CN112441258B - A trailing arm suspension mechanism and planet car for planet car - Google Patents
A trailing arm suspension mechanism and planet car for planet car Download PDFInfo
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- CN112441258B CN112441258B CN202011377929.8A CN202011377929A CN112441258B CN 112441258 B CN112441258 B CN 112441258B CN 202011377929 A CN202011377929 A CN 202011377929A CN 112441258 B CN112441258 B CN 112441258B
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- trailing arm
- frame
- shock absorber
- rotatably connected
- screw rod
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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 trailing arm suspension mechanism for a celestial body, which relates to the technical field of celestial bodies and comprises a trailing arm mechanism, a driving mechanism and a folding connecting rod, wherein the upper end of the trailing arm mechanism is suitable for being rotatably connected with a celestial body, the lower end of the trailing arm mechanism is suitable for being connected with wheels, one end of the folding connecting rod is suitable for being rotatably connected with the celestial body, the other end of the folding connecting rod is suitable for being rotatably connected with the trailing arm mechanism, the driving mechanism is used for controlling the folding and unfolding of the folding connecting rod, and the folding connecting rod is suitable for being folded and unfolded to drive the trailing arm mechanism to rotate around the celestial body. Through the arrangement, the folding and unfolding of the wheels are realized, so that the planet vehicle has good space envelope.
Description
Technical Field
The invention relates to the technical field of a celestial body vehicle, in particular to a trailing arm suspension mechanism for a celestial body vehicle and the celestial body vehicle.
Background
Because the carrying space of the airship is limited, in order to improve the space utilization rate, the planet vehicle needs to be folded in a launching state, so that the planet vehicle has good space envelope, and still has the characteristics of controllability, stability and light weight of high-speed running of the vehicle after the surface of the planet is unfolded. However, the suspension mechanism of the existing vehicle usually has only two degrees of freedom of bouncing and steering, and the requirement of the launching process on vehicle folding cannot be met.
Disclosure of Invention
The invention solves the problem that the existing suspension mechanism is difficult to realize the requirement of vehicle folding.
In order to solve the problems, the invention provides a trailing arm suspension mechanism for a planet vehicle, which comprises a trailing arm mechanism, a driving mechanism and a folding connecting rod, wherein the upper end of the trailing arm mechanism is suitable for being rotatably connected with a vehicle body, the lower end of the trailing arm mechanism is suitable for being connected with a wheel, one end of the folding connecting rod is suitable for being rotatably connected with the vehicle body, the other end of the folding connecting rod is suitable for being rotatably connected with the trailing arm mechanism, the driving mechanism is used for controlling the folding and unfolding of the folding connecting rod, and the folding connecting rod is suitable for being folded and unfolded to drive the trailing arm mechanism to rotate around the vehicle body.
Further, the trailing arm mechanism comprises a trailing arm, a shock absorber and a lead screw frame, wherein the upper end of one of the trailing arm and the shock absorber is suitable for being rotatably connected with the lead screw frame, the upper end of the other one of the trailing arm and the shock absorber is suitable for being slidably connected with the lead screw frame, the lower end of the trailing arm is suitable for being rotatably connected with the lower end of the shock absorber, the lower end of the trailing arm is suitable for being connected with the wheel, and the lead screw frame is suitable for being rotatably connected with the vehicle body.
Furthermore, the upper end of the trailing arm is rotatably connected with one end of the screw rod frame, and the upper end of the shock absorber is suitable for being in sliding connection with the screw rod frame;
the upper end of the shock absorber is suitable for sliding between the other end of the screw rod frame and the upper end of the trailing arm.
Furthermore, the length of the trailing arm is greater than that of the shock absorber, and when the lead screw frame is rotatably connected with the vehicle body, the upper end of the trailing arm is rotatably connected with one end, close to the middle part of the vehicle body, of the lead screw frame.
Further, the lower surface of the screw rod frame is provided with a sliding groove, the upper end of the shock absorber is connected to the sliding groove in a sliding mode, and the sliding groove extends along the axis direction of the screw rod frame.
The shock absorber further comprises a connecting shaft, grooves are formed in opposite side walls of the sliding grooves, the upper end of the shock absorber is rotatably connected with the connecting shaft, and the connecting shaft is suitable for being connected into the grooves and sliding along the extending direction of the grooves;
wherein, the extending direction of the groove is the same as the extending direction of the sliding chute.
Further, the screw rod frame is suitable for being connected to the outer side of the vehicle body in a rotating mode, one end of the folding connecting rod is suitable for being connected with the screw rod frame in a rotating mode, and the other end of the folding connecting rod is suitable for being connected to the lower surface of the inner side of the vehicle body in a rotating mode.
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 lead screw frame.
The steering mechanism comprises a trailing arm, a driving joint, a steering motor and a driving motor, wherein the steering motor is arranged at the lower end of the trailing arm, the lower end of the trailing arm is suitable for being connected with the driving joint in a rotating mode, the driving joint is suitable for being connected with a wheel hub in a rotating mode, 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.
According to the trailing arm suspension mechanism for the planet vehicle, the upper end of the trailing arm mechanism is rotatably connected with the vehicle body, the lower end of the trailing arm mechanism is connected with the wheel, one end of the folding connecting rod is suitable for being rotatably connected with the vehicle body, and the other end of the folding mechanism is rotatably connected with the trailing arm mechanism, so that when the folding connecting rod is folded, the trailing arm mechanism can be pulled to the vehicle body, and the wheel can be pulled to the vehicle body due to the connection of the lower end of the trailing arm mechanism and the wheel, so that the wheel can be folded; when the wheels are required to be unfolded, the folding connecting rods are controlled to be stretched, the trailing arm mechanisms are pushed outwards, and then the wheels can rotate outwards until the wheels are completely unfolded, so that the wheels are unfolded.
The invention also provides a planet carrier comprising a trailing arm suspension mechanism for a planet carrier as described above.
The advantages of the star wheel vehicle in the invention compared with the prior art are the same as the advantages of the trailing arm suspension mechanism for the star wheel vehicle compared with the prior art, and are not described again.
Drawings
FIG. 1 is a first structural schematic diagram of a trailing arm suspension mechanism for a planet carrier in accordance with an embodiment of the present invention;
FIG. 2 is a second schematic structural diagram of a trailing arm suspension mechanism for a celestial sphere vehicle in accordance with an embodiment of the present invention;
FIG. 3 is a first schematic structural diagram of a celestial vehicle according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a star cart according to an embodiment of the present invention.
Description of reference numerals:
1-trailing arm, 11-rotating motor, 2-shock absorber, 3-screw rod frame, 31-chute, 32-groove, 4-folding connecting rod, 41-first supporting rod, 42-second supporting rod, 5-driving joint, 6-vehicle body and 7-vehicle wheel.
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 should be understood that the terms "upper", "lower", "front", "back", and the like indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and operate, and thus should not 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".
In this application, the vertical direction is the Z-axis direction, and the horizontal direction refers to the direction that a certain straight line on the XY plane indicates.
The invention provides a trailing arm suspension mechanism for a planet vehicle, which comprises a trailing arm mechanism, a driving mechanism and a folding connecting rod 4, wherein the upper end of the trailing arm mechanism is suitable for being rotatably connected with a vehicle body 6, the lower end of the trailing arm mechanism is suitable for being connected with a wheel 7, one end of the folding connecting rod 4 is suitable for being rotatably connected with the vehicle body 6, the other end of the folding connecting rod 4 is suitable for being rotatably connected with the trailing arm mechanism, the driving mechanism is used for controlling the folding and unfolding of the folding connecting rod 4, and the folding connecting rod 4 is suitable for being folded and unfolded to drive the trailing arm mechanism to rotate around the vehicle body 6.
Specifically, the two ends of the folding connecting rod 4 are provided with shaft holes, the connecting positions of the trailing arm mechanism corresponding to the folding connecting rod 4 are also provided with shaft holes, one end of the folding connecting rod 4 is connected to the trailing arm mechanism through a rotating shaft, correspondingly, the other end of the folding connecting rod 4 is connected to the vehicle body 6 in the same mode, the vehicle body 6 or the trailing arm mechanism is provided with a corresponding driving mechanism, and the driving mechanism is used for controlling the folding connecting rod 4 to fold and unfold.
Wherein, the folding connecting rod 4 is made of rigid material, and the folding connecting rod 4 has certain rigidity and strength, so that the extension of the folding connecting rod 4 can push the trailing arm mechanism to rotate outwards, thereby realizing the unfolding of the wheel 7. 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 mechanism can be limited, and the left and right rotation of the wheels 7 is limited.
The upper end of the trailing arm mechanism is rotatably connected with the vehicle body 6, the lower end of the trailing arm mechanism is connected with the wheel 7, one end of the folding connecting rod 4 is suitable for being rotatably connected with the vehicle body 6, and the other end of the folding mechanism is rotatably connected with the trailing arm mechanism, so that when the folding connecting rod 4 is folded, the trailing arm mechanism can be pulled to the vehicle body 6, and the wheel 7 can be pulled to the vehicle body 6 due to the connection of the lower end of the trailing arm mechanism and the wheel 7, so that the wheel 7 is folded; when it is desired to deploy the wheels 7, the control folding links 4 are extended, the trailing arm mechanism is pushed out and the wheels 7 are rotated outwardly until the wheels 7 are fully deployed, thereby effecting deployment of the wheels 7.
The embodiment that the trailing arm mechanism is driven to rotate around the vehicle body 6 by folding and unfolding the folding connecting rod 4 is the preferred embodiment, a connecting rod can be arranged between the vehicle body 6 and the trailing arm mechanism, one end of the connecting rod is connected with the trailing arm mechanism, the other end of the connecting rod is connected to the lower surface of the inner side of the vehicle body 6 in a sliding mode, and the trailing arm mechanism is driven to rotate by sliding on the vehicle body 6 through the connecting rod.
Preferably, the trailing arm mechanism comprises a trailing arm 1, a shock absorber 2 and a lead screw frame 3, wherein the upper end of one of the trailing arm 1 and the shock absorber 2 is suitable for being rotatably connected with the lead screw frame 3, the upper end of the other one of the trailing arm 1 and the shock absorber 2 is suitable for being slidably connected with the lead screw frame 3, the lower end of the trailing arm 1 is suitable for being rotatably connected with the lower end of the shock absorber 2, the lower end of the trailing arm 1 is suitable for being connected with the wheel 7, and the lead screw frame 3 is suitable for being rotatably connected with the vehicle body 6.
The screw frame 3 may be a rectangular structure similar to a rectangular parallelepiped as shown in fig. 1, or may be a cylindrical structure. The length of the trailing arm 1 is greater than the length of the shock absorber 2 so that after the wheel 7 is deployed, the trailing arm mechanism can be in the condition shown in figure 3, thereby facilitating the cushioning by the shock absorber 2. The upper end of the trailing arm 1 is at a distance from the upper end of the shock absorber 2 so that the upper end of the trailing arm 1 or the upper end of the shock absorber 2 slides on the lead screw frame 3.
The upper end of the drag arm 1 is rotatably connected with one end of the screw rod frame 3, and the upper end of the shock absorber 2 is slidably connected with the screw rod frame 3; and secondly, when the upper end of the shock absorber 2 is rotationally connected with one end of the screw rod frame 3, the upper end of the trailing arm 1 is connected with the screw rod frame 3 in a sliding way. The upper end of the trailing arm 1 or the shock absorber 2 slides on the screw rod frame 3, so that the included angle between the upper end of the trailing arm 1 and the screw rod frame 3 is changed, the vertical distance between the lower end of the trailing arm 1 and the screw rod frame 3 is further changed, the vertical distance between the wheel 7 and the screw rod frame 3 is further changed, and the height of the vehicle body 6 is adjusted; in addition, when the upper end of the trailing arm 1 or the shock absorber 2 slides on the screw frame 3, the lower end of the trailing arm 1 swings forwards or backwards, and the track of the two wheels 7 in the front-back direction of the planet car can be adjusted by sliding the upper end of the trailing arm 1 or the shock absorber 2 on the screw frame 3.
Optionally, the upper end of the shock absorber 2 is rotatably connected with one end of the screw rod frame 3, and the upper end of the trailing arm 1 is slidably connected with the screw rod frame 3.
When the upper end of the shock absorber 2 is rotatably connected with one end of the screw rod frame 3, the upper end of the trailing arm 1 is slidably connected with the screw rod frame 3, the upper end of the trailing arm 1 can slide between the other end of the screw rod frame 3 and the upper end of the shock absorber 2, when the upper end of the trailing arm 1 slides to the upper end of the shock absorber 2, as the lower end of the trailing arm 1 is connected with the lower end of the shock absorber 2, the upper end of the shock absorber 2 can only rotate relative to the screw rod frame 3 and can not slide on the screw rod frame 3, therefore, under the limitation of the shock absorber 2, the included angle between the trailing arm 1 and the screw rod frame 3 is reduced, the shock absorber 2 is pushed by the trailing arm 1 to swing along the direction of keeping away from the screw rod frame 3, the vertical distance between the lower end of the trailing arm 1 and the screw rod frame 3 is reduced, further, the vertical distance between the wheel 7 and the screw rod frame 3 is reduced, and the front and rear wheel distance of the planet vehicle is changed.
Wherein, be equipped with the electric push cylinder between trailing arm 1 and lead screw frame 3, the electric push cylinder is used for promoting trailing arm 1 upper end and slides on lead screw frame 3 to after adjusting the position of trailing arm 1 upper end on lead screw frame 3, die the upper end lock of trailing arm 1 on lead screw frame 3.
Preferably, the upper end of the trailing arm 1 is rotatably connected with one end of the lead screw frame 3, and the upper end of the shock absorber 2 is suitable for being slidably connected with the lead screw frame 3;
wherein the upper end of the shock absorber 2 is suitable for sliding between the other end of the lead screw frame 3 and the upper end of the trailing arm 1.
Specifically, rotate when 3 one end of trailing arm 1 upper end and lead screw frame and be connected, when 2 upper ends of bumper shock absorber and 3 sliding connection of lead screw frame, if 2 upper ends of bumper shock absorber slide to 1 upper end position of trailing arm, then 2 lower extremes of bumper shock absorber can be close to lead screw frame 3 gradually, because 2 lower extremes of bumper shock absorber rotate with 1 lower extreme of trailing arm and be connected, therefore, 1 lower extreme of trailing arm can be driven by 2 lower extremes of bumper shock absorber, 1 lower extreme of trailing arm reduces with the vertical distance of lead screw frame 3, and then make the wheel 7 reduce with the vertical distance of lead screw frame 3, thereby realize the regulation to 6 heights of automobile body. Meanwhile, the horizontal position of the wheel 7 is changed, so that the front and rear wheel tracks of the planet car are changed.
An electric pushing cylinder is arranged between the shock absorber 2 and the screw rod frame 3 and used for pushing the upper end of the shock absorber 2 to slide on the screw rod frame 3, and the upper end of the shock absorber 2 is locked on the screw rod frame 3 after the position of the upper end of the shock absorber 2 on the screw rod frame 3 is adjusted.
Preferably, the length of the trailing arm 1 is greater than that of the shock absorber 2, and when the lead screw frame 3 is rotatably connected with the vehicle body 6, the upper end of the trailing arm 1 is rotatably connected with one end of the lead screw frame 3, which is close to the middle of the vehicle body 6.
Specifically, when lead screw frame 3 and automobile body 6 rotate to be connected promptly, the one end that the automobile body 6 middle part is close to with lead screw frame 3 in the upper end of trailing arm 1 rotates to be connected, at this moment, the one side sliding connection in the middle part of automobile body 6 is kept away from with lead screw frame 3 in the upper end of bumper shock absorber 2, because wheel 7 is connected with the lower extreme of trailing arm 1, the lower extreme of bumper shock absorber 2 rotates with the lower extreme of trailing arm 1 to be connected, and trailing arm 1 length is greater than bumper shock absorber length, then in the front and back direction, wheel 7 must be located the position that leans on outward relatively for wheel distance around the planet car is great, stability is better.
As shown in fig. 3 and 4, when the upper end of the trailing arm 1 is rotatably connected with one end of the screw frame 3, the upper end of the damper 2 is slidably connected with the screw frame 3, and the upper end of the trailing arm 1 is connected with the inner side of the screw frame 3, and the upper end of the damper 2 is connected with the outer side of the screw frame 3, at the front position of the celestial body, when the upper end of the damper 2 slides backwards on the screw frame 3, under the limitation of the trailing arm 1, the lower end of the damper 2 can move forwards and upwards, the lower end of the trailing arm 1 can be driven by the lower end of the damper 2 to swing forwards and upwards, so as to cause the wheel 7 to swing forwards and upwards, at the rear position of the celestial body, when the upper end of the damper 2 slides forwards on the screw frame 3, the wheel 7 can swing backwards and upwards. Therefore, when the upper end of the shock absorber 2 slides on the screw rod frame 3 in the direction away from the middle of the vehicle body 6, the height of the vehicle body 6 can be reduced, the wheel track of the front and rear wheels 7 of the planet vehicle can be increased, and the stability of the planet vehicle is improved.
When the upper end of the shock absorber 2 is rotatably connected with one end of the screw rod frame 3, the upper end of the trailing arm 1 is slidably connected with the screw rod frame 3, the upper end of the trailing arm 1 is connected with the inner side of the screw rod frame 3, and the upper end of the shock absorber 2 is connected with the outer side of the screw rod frame 3, please refer to fig. 4, at the front side position of the planet vehicle, when the upper end of the trailing arm 1 slides forwards on the screw rod frame 3, the wheel 7 can swing forwards and upwards, and at the rear side position of the planet vehicle, when the upper end of the trailing arm 1 slides backwards on the screw rod frame 3, the wheel 7 can swing backwards and upwards. Therefore, when the upper end of the trailing arm 1 slides on the screw rod frame 3 in the direction far away from the middle of the vehicle body 6, the height of the vehicle body 6 can be reduced, the wheel track of the front and rear wheels 7 of the planet vehicle can be increased, and the stability of the planet vehicle can be improved.
In summary, when the upper end of the trailing arm 1 is connected to the inside of the screw frame 3 and the upper end of the damper 2 is connected to the outside of the screw frame 3, the height of the vehicle body 6 is reduced and the track of the front and rear wheels 7 of the vehicle body 6 is increased, so that the driving stability of the planetary vehicle is high.
Preferably, the lower surface of the screw rod frame 3 is provided with a sliding groove 31, the upper end of the shock absorber 2 is slidably connected in the sliding groove 31, and the sliding groove 31 extends along the axial direction of the screw rod frame 3.
Wherein, the axis direction of the screw frame 3 is the X-axis direction.
Specifically, the lower surface of the screw frame 3 is provided with a sliding groove 31, the thickness of the upper end of the damper 2 in the width direction of the sliding groove 31 is smaller than the width of the sliding groove 31, so that the upper end of the damper 2 can be connected in the sliding groove 31, the sliding groove 31 extends in the front-back direction, i.e., in the X-axis direction, and correspondingly, the upper end of the damper 2 can only slide in the extending direction of the sliding groove 31, i.e., in the X-axis direction. The length of the sliding chute 31 is not more than the projection length of the trailing arm 1 on the screw rod frame 3.
When the upper end of the trailing arm 1 is connected in the chute 31, the thickness of the upper end of the trailing arm 1 along the width direction of the chute 31 is smaller than the width of the chute 31, and the length of the chute 31 is not larger than the projection length of the trailing arm 1 on the screw rod frame 3.
Preferably, as shown in fig. 2, the shock absorber further comprises a connecting shaft, grooves 32 are formed on opposite side walls of the sliding groove 31, the upper end of the shock absorber 2 is rotatably connected with the connecting shaft, and the connecting shaft is adapted to be connected in the grooves 32 and is adapted to slide along the extending direction of the grooves 32;
wherein the extending direction of the groove 32 is the same as the extending direction of the sliding groove 31.
Specifically, the connecting shaft is clamped in the groove 32 and can slide in the groove 32, the upper end of the shock absorber 2 is rotatably connected with the connecting shaft, therefore, the upper end of the shock absorber 2 can slide in the groove 32 through the connecting shaft, the upper end of the shock absorber 2 connected with the connecting shaft is limited in the sliding groove 31 through the groove 32, and further, when the upper end of the shock absorber 2 slides in the sliding groove 31, the vertical distance between the upper end of the shock absorber 2 and the lead screw frame 3 is unchanged, and the position of the shock absorber 2 along the X axis is changed, therefore, the vertical distance between the lower end of the shock absorber 2 and the lead screw frame 3 is changed, the vertical distance between the lower end of the trailing arm 1 connected with the lower end of the shock absorber 2 and the lead screw frame 3 is changed, the height of the vehicle body 6 is adjusted, and the height adjusting process of the wheel 7 is a swinging process, therefore, the wheel distance of the front and rear wheels 7 of the planet vehicle can be changed, and the specific process is described above.
When 1 upper end of trailing arm and 3 sliding connection of lead screw frame, when 2 upper ends of bumper shock absorber rotate with lead screw frame 3 and be connected, likewise, 1 upper end of trailing arm rotates with the connecting axle to be connected, the connecting axle is located in the recess 32, when 1 upper end of trailing arm slides in spout 31, the wheel track of 6 rear wheels 7 before automobile body and the planet car also can change, concrete principle is similar with the above-mentioned principle of adjusting through 2 upper ends of bumper shock absorber slip, the course of motion has also been introduced earlier, consequently, this is no longer repeated.
The above-mentioned arrangement of the slide groove 31 on the lead screw frame 3 is a preferred embodiment, and a guide rail may be further arranged on the lead screw frame 3, and the similar effect to the above-mentioned embodiment is achieved by sliding the upper end of the shock absorber 2 or the upper end of the trailing arm 1 on the guide rail.
Preferably, as shown in fig. 3 and 4, the wire bar frame 3 is adapted to be rotatably coupled to the outside of the vehicle body 6, and the folding link 4 has one end adapted to be rotatably coupled to the wire bar frame 3 and the other end adapted to be rotatably coupled to the lower surface of the inside of the vehicle body 6.
The outside of the vehicle body 6 refers to the edge positions on the left and right sides of the vehicle body 6, and the inside of the vehicle body 6 refers to the position between the left and right sides of the vehicle body 6.
Specifically, referring to fig. 3 and 4, the screw frame 3 is connected to the edge positions of the left and right sides of the vehicle body 6, one end of the folding connecting rod 4 is connected to the screw frame 3, and the other end of the folding connecting rod is connected to the lower surface of the vehicle body 6 between the two screw frames 3 opposite to each other, so that the folding connecting rod 4 can pull the screw frame 3 to rotate towards the inner side of the vehicle body 6, and further the wheel 7 is folded towards the inner side of the wheel 7.
In application, the screw frame 3 can also be arranged on the inner side of the vehicle body 6, and only the folding connecting rod 4 connected with the screw frame 3 is required to be positioned at a more inner side position, namely, the folding connecting rod 4 is rotatably connected to the lower surface of the inner side of the vehicle body 6 relative to the screw frame 3, so that the folding connecting rod 4 can pull the screw frame 3 to rotate towards the inner side of the vehicle body 6.
Preferably, as shown in fig. 1 to 3, 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 6, and the other end of the second strut 42 is adapted to be connected to the wire frame 3.
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 wire rod frame 3 is realized through the first strut 41 and the second strut 42, so as to fold the wheel 7. 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 6.
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 screw rod frame 3 to rotate towards the inner side of the vehicle body 6, and the folding connecting rod 4 can be self-locked when being at the maximum length.
Preferably, as shown in fig. 1, the steering device further comprises a driving joint 5, a steering motor 11 and a driving motor, wherein the steering motor 11 is arranged at the lower end of the trailing arm 1, the lower end of the trailing arm 1 is suitable for being rotatably connected with the driving joint 5, the driving joint 5 is suitable for being rotatably connected with a wheel hub, the driving motor is arranged on the driving joint 5, the steering motor 11 is used for driving the driving joint 5 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 11 is arranged on the trailing arm 1, the driving joint 5 is arranged between the steering motor 11 and the wheel hub, the steering motor 11 is used for driving the driving joint 5 to rotate, and the driving joint 5 is connected with the wheel hub, so that the driving joint 5 rotates to drive the wheel 7 to rotate, and the wheel 7 is driven to rotate around the kingpin by the steering motor 11, wherein the kingpin refers to a rotation axis of the wheel 7 during steering. The driving joint 5 is rotatably connected with the wheel hub, a driving motor is arranged on the driving joint 5, and the driving motor is used for driving the wheel 7 to rotate so as to drive the vehicle body 6 to move.
The invention also provides a planet carrier, which comprises the trailing arm suspension mechanism for the planet carrier.
The advantages of the planet carrier of the invention over the prior art are the same as the advantages of the trailing arm suspension mechanism for the planet carrier over the prior art and are not described herein 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 (9)
1. A trailing arm suspension mechanism for a planet vehicle is characterized by comprising a trailing arm mechanism and a folding connecting rod (4), wherein the upper end of the trailing arm mechanism is suitable for being rotatably connected with a vehicle body (6), the lower end of the trailing arm mechanism is suitable for being connected with a wheel (7), one end of the folding connecting rod (4) is suitable for being rotatably connected with the vehicle body (6), the other end of the folding connecting rod (4) is suitable for being rotatably connected with the trailing arm mechanism, and the folding connecting rod (4) is suitable for being folded and unfolded to drive the trailing arm mechanism to rotate around the vehicle body (6); the lead screw frames (3) are connected to the edge positions of the left side and the right side of the vehicle body (6), one end of the folding connecting rod (4) is connected with the lead screw frames (3), and the other end of the folding connecting rod is connected to the lower surface of the vehicle body (6) between the left lead screw frame and the right lead screw frame (3), so that the folding connecting rod (4) can pull the lead screw frames (3) to rotate towards the inner side direction of the vehicle body (6);
the trailing arm mechanism comprises a trailing arm (1), a shock absorber (2) and a screw rod frame (3), the lower end of the trailing arm (1) is suitable for being rotatably connected with the lower end of the shock absorber (2), the lower end of the trailing arm (1) is suitable for being connected with a wheel (7), the screw rod frame (3) is suitable for being rotatably connected with the vehicle body (6), the upper end of the trailing arm (1) is suitable for being rotatably connected with the screw rod frame (3), the upper end of the shock absorber (2) is suitable for being slidably connected with the screw rod frame (3), an electric pushing cylinder is arranged between the shock absorber (2) and the screw rod frame (3), and is used for pushing the upper end of the shock absorber (2) to slide on the screw rod frame (3) and locking the upper end of the shock absorber (2) on the screw rod frame (3) after the position of the upper end of the shock absorber (2) on the screw rod frame (3) is adjusted; or the upper end of the shock absorber (2) is suitable for being connected with the screw rod frame (3) in a rotating mode, the upper end of the trailing arm (1) is suitable for being connected with the screw rod frame (3) in a sliding mode, an electric pushing cylinder is arranged between the trailing arm (1) and the screw rod frame (3) and used for pushing the upper end of the trailing arm (1) to slide on the screw rod frame (3), and the upper end of the trailing arm (1) is locked on the screw rod frame (3) after the position of the upper end of the trailing arm (1) on the screw rod frame (3) is adjusted.
2. The trailing arm suspension mechanism for a celestial vehicle according to claim 1, wherein the upper end of the trailing arm (1) is rotatably connected to one end of the lead screw frame (3), and the upper end of the shock absorber (2) is adapted to be slidably connected to the lead screw frame (3);
wherein the upper end of the shock absorber (2) is suitable for sliding between the other end of the screw rod frame (3) and the upper end of the trailing arm (1).
3. The trailing arm suspension for a planet carrier according to claim 2, wherein the trailing arm (1) has a length greater than the shock absorber (2), and wherein the upper end of the trailing arm (1) is pivotally connected to the end of the mast frame (3) adjacent the middle of the body (6) when the mast frame (3) is pivotally connected to the body (6).
4. The trailing arm suspension mechanism for a star vehicle according to claim 2, characterized in that the lower surface of the lead frame (3) is provided with a slide groove (31), the upper end of the shock absorber (2) is slidably connected in the slide groove (31), and the slide groove (31) extends in the axial direction of the lead frame (3).
5. The trailing arm suspension mechanism for a celestial vehicle according to claim 4, further comprising a connecting shaft, wherein grooves (32) are provided on opposite side walls of the sliding groove (31), and an upper end of the shock absorber (2) is rotatably connected to the connecting shaft, and the connecting shaft is adapted to be coupled in the grooves (32) and to slide in an extending direction of the grooves (32);
wherein the extending direction of the groove (32) is the same as the extending direction of the sliding chute (31).
6. The trailing arm suspension mechanism for a celestial vehicle according to claim 1, wherein said lead frame (3) is adapted to be rotatably connected to an outer side of said vehicle body (6), and said folding link (4) has one end adapted to be rotatably connected to said lead frame (3) and the other end adapted to be rotatably connected to a lower surface of an inner side of said vehicle body (6).
7. A trailing arm suspension mechanism for a celestial vehicle according to claim 6, wherein said folding linkage (4) comprises a first strut (41) and a second strut (42), one end of said first strut (41) being rotatably connected to one end of said second strut (42), the other end of said first strut (41) being adapted to be connected to said vehicle body (6), the other end of said second strut (42) being adapted to be connected to said lead frame (3).
8. The trailing arm suspension mechanism for the star cart according to any one of claims 1 to 7, further comprising a driving joint (5), a steering motor (11), and a driving motor, wherein the steering motor (11) is disposed at a lower end of the trailing arm (1), the lower end of the trailing arm (1) is adapted to be rotatably connected to the driving joint (5), the driving joint (5) is adapted to be rotatably connected to a wheel hub, the driving motor is disposed on the driving joint (5), the steering motor (11) is configured to drive the driving joint (5) to swing so as to achieve steering of the wheel (7), and the driving motor is configured to drive the wheel (7) to roll.
9. A celestial vehicle comprising a trailing arm suspension mechanism for a celestial vehicle as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202011377929.8A CN112441258B (en) | 2020-11-30 | 2020-11-30 | A trailing arm suspension mechanism and planet car for planet car |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011377929.8A CN112441258B (en) | 2020-11-30 | 2020-11-30 | A trailing arm suspension mechanism and planet car for planet car |
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| CN112441258A CN112441258A (en) | 2021-03-05 |
| CN112441258B true CN112441258B (en) | 2023-02-03 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN201249818Y (en) * | 2008-08-07 | 2009-06-03 | 北京工业大学 | Self-balancing type six-wheel independent driving robot |
| CN101704416B (en) * | 2009-11-20 | 2013-06-05 | 河南科技大学 | Lunar vehicle |
| CN203293846U (en) * | 2013-05-29 | 2013-11-20 | 浙江理工大学 | Amphibious vehicle suspension frame folding and unfolding mechanism |
| CN104354878B (en) * | 2014-11-03 | 2016-05-18 | 哈尔滨工业大学 | Transverse annular damping longitudinal spring damping mixing carriage |
| CN107651036B (en) * | 2017-10-10 | 2021-05-04 | 深圳市普渡科技有限公司 | Robot with adjustable chassis |
| CN108357698A (en) * | 2018-04-10 | 2018-08-03 | 上海海洋大学 | A kind of novel Marsokhod |
| 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 |
| CN110104092A (en) * | 2019-05-21 | 2019-08-09 | 哈尔滨工业大学 | A kind of wheel of composite hanger swing arm six walking robot chassis |
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