CN112441257B - Star detection vehicle - Google Patents
Star detection vehicle Download PDFInfo
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- CN112441257B CN112441257B CN202011375559.4A CN202011375559A CN112441257B CN 112441257 B CN112441257 B CN 112441257B CN 202011375559 A CN202011375559 A CN 202011375559A CN 112441257 B CN112441257 B CN 112441257B
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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
The invention provides a planet detection vehicle, which comprises a suspension structure, a frame and a driving wheel: the suspension structure comprises a steering column adapted to be connected to a driving wheel; the connecting rod assembly comprises a first connecting rod and a second connecting rod, and two ends of the first connecting rod are respectively and rotatably connected to the second connecting rod and the steering column; the first drive assembly is adapted to be mounted to a vehicle frame. The first driving assembly is suitable for being in driving connection with the second connecting rod, and the first driving assembly is suitable for driving the second connecting rod and the first connecting rod to move so that the steering column is in a first state that the driving wheels are folded and a second state that the driving wheels run. According to the invention, the suspension structure can realize the folding of the driving wheel, and the interference caused by the folding of the planet vehicle is avoided, so that the planet vehicle forms good space envelope.
Description
Technical Field
The invention relates to the technical field of planet vehicles, in particular to a planet detection vehicle.
Background
At present, a celestial body is used as an important tool for space exploration, has high requirements on the stability and the practicability of the structure, generally comprises a frame, a driving wheel, a suspension system and the like, and generally needs to be folded to form a good space envelope in order to meet the launching requirements of the celestial body, but the existing celestial body is unreasonable in structural design, so that the space envelope after the celestial body is folded is not good.
Disclosure of Invention
The problem to be solved by the invention is how to design the suspension structure so as to realize the folding of the driving wheel so that the planet vehicle forms a good space envelope.
In order to solve the problems, the invention provides a planet detection vehicle, which comprises a suspension structure, a vehicle frame and a driving wheel;
the suspension structure comprises a steering column adapted to be connected to a driving wheel;
the connecting rod assembly comprises a first connecting rod and a second connecting rod, and two ends of the first connecting rod are respectively and rotatably connected to the second connecting rod and the steering column;
the first driving assembly is suitable for being installed on the frame and is suitable for being in driving connection with the second connecting rod, and the first driving assembly is suitable for driving the second connecting rod and the first connecting rod to move so that the steering column is in a first state that the driving wheel is folded or a second state that the driving wheel runs.
Optionally, the connecting rod assembly further includes a third connecting rod, the first connecting rod and the third connecting rod are arranged at an interval, one end of the third connecting rod is rotatably connected to the steering column, and the other end of the third connecting rod is adapted to be rotatably connected to the second connecting rod.
Optionally, the first link and the third link are arranged in parallel, and when the steering column is in the first state where the driving wheel is folded, one end of the third link, which is connected with the steering column, abuts against the first link.
Optionally, the first driving assembly comprises a driving motor, the driving motor is suitable for being mounted on the frame, and the driving motor is in driving connection with the second connecting rod.
Optionally, the vehicle further comprises a linear damper, one end of the linear damper is suitable for being rotatably connected to the steering column, and the other end of the linear damper is suitable for being rotatably connected to the frame.
Optionally, the vehicle body further comprises a second driving assembly, the second driving assembly comprises a first sliding block and a first power device, the first sliding block is provided with the first driving assembly, the first power device is suitable for being arranged on the vehicle frame, the first power device is in driving connection with the first sliding block, and the first power device is suitable for driving the first sliding block to slide along the width direction of the vehicle frame.
Optionally, still include the third drive assembly, the third drive assembly includes second slider, second power device and connecting rod, the second power device be suitable for set up in on the frame, the second power device with second slider drive connection, the second power device is suitable for the drive the second slider is followed the length direction of frame slides, connecting rod one end rotary type connect in the second slider, the other end rotary type of connecting rod is connected in steering column.
Optionally, the frame includes first frame and two second frames, two the second frame respectively the rotary type connect in the both ends that first frame is relative, two all install on the second frame the drive wheel, the drive wheel with be equipped with between the second frame suspension.
Optionally, the second frame is connected to a second drive assembly of the suspension structure and a third drive assembly of the suspension structure, respectively, the second drive assemblies being arranged along the width direction of the second frame; the third drive assembly is disposed along a length of the second frame.
Compared with the prior art, the invention has the beneficial effects that: two ends of the first connecting rod are respectively connected with the second connecting rod and the steering upright post in a rotating mode, and one end, far away from the first connecting rod, of the second connecting rod is suitable for being connected with the frame in a rotating mode; because the first driving component is in driving connection with the second connecting rod, the first driving component is suitable for driving the second connecting rod and the first connecting rod to move so that the steering column is in a first state that the driving wheels are folded. From this, suspended structure can realize the folding of drive wheel, avoids bringing the interference to the folding of planet car to make the planet car form good space envelope.
Drawings
FIG. 1 is a schematic structural view of one embodiment of a suspension structure according to an embodiment of the present invention;
FIG. 2 is a schematic representation of one use of the drive wheel and suspension arrangement of the embodiment of the present invention;
FIG. 3 is another schematic illustration of the use of the drive wheel and suspension arrangement of the 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 schematic structural view of the collected star probe vehicle according to the embodiment of the present invention;
FIG. 6 is a schematic structural diagram of one embodiment of a vehicle frame according to an embodiment of the invention.
Description of reference numerals:
1-a steering column, 2-a connecting rod assembly, 3-a second driving assembly, 4-a linear shock absorber, 5-a third driving assembly, 6-a driving wheel and 7-a frame;
21-a first connecting rod, 22-a second connecting rod, 23-a third connecting rod, 31-a first sliding block, 51-a second sliding block, 52-a connecting rod, 71-a first frame and 72-a second frame.
Detailed Description
In the description of the present invention, it should be understood that, in the coordinate system XYZ provided herein, the X axis represents forward, the X axis represents backward, the Y axis represents forward, the Y axis represents right, the Y axis represents backward, the Z axis represents forward, and the Z axis represents downward. Meanwhile, it is to be noted that the terms "first", "second", and the like in the specification and claims of the present invention and the above-mentioned drawings indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings of the specification only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and operate, and thus, are not to be construed as limiting the present invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
When the planet vehicle is folded to form space envelope, the wheels are vertically positioned at the two ends of the width direction of the vehicle frame, so that the folding range of the planet vehicle is limited to a certain extent, good space envelope cannot be formed, and certain risk is brought to launching of the planet vehicle. In order to overcome the problem, research shows that when the driving wheel is folded relative to the frame in the vertical direction, a better space enveloping effect can be obtained, however, most of the existing star-shaped vehicle suspension structures are a macpherson type suspension system, a cross arm type suspension system, a double-fork arm independent suspension system and the like. The suspension system can realize steering and jumping of the driving wheel, but does not have the function of folding the driving wheel relative to the frame, the driving wheel easily brings interference to folding of the planet vehicle, and the requirement of a launching process on folding of the planet vehicle cannot be realized, so that the planet vehicle forms good space envelope.
As shown in fig. 1, 2 and 3, the embodiment of the invention provides a planet detection vehicle, which comprises a suspension structure, a vehicle frame 7 and a driving wheel 6;
the suspension structure comprises a steering column 1, a connecting rod assembly 2 and a first driving assembly, wherein the steering column 1 is suitable for being connected with a driving wheel 6; the connecting rod assembly 2 comprises a first connecting rod 21 and a second connecting rod 22, and two ends of the first connecting rod 21 are respectively and rotatably connected to the second connecting rod 22 and the steering column 1; the first drive assembly is adapted to be mounted on the frame 7. The first driving assembly is suitable for being in driving connection with the second connecting rod 22, and the first driving assembly is suitable for driving the second connecting rod 22 and the first connecting rod 21 to move so as to enable the steering column 1 to be in a first state that the driving wheel 6 is folded or a second state that the driving wheel 6 runs.
The suspension structure of the embodiment is used for a planet vehicle, the suspension structure is suitable for connecting a driving wheel 6 and a frame 7, two ends of a first connecting rod 21 are respectively connected with a second connecting rod 22 and a steering column 1 in a rotating mode, and one end, far away from the first connecting rod 21, of the second connecting rod 22 is suitable for being connected with the frame 7 in a rotating mode; since the first driving assembly is in driving connection with the second link 22, the first driving assembly is adapted to drive the second link 22 and the first link 21 to move so that the steering column 1 is in the first state in which the driving wheel 6 is folded. From this, the suspended structure can realize the folding of drive wheel 6, avoids bringing the interference to the folding of planet car to make the planet car form good space envelope.
In this embodiment, the steering column 1 is a block-shaped body, which has a certain thickness, and the shape may be a square, a circle, or other irregular shape, which is determined according to actual requirements. In one embodiment, the steering column 1 is square, a mounting groove is formed in the steering column in the thickness direction, a bearing is fixed in the mounting groove, the steering column 1 is mounted on a hub through the bearing, and a transmission device of a frame is connected with the hub through a universal joint. In another embodiment, a motor and a motor driving connection speed reducer are arranged on one side of the rotating upright column facing the driving wheel 6, and an output shaft of the speed reducer is connected with the driving wheel 6, so that the driving wheel 6 rotates.
In the embodiment, when the driving wheel 6 runs on a plane, the axis of the driving wheel is basically parallel to the running surface; the drive wheel 6 is folded with its axis at an angle to the running surface in the range of 0-30 degrees, for example 10 degrees or 15 degrees.
Optionally, the link assembly 2 further includes a third link 23, the first link 21 and the third link 23 are spaced apart from each other, one end of the third link 23 is rotatably connected to the steering column 1, and the other end of the third link 23 is adapted to be rotatably connected to the second link 22.
In this embodiment, when the first driving assembly drives the first connecting rod 21 and the second connecting rod 22 to move, the third connecting rod 23 is provided to enhance the stability between the steering column 1 and the frame.
Optionally, the first link 21 and the third link 23 are arranged in parallel, and when the steering column 1 is in the first state where the driving wheel 6 is folded, one end of the third link 23 connected to the steering column 1 abuts against the first link 21.
In the present embodiment, as shown in fig. 1, the third link 23 is disposed above the first link 21, and the first link 21, the second link 22, the third link 23 and the steering column 1 can be regarded as a parallelogram mechanism, which is more stable when the driving wheel 6 is folded.
Optionally, the first driving assembly comprises a driving motor (not shown in the figures), the driving motor is suitable for being mounted on the frame 7, and the driving motor is in driving connection with the second connecting rod 22.
In this embodiment, driving motor passes through the mounting bracket and sets up on frame 7, and its pivot is connected with second connecting rod 22, and specifically, the central point on the second connecting rod 22 puts and is equipped with the shaft hole that runs through along the thickness direction, and driving motor's pivot card is gone into the shaft hole and is realized the installation.
In other embodiments, the first driving component is an energy storage spring, the energy storage spring is installed on the revolute pair at the joint of the second connecting rod 22 and the frame 7, and the revolute pair is in a self-locking state in a launching state; after the revolute pair is unlocked after the lunar vehicle lands, the energy storage spring drives the second connecting rod 22 to unfold, and the revolute pair realizes self-locking after the complete unfolding.
Optionally, a linear damper 4 is further included, one end of the linear damper 4 is adapted to be rotatably connected to the steering column 1, and the other end of the linear damper 4 is adapted to be rotatably connected to the frame 7.
In this embodiment, since the surface of the star ball is generally rugged, when the driving wheel 6 runs on the surface of the star ball, the linear damper 4 can absorb the impact force from the ground to reduce the vibration, and thus, when the driving wheel 6 is in a normal running state, the linear damper 4 is disposed to face upward. Meanwhile, as the linear shock absorber 4 can be extended and shortened, when the fixed end and the telescopic end of the linear shock absorber are respectively connected with the steering column 1 and the frame 7 in a rotating mode, the deformation requirements of the driving wheel 6 under various working conditions can be met.
Optionally, the vehicle further comprises a second driving assembly 3, the second driving assembly 3 includes a first sliding block 31 and a first power device, the first driving assembly is arranged on the first sliding block 31, the first power device is suitable for being arranged on the vehicle frame 7, the first power device is in driving connection with the first sliding block 31, and the first power device is suitable for driving the first sliding block 31 to slide along the width direction of the vehicle frame 7.
In this embodiment, first power device is linear electric motor, and first slider 31 sets up on linear electric motor's slip table, and first drive assembly sets up on first slider 31, and from this, linear electric motor motion, slip table drive first slider 31 motion not only can realize turning to of drive wheel 6, are convenient for provide bigger folding space when drive wheel 6 is folding moreover.
Optionally, still include third drive assembly 5, third drive assembly 5 includes second slider 51, second power device and connecting rod 52, second power device be suitable for set up in on frame 7, second power device with second slider 51 drive connection, second power device is suitable for the drive second slider 51 slides along the length direction of frame 7, connecting rod 52 one end rotary type connect in second slider 51, the other end rotary type of connecting rod 52 is connected in steering column 1.
In this embodiment, the second power device is a linear motor, and the second slider 51 is disposed on a sliding table of the linear motor, so that the linear motor moves, and the sliding table drives the second slider 51 to move, thereby achieving forward and backward movement of the driving wheel 6, and achieving wheel track adjustment and creeping running (described in detail later) of the front and rear driving wheels 6 of the celestial body.
In the invention, the suspension structure is a single-degree-of-freedom suspension and only has a jumping degree of freedom in the vertical direction, wherein the connection mode of the linear shock absorber 4 with the frame and the steering column 1 is a spherical hinge, the connection mode of the connecting rod 52 with the second slide block 51 and the steering column 1 is a spherical hinge, and the connection relationship among the first connecting rod 21, the second connecting rod 22, the third connecting rod 23 and the steering column 1 is also a spherical hinge, so that the driving wheel 6 can be folded, move back and forth and steer.
As shown in fig. 4, an embodiment of the present invention further provides a star probe vehicle including the suspension structure as described above.
After the planet detection vehicle of the embodiment is adopted, two ends of the first connecting rod 21 are respectively connected to the second connecting rod 22 and the steering column 1 in a rotating manner, and one end of the second connecting rod 22, which is far away from the first connecting rod 21, is suitable for being connected to the frame 7 in a rotating manner; since the first driving assembly is in driving connection with the second link 22, the first driving assembly is adapted to drive the second link 22 and the first link 21 to move so that the steering column 1 is in the first state in which the driving wheel 6 is folded. From this, suspended structure can realize the folding of drive wheel 6, avoids bringing the interference to the folding of planet car to make the planet car form good space envelope.
Optionally, as shown in fig. 4 and 5, the vehicle further includes a frame 7 and a driving wheel 6, the frame 7 includes a first frame 71 and two second frames 72, the two second frames 72 are respectively rotatably connected to two opposite ends of the first frame 71, the driving wheel 6 is mounted on each of the two second frames 72, and the suspension structure is disposed between the driving wheel 6 and the second frame 72.
In this embodiment, a three-stage structural design is adopted, an energy storage spring is installed on a revolute pair at a joint of the first frame 71 and the second frame 72, and the revolute pair is in a self-locking state in a launching state; after the planet vehicle lands, the revolute pair is unlocked, the energy storage spring drives the three-section type frame 7 to unfold, and the revolute pair realizes self-locking after the planet vehicle is completely unfolded.
In this embodiment, as shown in fig. 6, the first frame 71 includes a bottom plate and two connecting plates, the two connecting plates are symmetrically disposed at two opposite ends of the bottom plate, and the two second frames 72 are respectively rotatably connected to the two connecting plates. Meanwhile, when the driving wheels 6 are in the running state, the bottom plate of the first frame 71 and the two second frames 72 are parallel to each other, respectively. Thus, when the planet carrier is folded, the two second frames 72 rotate upwards around the revolute pair, and the first frame 71 gradually descends to contact the running surface, so as to replace the driving wheel 6 for supporting and facilitating the subsequent folding of the driving wheel 6 relative to the frame 7.
Optionally, the second frame 72 is connected to the second driving assembly 3 of the suspension structure and the third driving assembly 5 of the suspension structure, respectively, and the second driving assembly 3 is arranged along the width direction of the second frame 72; the third driving assembly 5 is disposed along the length direction of the second frame 72.
Specifically, as shown in fig. 4, when the first frame 71 and the two second frames 72 are in the extended state, the second driving assembly 3 and the third driving assembly 5 are both disposed on the lower end surface of the second frame 72.
In this embodiment, a mounting frame is disposed on the upper end surface of the second frame 72, and the telescopic end of the linear damper 4 is rotatably connected to the mounting frame. Thereby, the shock absorption of the driving wheel 6 is achieved.
As shown in fig. 5, in the launching state, the second link 22 rotates to a nearly horizontal state and is in a locked state, at this time, the first link 21 and the third link 23 are closely attached together, the driving wheel 6 rotates inwards by about 90 degrees and is folded to the bottom of the frame 7, and then the two second frames 72 are folded upwards around the middle first frame 71 and are locked after reaching the maximum folded state; when the vehicle reaches the surface of the star, the second link 22 is unlocked by an astronaut or an automatic device, and is locked after rotating to a vertical state by the driving of the first driving device, and then the second driving assembly 3 pushes the driving wheel 6 to the outside so that the driving wheel 6 is in a normal running state.
In the invention, the second driving assembly 3 can push the first connecting rod 21 and the third connecting rod 23 to move inwards or outwards, so as to drive the drag linear type shock absorber 4 and the connecting rod 52 to rotate, thereby realizing the steering function of the driving wheel 6; when the third driving components 5 of the two second frames 72 drive the driving wheels 6 to move forwards in sequence, creeping running can be formed; the forward movement process of the connecting rod 52 and the rotation movement of the driving wheel 6 can realize the height change of the driving wheel 6 relative to the frame 7, realize the height adjustment of the frame 7 and assist the astronaut to get on or off the vehicle.
In the invention, when the planet vehicle is converted from a normal driving state to a folding state, firstly, the driving wheels 6 are ensured to be in a straight line running state, then, the two second vehicle frames 72 rotate upwards around the revolute pairs until the first vehicle frame 71 descends to contact with a running surface so as to replace the driving wheels 6 for supporting, and moreover, the four driving wheels 6 are folded through respective suspension structures; meanwhile, the two second frames 72 continue to rotate until the two second frames 72 contact, the first frame 71 and the two second frames 72 form a cavity structure, and finally the revolute pairs at the positions of the second frame 72 and the first frame 71 are locked. In the scheme, the driving wheel is positioned outside the cavity structure after the folding of the planet carrier is finished, so that the first carrier 71 replaces the driving wheel 6 to be supported on the running surface, the rotation of the two second carriers 72 and the folding of the driving wheel 6 can be carried out simultaneously or separately, and the rotation of the two second carriers 72 and the folding of the driving wheel 6 are carried out simultaneously according to the folding efficiency of the planet carrier without limitation according to actual requirements.
In the invention, when the planet vehicle is converted from a folding state to a normal running state, firstly, the four driving wheels 6 are restored to the normal running state through respective suspension structures; then the two second frames 72 rotate downwards around the revolute pair until the four driving wheels 6 contact the running surface, the two second frames 72 continue to rotate, the first frame 71 gradually rises until the bottom plate of the first frame 71 and the two second frames 72 are parallel to each other, and finally the revolute pair at the second frame 72 and the first frame 71 is locked. In the scheme, the driving wheel is positioned outside the cavity structure after the folding of the planet vehicle is finished, so that the rotation of the two second frames 72 and the folding of the driving wheel 6 can be carried out simultaneously or separately in the process of recovering the planet vehicle, and no limitation is made here, so that the rotation of the two second frames 72 and the folding of the driving wheel 6 are carried out simultaneously in consideration of the folding efficiency of the planet vehicle, but when the driving wheel 6 is in contact with the ground, the four driving wheels are recovered to be in a normal running state.
In the invention, when the planet vehicle needs to creep, the driving wheels 6 are firstly ensured to be in a linear running state, the suspension structures of the two driving wheels 6 of one second frame 72 work, namely, the second power device of the third driving assembly 5 drives the second sliding block 51 to move, the driving wheels are driven by the connecting rod 52 to move forwards (backwards) for a certain distance, and at the moment, the wheel distance between the two second frames 72 is increased (reduced); subsequently, the suspension structure of the two driving wheels 6 of the other second carriage 72 works in the same principle as described above, and the driving wheels move forward (backward) by a distance, whereby the driving wheels 6 of the two second carriages 72 alternately move and the planetary vehicle realizes a peristaltic running.
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 (6)
1. A planet detection vehicle is characterized by comprising a suspension structure, a vehicle frame (7) and a driving wheel (6);
the suspension structure comprises a steering column (1) adapted to be connected to the driving wheel (6);
the connecting rod assembly (2) comprises a first connecting rod (21) and a second connecting rod (22), and two ends of the first connecting rod (21) are respectively and rotatably connected to the second connecting rod (22) and the steering column (1);
a first drive assembly adapted to be mounted on the frame (7), the first drive assembly being adapted to be in driving connection with the second link (22), the first drive assembly being adapted to drive the second link (22) and the first link (21) in a movement to bring the steering column (1) into a first state in which the drive wheel (6) is folded or into a second state in which the drive wheel (6) is running;
when the steering column (1) is in a first state that the driving wheel (6) is folded, an included angle is formed between the axis of the driving wheel and a walking surface, and the included angle ranges from 0 degree to 30 degrees; when the steering column (1) is in a second state that the driving wheel (6) runs, the driving wheel (6) runs on a plane, and the axis of the driving wheel is basically parallel to a running surface;
the connecting rod assembly (2) further comprises a third connecting rod (23), the first connecting rod (21) and the third connecting rod (23) are arranged at intervals, one end of the third connecting rod (23) is rotatably connected to the steering column (1), and the other end of the third connecting rod (23) is suitable for being rotatably connected to the second connecting rod (22);
the first connecting rod (21) and the third connecting rod (23) are arranged in parallel, and when the steering column (1) is in a first state that the driving wheel (6) is folded, one end of the third connecting rod (23) connected with the steering column (1) is abutted to the first connecting rod (21);
frame (7) include first frame (71) and two second frame (72), two second frame (72) rotary type respectively connect in first frame (71) relative both ends, two all install on second frame (72) drive wheel (6), drive wheel (6) with be equipped with between second frame (72) suspended structure.
2. A star probe vehicle according to claim 1, characterized in that the first drive assembly comprises a drive motor adapted to be mounted on the frame (7), which drive motor is drivingly connected to the second link (22).
3. The star probe vehicle according to claim 1, characterized in that it further comprises a linear damper (4), one end of the linear damper (4) being adapted to be rotatably connected to the steering column (1), the other end of the linear damper (4) being adapted to be rotatably connected to the frame (7).
4. The planet probe vehicle according to claim 1, further comprising a second driving assembly (3), wherein the second driving assembly (3) comprises a first sliding block (31) and a first power device, the first driving assembly is arranged on the first sliding block (31), the first power device is suitable for being arranged on the vehicle frame (7), the first power device is in driving connection with the first sliding block (31), and the first power device is suitable for driving the first sliding block (31) to slide along the width direction of the vehicle frame (7).
5. The star probe vehicle according to claim 4, characterized by further comprising a third driving assembly (5), wherein the third driving assembly (5) comprises a second slider (51), a second power device and a connecting rod (52), the second power device is suitable for being arranged on the frame (7), the second power device is in driving connection with the second slider (51), the second power device is suitable for driving the second slider (51) to slide along the length direction of the frame (7), one end of the connecting rod (52) is rotatably connected to the second slider (51), and the other end of the connecting rod (52) is rotatably connected to the steering column (1).
6. A star probe vehicle according to claim 5, characterized in that the second frame (72) is connected to the second drive assembly (3) of the suspension structure and to the third drive assembly (5) of the suspension structure, respectively, the second drive assembly (3) being arranged in the width direction of the second frame (72); the third driving assembly (5) is arranged along the length direction of the second frame (72).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011375559.4A CN112441257B (en) | 2020-11-30 | 2020-11-30 | Star detection vehicle |
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| CN202011375559.4A CN112441257B (en) | 2020-11-30 | 2020-11-30 | Star detection vehicle |
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| CN112441257A CN112441257A (en) | 2021-03-05 |
| CN112441257B true CN112441257B (en) | 2022-08-23 |
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| CN113525718B (en) * | 2021-09-10 | 2022-05-24 | 吉林大学 | Z-shaped small lunar vehicle with high folding-unfolding ratio |
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| CN103448787A (en) * | 2013-09-03 | 2013-12-18 | 中国农业大学 | Wheel span adjustment and chassis steering linkage mechanism |
| CN104309718A (en) * | 2014-10-20 | 2015-01-28 | 哈尔滨工业大学 | Lever lateral mobile damping four-wheeler manned lunar rover folding system |
| CN104401505A (en) * | 2014-10-27 | 2015-03-11 | 哈尔滨工业大学 | Double-wheel omnidirectional damping manned lunar vehicle moving system |
| CN104354878A (en) * | 2014-11-03 | 2015-02-18 | 哈尔滨工业大学 | Transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler |
| CN110001330A (en) * | 2019-04-04 | 2019-07-12 | 上海宇航系统工程研究所 | A kind of multi-link lever suspension fork mechanism with buffering, folding and turning function |
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