CN112429272A - Rotary trailing arm suspension mechanism and star detection vehicle - Google Patents
Rotary trailing arm suspension mechanism and star detection vehicle Download PDFInfo
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- CN112429272A CN112429272A CN202011375611.6A CN202011375611A CN112429272A CN 112429272 A CN112429272 A CN 112429272A CN 202011375611 A CN202011375611 A CN 202011375611A CN 112429272 A CN112429272 A CN 112429272A
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- 239000000725 suspension Substances 0.000 title claims abstract description 26
- 238000001514 detection method Methods 0.000 title description 13
- 239000000523 sample Substances 0.000 claims description 15
- 238000013016 damping Methods 0.000 claims description 10
- 241001061260 Emmelichthys struhsakeri Species 0.000 abstract description 3
- 230000035939 shock Effects 0.000 abstract description 2
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 230000007423 decrease Effects 0.000 description 1
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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
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Abstract
本发明提供了一种旋转式拖臂悬架机构及星球探测车，涉及星球探测车技术领域，悬架机构包括拖臂、缓冲机构和拉杆机构，所述拖臂的一端适于与所述缓冲机构连接，另一端适于与车轮连接，所述拉杆机构的一端适于与所述缓冲机构连接，另一端适于与车身连接，所述拉杆机构用于驱动所述车轮绕所述车身折展。通过拉杆机构驱动缓冲机构绕车身转动，进而使得拖臂绕车身转动，实现车轮的折叠；另外，由于车身与拖臂之间通过缓冲机构连接，缓冲机构用于减震，因此在车轮产生震动时，缓冲机构能够减少传输到车身上的震动，从而提高乘坐星球探测车的舒适性。
The invention provides a rotary trailing arm suspension mechanism and a planetary rover, and relates to the technical field of planetary exploration vehicles. The suspension mechanism includes a trailing arm, a buffer mechanism and a pull rod mechanism. one end of the pull rod mechanism is suitable for connecting with the buffer mechanism, and the other end is suitable for connecting with the vehicle body, the pull rod mechanism is used to drive the wheel to fold around the vehicle body . The pull rod mechanism drives the buffer mechanism to rotate around the vehicle body, so that the trailing arm rotates around the vehicle body to realize the folding of the wheel; in addition, since the vehicle body and the trailing arm are connected by the buffer mechanism, the buffer mechanism is used for shock absorption, so when the wheels vibrate , the buffer mechanism can reduce the vibration transmitted to the body, thereby improving the comfort of the planetary rover.
Description
Technical Field
The invention relates to the technical field of star probe vehicles, in particular to a rotary trailing arm suspension mechanism and a star probe vehicle.
Background
Because the carrying space of the airship is limited, in order to improve the space utilization rate, the manned lunar rover and other star detection vehicles need to be folded in a launching state, so that the star detection vehicles have good space envelope, but the suspension mechanism of the existing vehicle generally only has two degrees of freedom of jumping and steering, cannot be matched with the folding of the vehicle, and is difficult to realize the requirement of wheel folding. And because the planeness of the outer planet surface is poor, after the outer planet surface of the existing planet detection vehicle is unfolded, the planet detection vehicle is easy to bump and vibrate when running on the moon surface, so that the comfort of taking the planet detection vehicle is poor.
Disclosure of Invention
The invention solves the problem that the existing suspension mechanism is difficult to be matched with vehicle folding and the satellite detection vehicle has poor comfort.
In order to solve the problems, the invention provides a rotary trailing arm suspension mechanism which comprises a trailing arm, a buffer mechanism and a pull rod mechanism, wherein one end of the trailing arm is suitable for being connected with the buffer mechanism, the other end of the trailing arm is suitable for being connected with a wheel, one end of the pull rod mechanism is suitable for being connected with the buffer mechanism, the other end of the pull rod mechanism is suitable for being connected with a vehicle body, and the pull rod mechanism is used for driving the wheel to fold and unfold around the vehicle body.
Further, the buffer mechanism comprises a torsion bar spring and a rotary damper, the torsion bar spring is suitable for being connected with the trailing arm, and the rotary damper is suitable for being connected with the pull rod mechanism.
Furthermore, the rotary damper is provided with a first connecting hole and a second connecting hole which are communicated, the torsion bar of the torsion bar spring is suitable for being inserted into the first connecting hole, and one end, far away from the wheel, of the trailing arm is suitable for being connected with the torsion bar of the torsion bar spring into the second connecting hole.
Further, the buffer mechanism further comprises a locking mechanism, the trailing arm is suitable for being in rotary connection with the torsion bar of the torsion bar spring, and the locking mechanism is used for limiting the relative rotation of the trailing arm and the torsion bar of the torsion bar spring.
Furthermore, the pull rod mechanism comprises a pull rod, one end of the pull rod is suitable for being rotatably connected with the buffer mechanism, and the other end of the pull rod is suitable for being in sliding connection with the vehicle body.
Furthermore, the pull rod mechanism further comprises a connecting shaft, one end, far away from the buffer mechanism, of the pull rod is suitable for being connected with the connecting shaft in a rotating mode, and the connecting shaft is suitable for being connected with the vehicle body in a sliding mode.
Furthermore, the pull rod mechanism is a folding connecting rod, one end of the folding connecting rod is suitable for being connected with the buffer mechanism in a rotating mode, the other end of the folding connecting rod is suitable for being connected with the automobile body in a rotating mode, and the folding connecting rod is suitable for being folded and unfolded to drive the buffer mechanism to rotate around the automobile body.
Further, the folding connecting rod comprises a first supporting rod and a second supporting rod, one end of the first supporting rod is rotatably connected with one end of the second supporting rod, the other end of the first supporting rod is suitable for being connected with the vehicle body, and the other end of the second supporting rod is suitable for being connected with the buffer mechanism.
The steering mechanism comprises a trailing arm, a wheel, a driving joint, a steering motor and a driving motor, wherein the steering motor is arranged at one end, close to the wheel, of the trailing arm, the one end, close to the wheel, of the trailing arm is suitable for being in rotary connection with the driving joint, the driving joint is suitable for being in rotary connection with the wheel, the driving motor is arranged on the driving joint, the steering motor is used for driving the driving joint to swing so as to achieve steering of the wheel, and the driving motor is used for driving the wheel to roll.
One end of the trailing arm is connected with the buffer mechanism, the other end of the trailing arm is connected with the wheel, one end of the pull rod mechanism is connected with the buffer mechanism, and the other end of the pull rod mechanism is connected with the vehicle body, so that the buffer mechanism can be driven by the pull rod mechanism to rotate around the vehicle body, the trailing arm can rotate around the vehicle body, and the wheel can be folded; in addition, the vehicle body is connected with the trailing arm through the buffer mechanism, and the buffer mechanism is used for damping, so that when the wheels vibrate, the buffer mechanism can reduce the vibration transmitted to the vehicle body, and the comfort of taking the planet detection vehicle is improved.
The invention also provides a planet detection vehicle which comprises the rotary trailing arm suspension mechanism.
The advantages of the star probe vehicle in the invention compared with the prior art are the same as the advantages of the rotary trailing arm suspension mechanism in the prior art, and are not described again.
Drawings
FIG. 1 is a schematic structural diagram of a rotary trailing arm suspension mechanism according to an embodiment of the present invention;
FIG. 2 is an exploded view of a rotary trailing arm suspension mechanism according to an embodiment of the present invention;
fig. 3 is a first schematic structural diagram of a star probe vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a star probe vehicle according to an embodiment of the present invention;
fig. 5 is a first schematic structural diagram of a star probe vehicle according to an embodiment of the present invention after wheels are folded;
fig. 6 is a schematic structural diagram ii of the star probe vehicle according to the embodiment of the present invention after the wheels are folded;
description of reference numerals:
1-trailing arm, 2-torsion bar spring, 21-fixed part, 22-torsion bar, 3-rotary damper, 31-second connecting hole, 4-folding connecting rod, 41-first supporting rod, 42-second supporting rod, 5-steering motor, 6-driving joint, 7-wheel and 8-vehicle body.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", and the like, which indicate orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings, and are used only for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
As shown in the drawing, an XYZ coordinate system is provided in which an X-axis forward direction indicates "front", an X-axis reverse direction indicates "rear", a Y-axis forward direction indicates "right", a Y-axis reverse direction indicates "left", a Z-axis forward direction indicates "up", and a Z-axis reverse direction indicates "down".
As shown in fig. 1 to 6, a rotary trailing arm suspension according to an embodiment of the present invention includes a trailing arm 1, a buffer mechanism, and a drawbar mechanism, where one end of the trailing arm 1 is adapted to be connected to the buffer mechanism, the other end of the trailing arm is adapted to be connected to a wheel 7, one end of the drawbar mechanism is adapted to be connected to the buffer mechanism, the other end of the drawbar mechanism is adapted to be connected to a vehicle body 8, and the drawbar mechanism is configured to drive the wheel 7 to fold and unfold around the vehicle body 8.
Wherein, buffer gear is used for the shock attenuation, and when wheel 7 produced vibrations, buffer gear can cushion in order to reduce the impact force of transmitting on automobile body 8. The pull rod mechanism has certain rigidity and strength, so that the buffer mechanism can be pushed to rotate outwards through the pull rod mechanism.
Specifically, referring to fig. 3, the buffer mechanism is located below the vehicle body 8, and the suspension mechanism located on the right side of the front side of the star probe vehicle is taken as an example for explanation, when the wheel 7 needs to be folded, one end of the trailing arm 1 is connected with the wheel 7, the other end of the trailing arm is connected with the buffer mechanism, one end of the pull rod mechanism is connected with the buffer mechanism, and the other end of the pull rod mechanism is connected with the vehicle body 8, at this time, the pull rod mechanism drives the buffer mechanism to rotate to the left, so that the trailing arm 1 is turned to the left, that is, turned to the lower side of the vehicle body 8, and the wheel 7 connected to the trailing. When the wheels 7 need to be unfolded, the pull rod mechanism pushes the buffer mechanism to enable the buffer mechanism to rotate rightwards, and then the trailing arm 1 is enabled to turn rightwards, so that the wheels 7 are driven to be unfolded.
In the structure, the pull rod mechanism can be a self-locking mechanism, when the wheels 7 are unfolded and completed, the pull rod mechanism is subjected to self-locking, so that the buffer mechanism can be limited to rotate around the vehicle body 8, the trailing arm 1 is further limited to rotate around the vehicle body 8, the wheels 7 are further limited to be folded and unfolded, and the stability of the running process of the celestial body detection vehicle is guaranteed. The above-mentioned draw bar mechanism is a preferred embodiment, and it is also possible to provide a locking mechanism at a corresponding position, and when the wheel 7 is completely unfolded, the draw bar mechanism is locked, so that the draw bar mechanism is maintained in this state.
One end of the trailing arm 1 is connected with the buffer mechanism, the other end of the trailing arm 1 is connected with the wheel 7, one end of the pull rod mechanism is connected with the buffer mechanism, and the other end of the pull rod mechanism is connected with the vehicle body 8, so that the buffer mechanism can be driven by the pull rod mechanism to rotate around the vehicle body 8, the trailing arm 1 can rotate around the vehicle body 8, and the folding of the wheel 7 is realized; in addition, the vehicle body 8 is connected with the trailing arm 1 through the buffer mechanism, and the buffer mechanism is used for damping, so when the wheels 7 vibrate, the buffer mechanism can reduce the vibration transmitted to the vehicle body 8, and the comfort of riding the planet detection vehicle is improved.
Preferably, the damping mechanism comprises a torsion bar spring 2 and a rotary damper 3, the torsion bar spring 2 is suitable for being connected with the trailing arm 1, and the rotary damper 3 is suitable for being connected with the pull rod mechanism.
Specifically, the torsion bar spring 2 includes a fixing portion 21 and a torsion bar 22 connected to each other, the fixing portion 21 of the torsion bar spring 2 is fixedly connected to the rotary damper 3, and the torsion bar 22 is connected to the trailing arm 1. Through fixed connection with fixed part 21 and rotary damper 3 of torsion bar spring 2 for rotary damper 3 can regard as the stable support of torsion bar spring 2, and when trailing arm 1 swung and leads to torsion bar 22 of torsion bar spring 2 to twist reverse, fixed part 21 can not follow the rotation, and then reduces the vibrations of transmitting to rotary damper 3 through torsion bar spring 2, and then reduces the vibrations that transmit to automobile body 8.
In this embodiment, the stationary portion 21 and the torsion bar 22 are both cylindrical, and the rotary damper 3 is an irregular cylinder like a cylinder.
The specific process is as follows, when the wheel 7 vibrates, the wheel 7 jumps upwards or downwards, the wheel 7 drives the trailing arm 1 to swing upwards or downwards, that is, the trailing arm 1 rotates a certain angle around the axis of the torsion bar 22, so that the torsion bar 22 generates torsional deformation, and the torsion bar 22 can absorb vibration energy through torsional elasticity to reduce the impact on the vehicle body 8 because the torsional deformation of the torsion bar 22 is elastic deformation. Meanwhile, when the wheel 7 is disengaged from an obstacle, the stored elastic deformation energy of the torsion bar 22 due to torsional deformation is released, so that the trailing arm 1 and the wheel 7 are rapidly returned. Thereby, the stability of the running of the wheel 7 is ensured.
Preferably, as shown in fig. 1 and 2, the rotary damper 3 is provided with a first connecting hole and a second connecting hole 31 which are communicated with each other, the torsion bar spring 2 is adapted to be inserted into the first connecting hole, and one end of the trailing arm 1 away from the wheel 7 is adapted to be connected with the torsion bar 22 of the torsion bar spring 2 into the second connecting hole 31.
The first connection hole and the second connection hole 31 are disposed on different sides of the rotary damper 3, and both are communicated with the outside, and the first connection hole and the second connection hole 31 are communicated with the inside of the rotary damper 3, so that when the torsion bar 22 of the torsion bar spring 2 is inserted into the first connection hole 3, the torsion bar 22 is also located in the second connection hole 3.
Specifically, the first connection hole is a circular hole having the same diameter as the cross section of the torsion bar 22, the first connection hole is respectively communicated with the outside and the second connection hole 31, when the torsion bar 22 is inserted into the first connection hole, a part of the structure of the torsion bar 22 is located in the second connection hole 31, so that the trailing arm 1 and the torsion bar 22 are connected in the second connection hole 31, taking the related structure shown in fig. 2 as an example, the second connection hole 31 is disposed on the front side of the rotary damper 3, the first connection hole is disposed on the right side of the rotary damper 3, the first connection hole and the second connection hole 31 are communicated inside the rotary damper 3, both the first connection hole and the second connection hole 31 are blind holes, and the width of the second connection hole 31 is greater than the thickness of the end portion of the trailing arm 1 far from the wheel 7, so that the trailing arm 1 is connected. Wherein, the end part of the trailing arm 1 far away from the wheel 7 is provided with a through hole, the diameter of the through hole is the same as the cross section diameter of the torsion bar 22, so that the torsion bar 22 can be inserted into the through hole, and the trailing arm 1 and the torsion bar 22 can be connected in a second through hole.
Preferably, the damping mechanism further comprises a locking mechanism, the trailing arm 1 is adapted to be rotatably connected with the torsion bar 22 of the torsion bar spring 2, and the locking mechanism is used for limiting the relative rotation of the trailing arm 1 and the torsion bar 22 of the torsion bar spring 2.
Specifically, the trailing arm 1 is rotatably connected with the torsion bar 22 of the torsion bar spring 2, that is, the trailing arm 1 can rotate relative to the torsion bar 22 of the torsion bar spring 2, and the position of the wheel 7 can be adjusted through the swinging of the trailing arm 1, so that the height of the vehicle body 8 and the wheel track of the front wheel 7 and the rear wheel 7 can be adjusted. The locking mechanism is used for limiting the relative rotation of the torsion bars 22 of the torsion bar spring 2 and the trailing arm 1, after the wheel 7 rotates to a proper position, the trailing arm 1 is locked on the torsion bars 22 through the locking mechanism, so that the wheel 7 can stably support the vehicle body 8, and meanwhile, when the trailing arm 1 swings, the torsion bars 22 are twisted and deformed, and the damping effect of the torsion bar spring 2 is exerted.
In the present embodiment, as shown in fig. 3 and 4, it is preferable that the buffer mechanism is disposed at an outer side position of the vehicle body 8 adjacent to a middle portion of the vehicle body 8, and the buffer mechanism is disposed below the vehicle body 8 so that the wheels 7 can be folded below the vehicle body 8, and the track of the left and right wheels 7 is made larger, and the trailing arm 1 is disposed obliquely so that an end of the trailing arm 1 connected to the wheels 7 is away from the middle portion of the vehicle body 8 so that the track of the front and rear wheels 7 is made larger.
Taking the star probe vehicle shown in fig. 3 as an example, the adjustment process of the wheel 7 is as follows, at the front side position of the star probe vehicle, when the trailing arm 1 swings forward around the axis of the torsion bar 22, the wheel 7 moves forward and upward, and when the trailing arm 1 swings backward around the axis of the torsion bar 22, the wheel 7 moves backward and downward. At the rear side position of the star probe vehicle, when the trailing arm 1 swings backwards around the axis of the torsion bar 22, the wheel 7 moves backwards and upwards, and when the trailing arm 1 swings forwards around the axis of the torsion bar 22, the wheel 7 moves forwards and downwards. Therefore, when the trailing arm 1 swings away from the middle of the vehicle body 8, the height of the vehicle body 8 decreases, and the track of the front and rear wheels 7 of the star probe vehicle increases. When the trailing arm 1 swings towards the direction of the middle part of the vehicle body 8, the height of the vehicle body 8 can be increased, and the wheel track of the front and rear wheels 7 of the planet detection vehicle can be reduced.
The angle at which the trailing arm 1 can pivot is dependent on the circumferential length of the second connecting bore 31.
Alternatively, the trailing arm 1 may also be fixedly connected directly to the torsion bar 22 of the torsion bar spring 2, in which case, no additional locking mechanism is needed, and the trailing arm 1 is connected more firmly to the torsion bar 22 of the torsion bar spring 2, which has the disadvantage that it is difficult to adjust the height of the vehicle body 8 and the track of the front and rear wheels 7.
Preferably, the pull rod mechanism comprises a pull rod, one end of the pull rod is suitable for being rotatably connected with the buffer mechanism, and the other end of the pull rod is suitable for being slidably connected with the vehicle body 8.
Specifically, one end of the pull rod is rotatably connected with the buffer mechanism, the other end of the pull rod is slidably connected with the vehicle body 8 and can rotate relative to the vehicle body 8, so that the buffer mechanism is driven to rotate by sliding the pull rod on the vehicle body 8, the trailing arm 1 rotates around the vehicle body 8, and the wheels 7 are folded and unfolded.
The electric pushing cylinder is arranged on the vehicle body 8 and used for pushing the pull rod to slide on the vehicle body 8, and the pull rod is locked on the vehicle body 8 after the pull rod moves to a target position, so that the pull rod is prevented from sliding relative to the vehicle body 8.
Preferably, the pull rod mechanism further comprises a connecting shaft, one end of the pull rod, which is far away from the buffer mechanism, is suitable for being rotatably connected with the connecting shaft, and the connecting shaft is suitable for being in sliding connection with the vehicle body 8.
Specifically, the vehicle body 8 is provided with a sliding groove, the pull rod can be connected to the sliding groove, the sliding groove extends along the left-right direction, i.e., along the Y-axis direction, and correspondingly, the pull rod can only slide along the extending direction of the sliding groove, i.e., along the Y-axis direction. The connecting shaft is suitable for being connected into the groove and sliding along the extending direction of the groove; wherein, the extending direction of the groove is the same as the extending direction of the sliding groove. Therefore, the pull rod can slide in the groove through the connecting shaft to realize the relative sliding of the pull rod and the vehicle body 8.
The above-described arrangement of the slide groove in the vehicle body 8 is a preferred embodiment, and it is also possible to provide a guide rail in the lead screw frame, and to achieve effects similar to those of the above-described embodiment by sliding the pull rod on the guide rail.
Preferably, as shown in fig. 3 to 6, the draw bar mechanism is a folding connecting rod 4, one end of the folding connecting rod 4 is adapted to be rotatably connected with the buffer mechanism, the other end of the folding connecting rod 4 is adapted to be rotatably connected with the vehicle body 8, and the folding connecting rod 4 is adapted to be folded and unfolded to drive the buffer mechanism to rotate around the vehicle body 8.
Specifically, the folding link 4 is made of a rigid material, and the folding link 4 has certain rigidity and strength, so that the extension of the folding link 4 can push the trailing arm 1 mechanism to rotate outwards, and the unfolding of the wheel 7 is realized. When the folding connecting rod 4 is unfolded to the unfolded state, the wheels 7 are unfolded, the folding connecting rod 4 is subjected to self locking, and the folding connecting rod 4 has certain rigidity and strength, so that the rotation of the trailing arm 1 can be limited, and the left and right rotation of the wheels 7 is limited.
Preferably, the folding link 4 includes a first strut 41 and a second strut 42, one end of the first strut 41 is rotatably connected to one end of the second strut 42, the other end of the first strut 41 is adapted to be connected to the vehicle body 8, and the other end of the second strut 42 is adapted to be connected to the buffer mechanism.
Specifically, the end of the first strut 41 is rotatably connected to the end of the second strut 42, the first strut 41 and the second strut 42 can rotate relatively, and the rotation of the buffer mechanism is realized by the relative rotation of the first strut 41 and the second strut 42, so as to fold the wheel 7. Wherein, second branch 42 is suitable for to rotate with rotation type attenuator 3 and is connected, is equipped with bellied connecting portion on the rotation type attenuator 3, is equipped with corresponding rotation connection structure on the connecting portion for when second branch 42 rotates with rotation type attenuator 3 to be connected, the one end that folding connecting rod 4 is connected with rotation type attenuator 3 is in suitable position, so that the suitable position in automobile body 8 is connected to the folding connecting rod 4 other end. When the length of the folding connecting rod 4 is the longest, the first supporting rod 41 is parallel to the second supporting rod 42, the folding connecting rod 4 is in a completely unfolded state, and the wheel 7 is also in a completely unfolded state, at the moment, the folding connecting rod 4 can be subjected to self locking, so that the first supporting rod 41 and the second supporting rod 42 cannot rotate relatively, the position of the wheel 7 is limited, and the wheel 7 is prevented from being folded towards the inner side of the vehicle body 8.
The folding connecting rod 4 is set to be a double-connecting-rod structure, which is a preferred embodiment, the folding connecting rod 4 can also be a multi-connecting-rod structure such as a three-connecting-rod structure, a four-connecting-rod structure and the like, and only the folding connecting rod 4 can drive the lead screw frame to rotate towards the inner side of the vehicle body 8, and the folding connecting rod 4 can be self-locked when being at the maximum length.
Preferably, the steering mechanism further comprises a driving joint 6, a steering motor 5 and a driving motor, wherein the steering motor 5 is arranged at one end of the trailing arm 1, which is adjacent to the wheel 7, the one end of the trailing arm 1, which is adjacent to the wheel 7, is suitable for being rotatably connected with the driving joint 6, the driving joint 6 is suitable for being rotatably connected with the wheel 7, the driving motor is arranged on the driving joint 6, the steering motor 5 is used for driving the driving joint 6 to swing so as to realize steering of the wheel 7, and the driving motor is used for driving the wheel 7 to roll.
Specifically, the steering motor 5 is arranged on the trailing arm 1, a driving joint 6 is arranged between the steering motor 5 and the wheel 7, the steering motor 5 is used for driving the driving joint 6 to rotate, and the driving joint 6 is connected with the wheel 7, so that the driving joint 6 rotates to drive the wheel 7 to rotate, and the wheel 7 is driven to rotate around a main pin by the steering motor 5, wherein the main pin refers to a rotation axis when the wheel 7 rotates. The driving joint 6 is rotatably connected with the wheels 7, a driving motor is arranged on the driving joint 6, and the driving motor is used for driving the wheels 7 to rotate so as to drive the vehicle body 8 to move.
A star probe vehicle according to another embodiment of the present invention includes a rotary trailing arm suspension mechanism as described above.
The advantages of the star probe vehicle in the invention compared with the prior art are the same as the advantages of the rotary trailing arm suspension mechanism in the prior art, and are not described again.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. The rotary trailing arm suspension mechanism is characterized by comprising a trailing arm (1), a buffer mechanism and a pull rod mechanism, wherein one end of the trailing arm (1) is suitable for being connected with the buffer mechanism, the other end of the trailing arm is suitable for being connected with a wheel (7), one end of the pull rod mechanism is suitable for being connected with the buffer mechanism, the other end of the pull rod mechanism is suitable for being connected with a vehicle body (8), and the pull rod mechanism is used for driving the wheel (7) to fold and unfold around the vehicle body (8).
2. A rotary trailing arm suspension according to claim 1 wherein the damping mechanism comprises a torsion bar spring (2) and a rotary damper (3), the torsion bar spring (2) being adapted for connection with the trailing arm (1), the rotary damper (3) being adapted for connection with the drawbar mechanism.
3. A rotary trailing arm suspension according to claim 2 wherein the rotary damper (3) is provided with communicating first and second connection apertures (31), the torsion bar (22) of the torsion bar spring (2) being adapted to be inserted in the first connection aperture, the trailing arm (1) end remote from the wheel (7) being adapted to be connected with the torsion bar (22) of the torsion bar spring (2) in the second connection aperture (31).
4. A rotary trailing arm suspension according to claim 2 wherein the damping mechanism further comprises a locking mechanism, the trailing arm (1) being adapted for rotational connection with the torsion bar (22) of the torsion bar spring (2), the locking mechanism being adapted to restrict relative rotation of the trailing arm (1) and the torsion bar (22) of the torsion bar spring (2).
5. A rotary trailing arm suspension according to any one of claims 1 to 4 wherein the tie rod mechanism includes a tie rod adapted at one end for rotational connection to the damping mechanism and at the other end for sliding connection to the vehicle body (8).
6. A rotary trailing arm suspension according to claim 5 wherein the drawbar mechanism further comprises a connecting shaft, the end of the drawbar remote from the damping mechanism being adapted for rotatable connection with the connecting shaft, the connecting shaft being adapted for sliding connection with the vehicle body (8).
7. A rotary trailing arm suspension according to any one of claims 1 to 4 wherein the linkage is a folding link (4), the folding link (4) being adapted at one end for pivotal connection to the damper mechanism and at the other end for pivotal connection to the vehicle body (8), the folding link (4) being adapted to fold out to drive the damper mechanism to pivot about the vehicle body (8).
8. A swivelling trailing arm suspension mechanism as claimed in claim 7, wherein the folding linkage (4) comprises a first strut (41) and a second strut (42), one end of the first strut (41) being pivotally connected to one end of the second strut (42), the other end of the first strut (41) being adapted to be connected to the vehicle body (8), the other end of the second strut (42) being adapted to be connected to the damping mechanism.
9. The rotary trailing arm suspension mechanism according to claim 1, further comprising a driving joint (6), a steering motor (5) and a driving motor, wherein the steering motor (5) is disposed at one end of the trailing arm (1) adjacent to the wheel (7), one end of the trailing arm (1) adjacent to the wheel (7) is adapted to be rotatably connected with the driving joint (6), the driving joint (6) is adapted to be rotatably connected with the wheel (7), the driving motor is disposed on the driving joint (6), the steering motor (5) is used for driving the driving joint (6) to swing to realize steering of the wheel (7), and the driving motor is used for driving the wheel (7) to roll.
10. A star probe vehicle comprising a rotary trailing arm suspension according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011375611.6A CN112429272A (en) | 2020-11-30 | 2020-11-30 | Rotary trailing arm suspension mechanism and star detection vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011375611.6A CN112429272A (en) | 2020-11-30 | 2020-11-30 | Rotary trailing arm suspension mechanism and star detection vehicle |
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| CN112429272A true CN112429272A (en) | 2021-03-02 |
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| CN202011375611.6A Pending CN112429272A (en) | 2020-11-30 | 2020-11-30 | Rotary trailing arm suspension mechanism and star detection vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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Application publication date: 20210302 |