CN106986048B - A kind of mars exploration vehicle with obstacle crossing function - Google Patents
A kind of mars exploration vehicle with obstacle crossing function Download PDFInfo
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- CN106986048B CN106986048B CN201710258669.4A CN201710258669A CN106986048B CN 106986048 B CN106986048 B CN 106986048B CN 201710258669 A CN201710258669 A CN 201710258669A CN 106986048 B CN106986048 B CN 106986048B
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- electric cylinders
- servo motor
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- bottom plate
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
Abstract
The present invention provides a kind of mars exploration vehicle with obstacle crossing function, including bottom plate, first servo motor, walking unit, punch fixed cell, camera, first electric cylinders, first hinged-support, 5th electric cylinders, it is characterized by: the bottom plate is one piece of rectangular flat plate, bottom plate is equipped with two pieces, a first servo motor is fitted with above each bottom plate, first hinged-support is installed on the motor shaft of first servo motor, it is connected between two the first hinged-supports by the first electric cylinders, the 5th electric cylinders are fitted on the inside of each first hinged-support, it is articulated and connected on the downside of the piston rod of one of them the 5th electric cylinders and the cylinder body of the first electric cylinders；The present invention can control left and right wheels away from increasing the stability that probe vehicles are walked on Mars by the way that two sseparated bottom plates are arranged；Each walking unit can independent ambulation, independent steering, and have shock-absorbing function has preferable operability and flexibility.
Description
Technical field
The present invention relates to outer space discovery techniques field, in particular to a kind of mars exploration vehicle with obstacle crossing function.
Background technique
Mars exploration vehicle be it is a kind of artificial for Mars Exploration and the vehicle that can travel and be investigated on its surface, pass
The mars exploration vehicle of system is mostly six wheeled, and wheeled vehicle is poor in the local obstacle climbing ability for being covered with rock, is easy to fall into stone
In head seam, it is equal to probe vehicles after probe vehicles are caught in and loses locomotivity, detection mission just will fail, so being badly in need of
A kind of stronger probe vehicles of obstacle climbing ability.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of mars exploration vehicle with obstacle crossing function, the present invention passes through setting two
A separated bottom plate can control left and right wheels away from increasing the stability that probe vehicles are walked on Mars；Each walking unit
Can be with independent ambulation, independent steering, and have shock-absorbing function, there is preferable operability and flexibility.
Technical solution used in the present invention is: a kind of mars exploration vehicle with obstacle crossing function, including bottom plate, first watches
Take motor, walking unit, punching fixed cell, camera, the first electric cylinders, the first hinged-support, the 5th electric cylinders, it is characterised in that:
The bottom plate is one piece of rectangular flat plate, and bottom plate is equipped with two pieces, is fitted with a first servo motor above each bottom plate,
First hinged-support is installed on the motor shaft of first servo motor, is connected between two the first hinged-supports by the first electric cylinders
Come, the 5th electric cylinders, the piston rod of one of them the 5th electric cylinders and the first electricity are fitted on the inside of each first hinged-support
It is hinged on the downside of articulated connection on the downside of the cylinder body of cylinder, the piston rod end of another the 5th electric cylinders and the telescopic rod of the first electric cylinders；
Two walking units are fitted with below the angle of two, the outside of each bottom plate, the walking unit includes the 4th servo electricity
Machine, upper parallel-plate, parallel bracket, helical spring, lower parallel-plate, the 5th servo motor, wheel carrier, the 6th servo motor, wheel,
Two hinged-supports, the 4th servo motor are fixed below bottom plate, and the motor shaft lower part of the 4th servo motor is equipped with flat
Andante, there are two parallel bracket, two parallel bracket lower parts are equipped with lower parallel-plate, lower parallel for upper parallel-plate lower hinge installation
The lower part of plate is equipped with the 5th servo motor, is equipped with wheel carrier below the motor shaft of the 5th servo motor, is equipped with vehicle in wheel carrier
Wheel, wheel are driven by the 6th servo motor, and the 6th servo motor is mounted on wheel carrier side；The helical spring upper end and one
The pin shaft on a parallel bracket top is hinged, and the pin shaft of the helical spring lower end and another parallel bracket lower part is cut with scissors
It connects；Two punching fixed cells are fitted on the outside of each bottom plate, the punching fixed cell includes that the first rotation is closed
Section, the second cradle head, third electric cylinders, the second servo motor, lose-lose rod electric cylinders, third servo motor, bores at the second electric cylinders
Head, the second hinged-support, spring leaf, spreading semi-circular plate, semicircular ring rib, the 4th electric cylinders, trapezoid block, first cradle head with
Bottom plate is fixedly connected, and the rotating part of the first cradle head is fixedly connected with the telescopic rod of the second electric cylinders, the first cradle head
Rotation direction is up and down direction, and the rear end of the cylinder block portion of the second electric cylinders is equipped with second cradle head, the second cradle head
The telescopic rod of rotating part third electric cylinders is fixedly connected, and the second cradle head is to horizontally rotate direction, after the cylinder body of third electric cylinders
End is equipped with the second servo motor, and lose-lose rod electric cylinders, the dual output are equipped on the motor shaft of the second servo motor
For bar electric cylinders tool there are two telescopic rod, one of telescopic rod end is equipped with third servo motor, the motor of third servo motor
Drill bit is installed, there are two the second hinged-support, the outsides of each second hinged-support for the end installation of another telescopic rod on axis
It is fitted with a spring leaf, a spreading semi-circular plate, the spreading semicircle are also hingedly installed on each second hinged-support
Plate is semi-circular tube shape, and spreading semi-circular plate is equipped with several semicircular ring ribs, and it is solid that the inside of spreading semi-circular plate is equipped with a triangle
Determine block, the 4th electric cylinders are equipped among two the second hinged-supports, the telescopic rod end of the 4th electric cylinders is equipped with trapezoid block, trapezoid block
Two sides and the inclined-plane of triangle be slidably matched, the end of spring leaf and the outer side contacts of spreading semi-circular plate simultaneously generate certain pressure
Power draws close two spreading semi-circular plates mutually.
The invention has the advantages that:
1. the present invention can control left and right wheels away from increasing probe vehicles in Mars uplink by the two sseparated bottom plates of setting
The stability walked.
2. each walking unit can independent ambulation, independent steering, and have shock-absorbing function has preferable operability
And flexibility.
3. can first be punched by punching fixed cell, then strut and fix in rock pore by spreading semi-circular plate, matches
Closing two the 5th electric cylinders, two first servo motors, the first electric cylinders can be such that another bottom plate constantly moves forward on rock, mention
The high obstacle climbing ability of probe vehicles.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention.
Fig. 2 is the 5th electric cylinders scheme of installation of the invention.
Fig. 3 is punching fixed cell schematic diagram of the invention.
Fig. 4 is spreading semi-circular plate scheme of installation of the invention.
Fig. 5 is walking unit structural schematic diagram of the invention.
Drawing reference numeral: 1- bottom plate；2- first servo motor；3- walking unit；4- punches fixed cell；5- camera；6-
First electric cylinders；The first hinged-support of 7-；The 5th electric cylinders of 8-；The 4th servo motor of 301-；The upper parallel-plate of 302-；303- parallel bracket；
304- helical spring；Parallel-plate under 305-；The 5th servo motor of 306-；307- wheel carrier；The 6th servo motor of 308-；309- vehicle
Wheel；The first cradle head of 401-；The second electric cylinders of 402-；The second cradle head of 403-；404- third electric cylinders；405- the second servo electricity
Machine；407- lose-lose rod electric cylinders；408- third servo motor；409- drill bit；The second hinged-support of 410-；411- spring leaf；412-
Spreading semi-circular plate；413- semicircular ring rib；The 4th electric cylinders of 414-；415- trapezoid block.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment
As shown in figure 1, figure 2, figure 3, figure 4 and figure 5, a kind of mars exploration vehicle with obstacle crossing function, including bottom plate 1, first
Servo motor 2, walking unit 3, punching fixed cell 4, camera 5, the first electric cylinders 6, the first hinged-support 7, the 5th electric cylinders 8,
Be characterized in that: the bottom plate 1 is one piece of rectangular flat plate, and bottom plate 1 is equipped with two pieces, is fitted with one above each bottom plate 1
First servo motor 2 is equipped with the first hinged-support 7 on the motor shaft of first servo motor 2, leads between two the first hinged-supports 7
It crosses the first electric cylinders 6 to connect, the inside of each first hinged-support 7 is fitted with the 5th electric cylinders 8, one of them the 5th electricity
It is articulated and connected on the downside of the piston rod of cylinder 8 and the cylinder body of the first electric cylinders 6, the piston rod end and first of another the 5th electric cylinders 8
It is hinged on the downside of the telescopic rod of electric cylinders 6；Two walking units 3 are fitted with below the angle of two, the outside of each bottom plate 1, it is described
Walking unit 3 include the 4th servo motor 301, upper parallel-plate 302, parallel bracket 303, helical spring 304, lower parallel-plate 305,
5th servo motor 306, wheel carrier 307, the 6th servo motor 308, wheel 309, the second hinged-support 410, the 4th servo
Motor 301 is fixed on 1 lower section of bottom plate, and the motor shaft lower part of the 4th servo motor 301 is equipped with parallel-plate 302, upper parallel-plate
For the installation of 302 lower hinges there are two parallel bracket 303, two 303 lower parts of parallel bracket are equipped with lower parallel-plate 305, lower parallel
The lower part of plate 305 is equipped with the 5th servo motor 306, is equipped with wheel carrier 307 below the motor shaft of the 5th servo motor 306, takes turns
Wheel 309 is installed, wheel 309 is driven by the 6th servo motor 308, and the 6th servo motor 308 is mounted on wheel carrier in frame 307
307 sides；304 upper end of the helical spring helical spring hinged, described with the pin shaft on 303 top of parallel bracket
The pin shaft of 304 lower ends and another 303 lower part of parallel bracket is hinged；Two are fitted in the outside of each bottom plate 1 to beat
Hole fixed cell 4, the punching fixed cell 4 include the first cradle head 401, the second electric cylinders 402, the second cradle head
403, third electric cylinders 404, the second servo motor 405, lose-lose rod electric cylinders 407, third servo motor 408, drill bit 409, second
Hinged-support 410, spring leaf 411, spreading semi-circular plate 412, semicircular ring rib 413, the 4th electric cylinders 414, trapezoid block 415, described
One cradle head 401 is fixedly connected with bottom plate 1, and the telescopic rod of the rotating part of the first cradle head 401 and the second electric cylinders 402 is solid
The rotation direction of fixed connection, the first cradle head 401 is up and down direction, and the rear end of the cylinder block portion of the second electric cylinders 402 is equipped with one
The telescopic rod of second cradle head 403, the rotating part third electric cylinders 404 of the second cradle head 403 is fixedly connected, the second rotation
Joint 403 is to horizontally rotate direction, and the rear end of the cylinder block portion of third electric cylinders 404 is equipped with the second servo motor 405, the second servo electricity
Lose-lose rod electric cylinders 407 are installed on the motor shaft of machine 405, there are two telescopic rods for the tool of lose-lose rod electric cylinders 407, wherein
One telescopic rod end is equipped with third servo motor 408, drill bit 409 is equipped on the motor shaft of third servo motor 408, separately
There are two the second hinged-supports 410 for the end installation of an outer telescopic rod, and the outside of each second hinged-support 410 is fitted with one
Spring leaf 411 is also hingedly equipped with a spreading semi-circular plate 412, the spreading semi-circular plate on each second hinged-support 410
412 be semi-circular tube shape, and spreading semi-circular plate 412 is equipped with several semicircular ring ribs 413, and the inside of spreading semi-circular plate 412 is equipped with one
A triangle fixed block is equipped with the 4th electric cylinders 414, the flexible rod end of the 4th electric cylinders 414 among two the second hinged-supports 410
Portion is equipped with trapezoid block 415, and the two sides of trapezoid block 415 and the inclined-plane of triangle are slidably matched, the end of spring leaf 411 and spreading half
The outer side contacts of plectane 412 simultaneously generate certain pressure, draw close two spreading semi-circular plates 412 mutually.
Working principle of the present invention: the present invention is walked on Mars on level land by four walking units 3, and each walking is single
Member 3 controls upper parallel-plate 302 by the 4th servo motor 301 and rotates, and controls wheel carrier 307 by the 5th servo motor 306 and rotates,
Helical spring 304 can be controlled wheel 309 by the 6th servo motor 308 and be rotated with damping, and camera 5 acquires terrestrial information, when
The punching that probe vehicles then pass through when can not be walked with wheel 309 when encountering the barriers such as rock on martian surface on bottom plate 1 is solid
Order member 4 is punched on the ground, and the specific method is as follows: two punching fixed cells 4 on each bottom plate 1 are used alternatingly in rock
Upper punching, first the first cradle head 401, the second cradle head 403, the second electric cylinders 402, the linkage of third electric cylinders 404 make drill bit
409 are moved to above rock, and next step lose-lose rod electric cylinders 407 control 409 downlink of drill bit and start third servo motor 408,
Punch drill bit 409 on rock, drill bit 409 exits after having beaten hole, and the second servo motor 405 drives lose-lose rod electricity in next step
Cylinder 407 rotates 180 degree, and next step lose-lose rod electric cylinders 407 control in the hole accomplished fluently before two drillings of spreading semi-circular plate 412,
The 4th electric cylinders 414 shrink and trapezoid block 415 are driven to move inward in next step, and trapezoid block 415 opens two spreading semi-circular plates 412
It opens, two spreading semi-circular plates 412 are contacted and fixed with rock pore by semicircular ring rib 413, in next step two the 5th electric cylinders 8, two
A first servo motor 2, the linkage of the first electric cylinders 6 make another bottom plate 1 lift and move forward a distance, to the bottom plate 1
The spreading semi-circular plate 412 that then the first two is responsible for the punching fixed cell 4 of punching after landing is exited from rock pore, in next step in addition
Two punching fixed cells 4 are punched and are fixed on rock, move two bottom plates 1 constantly on rock,
Until turning again on level land, walk after returning to level land again by wheel 309.
Claims (1)
1. a kind of mars exploration vehicle with obstacle crossing function, including bottom plate (1), first servo motor (2), walking unit (3), beat
Hole fixed cell (4), camera (5), the first electric cylinders (6), the first hinged-support (7), the 5th electric cylinders (8), it is characterised in that: described
Bottom plate (1) be one piece of rectangular flat plate, bottom plate (1) is equipped with two pieces, is fitted with first servo above each bottom plate (1)
Motor (2) is equipped with the first hinged-support (7) on the motor shaft of first servo motor (2), is led between two the first hinged-supports (7)
It crosses the first electric cylinders (6) to connect, the 5th electric cylinders (8) is fitted on the inside of each first hinged-support (7), one of them
It is articulated and connected on the downside of the piston rod of 5th electric cylinders (8) and the cylinder body of the first electric cylinders (6), the piston of another the 5th electric cylinders (8)
It is hinged on the downside of boom end and the telescopic rod of the first electric cylinders (6)；Two are fitted with below the angle of two, the outside of each bottom plate (1)
Walking unit (3), the walking unit (3) include the 4th servo motor (301), upper parallel-plate (302), parallel bracket
(303), helical spring (304), lower parallel-plate (305), the 5th servo motor (306), wheel carrier (307), the 6th servo motor
(308), wheel (309), the second hinged-support (410), the 4th servo motor (301) are fixed below bottom plate (1), and the 4th
The motor shaft lower part of servo motor (301) is equipped with parallel-plate (302), and there are two upper parallel-plate (302) lower hinge installations
Parallel bracket (303), two parallel bracket (303) lower parts are equipped with lower parallel-plate (305), the lower part peace of lower parallel-plate (305)
Equipped with the 5th servo motor (306), it is equipped with wheel carrier (307) below the motor shaft of the 5th servo motor (306), wheel carrier (307)
In be equipped with wheel (309), wheel (309) is driven by the 6th servo motor (308), and the 6th servo motor (308) is mounted on wheel
Frame (307) side；The pin shaft of helical spring (304) upper end and parallel bracket (303) top is hinged, described
Helical spring (304) lower end and the pin shaft of another parallel bracket (303) lower part are hinged；In the outside of each bottom plate (1)
Two punching fixed cells (4) are fitted with, the punching fixed cell (4) includes the first cradle head (401), the second electricity
Cylinder (402), the second cradle head (403), third electric cylinders (404), the second servo motor (405), lose-lose rod electric cylinders (407),
Third servo motor (408), drill bit (409), the second hinged-support (410), spring leaf (411), spreading semi-circular plate (412), semicircle
Ring rib (413), the 4th electric cylinders (414), trapezoid block (415), first cradle head (401) are fixedly connected with bottom plate (1),
The rotating part of first cradle head (401) is fixedly connected with the telescopic rod of the second electric cylinders (402), the first cradle head (401)
Rotation direction be up and down direction, the rear end of the cylinder block portion of the second electric cylinders (402) is equipped with second cradle head (403), the
The rotating part of two cradle heads is fixedly connected with the telescopic rod of third electric cylinders (404), and the second cradle head (403) is level
Rotation direction, the rear end of the cylinder block portion of third electric cylinders (404) are equipped with the second servo motor (405), the second servo motor (405)
Lose-lose rod electric cylinders (407) are installed, there are two telescopic rods for lose-lose rod electric cylinders (407) tool, wherein one on motor shaft
A telescopic rod end is equipped with third servo motor (408), is equipped with drill bit on the motor shaft of third servo motor (408)
(409), there are two the second hinged-support (410), the outsides of each second hinged-support (410) for the end installation of another telescopic rod
It is fitted with a spring leaf (4111), a spreading semi-circular plate is also hingedly installed on each second hinged-support (410)
(412), the spreading semi-circular plate (412) is semi-circular tube shape, and spreading semi-circular plate (412) is equipped with several semicircular ring ribs
(413), the inside of spreading semi-circular plate (412) is equipped with a triangle fixed block, is equipped with one among two the second hinged-supports (410)
A 4th electric cylinders (414), the telescopic rod ends of the 4th electric cylinders (414) are equipped with trapezoid block (415), the two sides of trapezoid block (415) with
The inclined-plane of triangle is slidably matched, and the end of spring leaf (411) and the outer side contacts of spreading semi-circular plate (412) simultaneously generate certain
Pressure draws close two spreading semi-circular plates (412) mutually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710258669.4A CN106986048B (en) | 2017-04-19 | 2017-04-19 | A kind of mars exploration vehicle with obstacle crossing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710258669.4A CN106986048B (en) | 2017-04-19 | 2017-04-19 | A kind of mars exploration vehicle with obstacle crossing function |
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| Publication Number | Publication Date |
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| CN106986048A CN106986048A (en) | 2017-07-28 |
| CN106986048B true CN106986048B (en) | 2019-09-24 |
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| CN201710258669.4A Active CN106986048B (en) | 2017-04-19 | 2017-04-19 | A kind of mars exploration vehicle with obstacle crossing function |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102040591B1 (en) * | 2018-02-22 | 2019-11-06 | 전북대학교산학협력단 | Rover platform with center-of-mass variable mechanism |
| CN110435928B (en) * | 2019-07-26 | 2020-12-15 | 中南大学 | Design method for realizing flexible mars capable of vertically taking off and landing |
| CN110963089B (en) * | 2019-10-31 | 2021-10-01 | 北京空间飞行器总体设计部 | Electromagnetic damping buffering foldable attaching leg for small celestial body detection |
| KR102151032B1 (en) * | 2019-12-23 | 2020-09-02 | 재단법인 한국로봇산업진흥원 | Docking device between ground robot and air drone and method of operating the same |
| CN112984273B (en) * | 2021-03-15 | 2022-09-23 | 安徽碧盾环境工程技术有限公司 | Pipeline obstacle crossing robot with anti-toppling function |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2642527A1 (en) * | 1989-01-11 | 1990-08-03 | Spie Trindel | ENGINE TO INSPECT THE INTERIOR OF PIPELINES |
| JP3870257B2 (en) * | 2002-05-02 | 2007-01-17 | 独立行政法人 宇宙航空研究開発機構 | Robot with offset rotary joint |
| US20050023052A1 (en) * | 2003-02-21 | 2005-02-03 | Beck Michael S. | Vehicle having an articulated suspension and method of using same |
| CN100478212C (en) * | 2007-04-25 | 2009-04-15 | 哈尔滨工业大学 | Four-wheel or six-wheel differential-torsion rod spring suspension type vehicle-carrying mechanism |
| CN101797936B (en) * | 2010-03-26 | 2011-11-30 | 浙江大学 | Wheel swinging-type compound drive device for miniature mobile robot |
| JP5704391B2 (en) * | 2010-12-28 | 2015-04-22 | 株式会社Ihi | Method and apparatus for moving and escaping moving objects |
| CN102991599A (en) * | 2011-09-19 | 2013-03-27 | 湖南工学院 | Simulated obstacle crossing probe vehicle |
| CN102556194A (en) * | 2012-02-24 | 2012-07-11 | 孙凯祺 | Self-adaptation obstacle-surmounting travelling gear |
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Effective date of registration: 20190823 Address after: 315141 Marine Economic Incubation Park, Xianxiang Town, Yinzhou District, Ningbo City, Zhejiang Province (after Lejiashan, Lupu Village) Applicant after: Ningbo Jintang Technology Service Co., Ltd. Address before: 315000 No. 408 Songhua River Road, Beilun District, Ningbo City, Zhejiang Province Applicant before: Zhou Baili |
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