1, and Fig. 3 is A-A direction view in Fig. 2.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 3 illustrates present embodiment, active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear described in present embodiment, it comprises master rocker 1, secondary-rocker 2, major-minor rocking arm adapter shaft 3, yoke 4, rotating ring 5, fixed ring 6, steady ring 7, mount pad connecting panel 8, flat key 9, stop nut 13, buckle mount pad 14, potentiometer 16, the 4th bolt 20, multiple 3rd bolt 19, multiple 5th bolt 21, second seal cover cap 23, the 6th bolt 24, multiple 7th bolt 25, master rocker 1 and secondary-rocker 2 are cylinder, an end face of master rocker 1 is processed with adapter shaft mounting groove 1-1, the bottom land of adapter shaft mounting groove 1-1 is processed with the first through hole 1-2 to another end face of master rocker 1, an end face of secondary-rocker 2 is processed with groove 2-1, another end face of secondary-rocker 2 is processed with annular body 2-2, the centre hole of annular body 2-2 one end is communicated with the bottom land of groove 2-1, the lateral wall of the centre hole of the annular body 2-2 other end is processed with the second seal cover cap embedding groove 2-3, second seal cover cap 23 is fixedly mounted on the second seal cover cap embedding groove 2-3 by multiple 7th bolt 25, one end of major-minor rocking arm adapter shaft 3 is processed with counterbore 3-1, one end major-minor rocking arm adapter shaft 3 being processed with counterbore 3-1 is fixedly mounted in adapter shaft mounting groove 1-1, the other end of major-minor rocking arm adapter shaft 3 is processed with outside thread 3-2, yoke 4 and steady ring 7 are sleeved on major-minor rocking arm adapter shaft 3, major-minor rocking arm adapter shaft 3 is embedded with a flat key 9, and major-minor rocking arm adapter shaft 3 is connected by flat key 9 with yoke 4, rotating ring 5 and fixed ring 6 are sleeved on the periphery of steady ring 7, rotating ring 5 is arranged near yoke 4, and between rotating ring 5 and yoke 4, be provided with spring holder 4-1, major-minor rocking arm adapter shaft 3 is inserted in secondary-rocker 2, the lateral wall of secondary-rocker 2 is fixedly connected with mount pad connecting panel 8 by multiple 5th bolt 21, yoke 4, rotating ring 5, fixed ring 6 and steady ring 7 are all arranged in groove 2-1, major-minor rocking arm adapter shaft 3 is processed with externally threaded one end pass the centre hole of annular body 2-2 and be threaded with stop nut 13, it is outside that buckle mount pad 14 is buckled in stop nut 13, and buckle mount pad 14 is fixedly mounted on the end face of annular body 2-2 by multiple 3rd bolt 19, potentiometer 16 is fixedly mounted on buckle mount pad 14 by the 4th bolt 20.
In present embodiment, yoke 4 adopts the sliding brush power supply mode of single slip ring.
Detailed description of the invention two: composition graphs 1-Fig. 3 illustrates present embodiment, active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear described in present embodiment, it also comprises multiple first bolt 17; One end of major-minor rocking arm adapter shaft 3 is fixedly mounted on master rocker 1 by multiple first bolt 17, and other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 1-Fig. 3 illustrates present embodiment, active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear described in present embodiment, it also comprises straight pin 10 and the second bolt 18; Straight pin 10 is inserted on the sidewall of fixed ring 6 and annular body 2-2, and the thread end of the second bolt 18 passes fixed ring 6 and screw thread is arranged on the sidewall of annular body 2-2, and other is identical with detailed description of the invention one.
Detailed description of the invention four: composition graphs 1-Fig. 3 illustrates present embodiment, active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear described in present embodiment, it also comprises clutch shaft bearing 11 and the second bearing 12; Clutch shaft bearing 11 and the second bearing 12 are all sleeved on major-minor rocking arm adapter shaft 3, and major-minor rocking arm adapter shaft 3 is all inlaid in the centre hole of annular body 2-2, and other is identical with detailed description of the invention one.
Detailed description of the invention five: composition graphs 1-Fig. 3 illustrates present embodiment, active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear described in present embodiment, described major-minor rocking arm adapter shaft 3 is processed with adapter shaft 15 on the end face of thread end, described buckle mount pad 14 inside face has been fixedly mounted on adapter shaft sleeve, adapter shaft 15 is arranged in the adapter shaft sleeve of buckle mount pad 14, and other is identical with detailed description of the invention one.
Detailed description of the invention six: composition graphs 1-Fig. 3 illustrates present embodiment, active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear described in present embodiment, it also comprises the first seal cover cap 22 and the 6th bolt 24, first seal cover cap 22 is sleeved on major-minor rocking arm adapter shaft 3, first seal cover cap 22 is arranged near groove 2-1, and the first seal cover cap 22 be arranged on by the 6th bolt 24 be processed with secondary-rocker 2 end face on, other is identical with detailed description of the invention one.
Principle of work
1, Marsokhod mobile system allows secondary-rocker when master rocker relatively rotates: rotating ring 5 and fixed ring 6 are socketed on steady ring 7, it is affixed that fixed ring 6 passes through straight pin 10 and the second bolt 18 and secondary-rocker 2, rotating ring 5 and fixed ring 6 are by fixed ring 6 periphery spline joint, rotating ring 5 relatively fixed ring 6 can slide axially, yoke 4 power-off, rotating ring 5 is pushed into and throws off with yoke 4 by yoke 4 upper spring holder 4-1, and secondary-rocker 2 can rotate around major-minor rocking arm adapter shaft 3.Now, mobile system suspension frame structure is standard major-minor rocker structure, and six wheels are all kept in touch with ground, utilizes the hinged suppression compartment pitching of major-minor rocking arm during rugged ground run.
2, Marsokhod mobile system does not allow secondary-rocker when master rocker relatively rotates, yoke 4 energising generates an electromagnetic field, attract rotating ring 5, electromagnetic force is greater than spring force, rotating ring 5 vertically away from fixed ring 6, rotating ring 5 and yoke 4 by both end-tooth matchings, rotating ring 5 and yoke 4 affixed, then secondary-rocker 2 is connected 3 affixed with major-minor rocking arm, and short section of secondary-rocker 2 and master rocker 1 is affixed.Now, the mobile system suspension frame structure relative standard major-minor rocker structure cancellation rotation of secondary-rocker around master rocker, coordinate the work of master rocker length section subtended angle regulating mechanism, front-wheel can be realized, middlely to take turns, trailing wheel is independently lifted away from ground, then realize the eliminating of fault wheel, make mobile system employing be less than 6 and take turns traveling.
Claims (6)
1. active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear, it is characterized in that: it comprises master rocker (1), secondary-rocker (2), major-minor rocking arm adapter shaft (3), yoke (4), rotating ring (5), fixed ring (6), steady ring (7), mount pad connecting panel (8), flat key (9), stop nut (13), buckle mount pad (14), potentiometer (16), 4th bolt (20), multiple 3rd bolt (19), multiple 5th bolt (21), second seal cover cap (23), multiple 7th bolt (25), master rocker (1) and secondary-rocker (2) are cylinder, an end face of master rocker (1) is processed with adapter shaft mounting groove (1-1), the bottom land of adapter shaft mounting groove (1-1) is processed with the first through hole (1-2) to another end face of master rocker (1), an end face of secondary-rocker (2) is processed with groove (2-1), another end face of secondary-rocker (2) is processed with annular body (2-2), the centre hole of annular body (2-2) one end is communicated with the bottom land of groove (2-1), the lateral wall of the centre hole of annular body (2-2) other end is processed with the second seal cover cap embedding groove (2-3), second seal cover cap (23) is fixedly mounted on the second seal cover cap embedding groove (2-3) by multiple 7th bolt (25), one end of major-minor rocking arm adapter shaft (3) is processed with counterbore (3-1), one end major-minor rocking arm adapter shaft (3) being processed with counterbore (3-1) is fixedly mounted in adapter shaft mounting groove (1-1), the other end of major-minor rocking arm adapter shaft (3) is processed with outside thread (3-2), yoke (4) and steady ring (7) are sleeved on major-minor rocking arm adapter shaft (3), major-minor rocking arm adapter shaft (3) is embedded with a flat key (9), and major-minor rocking arm adapter shaft (3) is connected by flat key (9) with yoke (4), rotating ring (5) and fixed ring (6) are sleeved on the periphery of steady ring (7), rotating ring (5) is arranged near yoke (4), and be provided with spring holder (4-1) between rotating ring (5) and yoke (4), major-minor rocking arm adapter shaft (3) is inserted in secondary-rocker (2), the lateral wall of secondary-rocker (2) is fixedly connected with mount pad connecting panel (8) by multiple 5th bolt (21), yoke (4), rotating ring (5), fixed ring (6) and steady ring (7) are all arranged in groove (2-1), major-minor rocking arm adapter shaft (3) is processed with externally threaded one end pass the centre hole of annular body (2-2) and be threaded with stop nut (13), it is outside that buckle mount pad (14) is buckled in stop nut (13), and buckle mount pad (14) is fixedly mounted on the end face of annular body (2-2) by multiple 3rd bolt (19), potentiometer (16) is fixedly mounted on buckle mount pad (14) by the 4th bolt (20).
2. active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear according to claim 1, is characterized in that: it also comprises multiple first bolt (17); One end of major-minor rocking arm adapter shaft (3) is fixedly mounted on master rocker (1) by multiple first bolt (17).
3. active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear according to claim 1, is characterized in that: it also comprises straight pin (10) and the second bolt (18); Straight pin (10) is inserted on the sidewall of fixed ring (6) and annular body (2-2), and the thread end of the second bolt (18) passes fixed ring (6) and screw thread is arranged on the sidewall of annular body (2-2).
4. active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear according to claim 1, is characterized in that: it also comprises clutch shaft bearing (11) and the second bearing (12); Clutch shaft bearing (11) and the second bearing (12) are all sleeved on major-minor rocking arm adapter shaft (3), and major-minor rocking arm adapter shaft (3) is all inlaid in the centre hole of annular body (2-2).
5. active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear according to claim 1, it is characterized in that: described major-minor rocking arm adapter shaft (3) is processed with adapter shaft (15) on the end face of thread end, described buckle mount pad (14) inside face has been fixedly mounted on adapter shaft sleeve, and adapter shaft (15) is arranged in the adapter shaft sleeve of buckle mount pad (14).
6. active suspension formula Marsokhod major-minor rocking arm engaging and disengaging gear according to claim 1, it is characterized in that: it also comprises the first seal cover cap (22) and the 6th bolt (24), first seal cover cap (22) is sleeved on major-minor rocking arm adapter shaft (3), first seal cover cap (22) near groove (2-1) arrange, and the first seal cover cap (22) be arranged on by the 6th bolt (24) be processed with secondary-rocker (2) end face on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696273.9A CN105346731A (en) | 2015-10-22 | 2015-10-22 | Active and auxiliary rocker engaging and disengaging mechanism of active suspension type mars rover |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510696273.9A CN105346731A (en) | 2015-10-22 | 2015-10-22 | Active and auxiliary rocker engaging and disengaging mechanism of active suspension type mars rover |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105346731A true CN105346731A (en) | 2016-02-24 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510696273.9A Pending CN105346731A (en) | 2015-10-22 | 2015-10-22 | Active and auxiliary rocker engaging and disengaging mechanism of active suspension type mars rover |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105346731A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7456678B2 (en) | 2019-04-04 | 2024-03-27 | 株式会社ダイモン | unmanned rover |
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|---|---|---|---|---|
| US4547757A (en) * | 1981-04-17 | 1985-10-15 | Matsushita Electric Industrial Co., Ltd. | Electromagnet yoke structure |
| CN2195000Y (en) * | 1994-04-22 | 1995-04-19 | 张永利 | Electromagnetic clutch for motor or diesel engine |
| CN1255591A (en) * | 1999-12-14 | 2000-06-07 | 北京东方渴望科技发展有限公司 | Electricity-lossing brake set for electromagnetic clutch without slide ring |
| CN2412123Y (en) * | 1999-12-14 | 2000-12-27 | 北京东方渴望科技发展有限公司 | Non-slide ring electromagnetic clutch able to be directly connected with flywheel |
| US20080236982A1 (en) * | 2007-03-30 | 2008-10-02 | Shen Zhao | Electromagnetic clutch |
| CN101407164A (en) * | 2008-11-28 | 2009-04-15 | 哈尔滨工业大学 | Telescopic suspension mechanism of six-wheel star probe vehicle |
| CN102963543A (en) * | 2012-11-29 | 2013-03-13 | 哈尔滨工业大学 | Six-wheel single drive folding extendable rocker arm type vehicle-mounted device |
-
2015
- 2015-10-22 CN CN201510696273.9A patent/CN105346731A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4547757A (en) * | 1981-04-17 | 1985-10-15 | Matsushita Electric Industrial Co., Ltd. | Electromagnet yoke structure |
| CN2195000Y (en) * | 1994-04-22 | 1995-04-19 | 张永利 | Electromagnetic clutch for motor or diesel engine |
| CN1255591A (en) * | 1999-12-14 | 2000-06-07 | 北京东方渴望科技发展有限公司 | Electricity-lossing brake set for electromagnetic clutch without slide ring |
| CN2412123Y (en) * | 1999-12-14 | 2000-12-27 | 北京东方渴望科技发展有限公司 | Non-slide ring electromagnetic clutch able to be directly connected with flywheel |
| US20080236982A1 (en) * | 2007-03-30 | 2008-10-02 | Shen Zhao | Electromagnetic clutch |
| CN101407164A (en) * | 2008-11-28 | 2009-04-15 | 哈尔滨工业大学 | Telescopic suspension mechanism of six-wheel star probe vehicle |
| CN102963543A (en) * | 2012-11-29 | 2013-03-13 | 哈尔滨工业大学 | Six-wheel single drive folding extendable rocker arm type vehicle-mounted device |
Non-Patent Citations (1)
| Title |
|---|
| 杨飞: "六轮探测车折叠可展悬架设计与分析", 《中国优秀硕士学位论文全文数据库》 * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7456678B2 (en) | 2019-04-04 | 2024-03-27 | 株式会社ダイモン | unmanned rover |
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Application publication date: 20160224 |