CN113022889B - Wheel-step composite planetary inspection vehicle and walking method - Google Patents
Wheel-step composite planetary inspection vehicle and walking method Download PDFInfo
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- CN113022889B CN113022889B CN202110367209.1A CN202110367209A CN113022889B CN 113022889 B CN113022889 B CN 113022889B CN 202110367209 A CN202110367209 A CN 202110367209A CN 113022889 B CN113022889 B CN 113022889B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
The invention provides a wheel-stepping compound planet inspection vehicle and a walking method, and relates to the technical field of planet inspection vehicles, wherein the wheel-stepping compound planet inspection vehicle comprises a vehicle body, a locking mechanism and a plurality of wheel leg assemblies, and each wheel leg assembly comprises a wheel body, a swinging assembly, a steering assembly and a suspension arm; the suspension arm is respectively connected with the vehicle body and the steering assembly in a rotating mode, the locking mechanism is arranged between the suspension arm and the vehicle body, and the locking mechanism is suitable for locking or unlocking the suspension arm according to the swing amplitude of the suspension arm relative to the vehicle body; the steering assembly is connected with the swinging assembly in a driving mode to drive the swinging assembly to rotate in a first direction, one end, far away from the steering assembly, of the swinging assembly is connected with the wheel body to swing in a second direction through the driving wheel body, and the first direction and the second direction are at a first preset angle. According to the wheel-step composite planetary inspection vehicle, leg walking can be achieved through the combination of the steering assembly and the swinging assembly, wheel walking can be achieved through the rotation of the wheel body, and the leg walking and the wheel walking can be switched freely through the locking mechanism.
Description
Technical Field
The invention relates to the technical field of planet exploration, in particular to a wheel-stepping composite planet inspection vehicle and a walking method.
Background
For example, the earth surface of extraterrestrial planets of mars is complex and changeable, and when the planet patrol vehicle encounters sunk ground, rugged terrain or soft ground in the patrol process, the planet patrol vehicle is easy to block, if the planet patrol vehicle cannot get rid of the trouble in time, the patrol work is seriously influenced, and the difficulty of planet patrol is increased.
Disclosure of Invention
The invention aims to provide a wheel-step composite planetary patrol vehicle to solve the technical problem that the conventional planetary patrol vehicle is poor in walking adaptability.
In order to achieve the purpose, the technical scheme of the invention is as follows:
a wheel-stepping compound planetary inspection vehicle comprises a vehicle body, a locking mechanism and a plurality of wheel leg assemblies, wherein each wheel leg assembly comprises a wheel body, a swinging assembly, a steering assembly and a suspension arm; the suspension arm is respectively connected with the vehicle body and the steering assembly in a rotating mode, the locking mechanism is arranged between the suspension arm and the vehicle body, and the locking mechanism is suitable for locking or unlocking the suspension arm according to the swinging amplitude of the suspension arm relative to the vehicle body;
the steering assembly is in driving connection with the swinging assembly to drive the swinging assembly to rotate in a first direction, one end of the swinging assembly, which is far away from the steering assembly, is connected with the wheel body to drive the wheel body to swing in a second direction, and the first direction and the second direction are at a first preset angle.
According to the wheel-step composite planetary inspection vehicle, leg-type walking is realized through the combined action of the steering assembly and the swinging assembly, the vehicle smoothly passes through an obstacle area, the rotating direction of the steering assembly and the swinging direction of the swinging assembly are respectively positioned in different directions, compared with two swinging assemblies in the same direction, the wheel body of the vehicle can realize a stepping function based on rotation, and wheel-type walking is realized through the rotation of the wheel body; and can be according to the swing of suspension arm relative car body with locking or unblock suspension arm for the compound planet of wheel step inspection vehicle can switch between leg walking and wheeled walking, with different topography of adaptation better, can cushion the jolt because of the uneven ground brings through the swing of suspension arm when wheeled walking, and the stationarity is good, and the suitability is strong.
Optionally, the steering assembly includes a steering motor and a steering arm, the steering motor is mounted on the suspension arm, the steering arm includes a horizontal portion and a vertical portion, an output end of the steering motor is rotatably connected to the horizontal portion of the steering arm about a second axis, the vertical portion of the steering arm is adapted to be connected to the swing assembly, and the steering motor is adapted to drive the swing assembly to rotate about the second axis through the steering arm.
Optionally, the swing subassembly with turn to the subassembly and rotate around the third axis and be connected, the swing subassembly includes swing arm and swing arm motor, the swing arm motor is installed on the vertical portion of steering arm, the output of swing arm motor with the swing arm is wound the swing of third axis is connected, the swing arm still with the pivot of taking turns the body is connected, the swing arm motor is suitable for to pass through the swing arm drives the wheel body winds the swing of third axis, the third axis with the second axis is perpendicular relatively.
Optionally, the suspension arm is rotatably connected to the vehicle body about a first axis, and the second axis is perpendicular to the first axis.
Optionally, the wheel-stepping compound planetary patrol vehicle further comprises a first rotating shaft, at least two wheel leg assemblies are respectively arranged on two sides of the vehicle body, two adjacent suspension arms of the wheel leg assemblies located on the same side are connected, the two connected suspension arms are rotatably connected with the vehicle body at a joint through the first rotating shaft, and the first rotating shaft is further rotatably connected with one locking mechanism.
Optionally, the locking mechanism comprises two triggering devices, a transmission device and a locking device, one triggering device is arranged above each two adjacent wheel leg assemblies, the triggering devices are connected with the locking device through the transmission device, and the triggering devices are suitable for driving the locking device to lock or unlock through the transmission device; when any one of the triggering devices is triggered, the locking device realizes locking or unlocking of the relative position of the suspension arm and the vehicle body.
Optionally, the triggering device comprises a third rod, the third rod is positioned above the suspension arm, and the third rod is suitable for being in contact with the wheel leg assembly, so that the transmission device drives the locking device to lock or unlock the suspension arm.
Optionally, the transmission device includes a swinging member and two pushing rods, each third rod is connected to one of the pushing rods, the third rods and the pushing rods are arranged at a second preset angle, at least one of contact end surfaces of the third rods and the pushing rods is provided with a first inclined surface structure, the pushing rods are suitable for contacting with the swinging member, the swinging member is mounted on the vehicle body, and the swinging member is connected to the locking device in a swinging manner;
when the wheel leg assembly swings to be in contact with the third rod piece, the third rod piece is suitable for driving the pushing rod to move through the first inclined surface structure so as to push the swinging piece to swing, and the swinging piece swings so as to drive the locking device to unlock or lock the suspension arm.
Optionally, the locking device includes a toothed wheel structure, a first sleeve, a first rod, and a second rod, the first rod is located below the oscillating member, the first rod and the second rod are coaxially disposed and both penetrate through the first sleeve, the first sleeve is fixed on the vehicle body, one end of the first rod close to the oscillating member is adapted to be in contact with or separated from a cam groove on the oscillating member, one end of the second rod close to the first rod is provided with a first end face gear, one end of the second rod far from the first rod is provided with a toothed wheel structure, and the toothed wheel structure is rotationally connected with the first rotating shaft;
when the swinging piece swings to the state that the first rod piece is separated from the cam groove, the first rod piece moves towards the second rod piece so as to enable the first rod piece to be in contact with the first end face gear, and the other end of the second rod piece is clamped into the toothed wheel structure so as to limit the rotation of the toothed wheel structure.
The invention also aims to provide a walking method of the wheel-step compound planet inspection vehicle, which adopts the wheel-step compound planet inspection vehicle and comprises the following steps:
when the wheel leg assembly of the wheel-step composite planetary inspection vehicle travels to an obstacle, a suspension arm of the wheel-step composite planetary inspection vehicle is locked with the vehicle body; the swinging assembly of the wheel leg assembly drives the wheel body of the wheel step composite planetary patrol vehicle to swing backwards around a third axis; the steering assembly of the wheel-step compound planet inspection vehicle drives the swinging assembly to rotate forwards around the second axis; the swing assembly swings to lift the vehicle body to an initial height, so that the wheel step composite planetary patrol vehicle passes through the obstacle;
when the wheel-step compound planet inspection vehicle travels to a smooth ground, the wheel body rotates to drive the vehicle body to move.
Drawings
FIG. 1 is a schematic perspective view of a wheel step compound planetary inspection vehicle according to an embodiment of the present invention;
FIG. 2 is an enlarged schematic view at A in FIG. 1;
FIG. 3 is a cross-sectional view of FIG. 1;
FIG. 4 is an enlarged schematic view at B of FIG. 3;
FIG. 5 is an enlarged schematic view at C of FIG. 3;
FIG. 6 is an enlarged schematic view at D of FIG. 3;
fig. 7 is an enlarged schematic view at E in fig. 6.
Description of reference numerals:
1. a wheel leg assembly; 2. a suspension arm; 3. a steering assembly; 31. a steering motor; 32. a steering arm; 4. a swing assembly; 41. a swing arm motor; 42. swinging arms; 5. a wheel body; 6. a locking mechanism; 61. a trigger device; 611. a third bar member; 62. a transmission device; 621. a swinging member; 6211. a cam slot; 622. a push rod; 6221. a first bevel structure; 63. a locking device; 631. a toothed wheel structure; 632. a first sleeve; 633. a first bar member; 634. a second bar member; 6341. a first face gear; 7. a vehicle body; 8. a first rotating shaft.
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 noted that terms such as "upper", "lower", "front", "rear", and the like in the embodiments indicate orientation words, which are used for simplifying the description of positional relationships based on the drawings of the specification, and do not represent that elements, devices, and the like which are referred to must operate according to specific orientations and defined operations and methods, configurations in the specification, and such orientation terms do not constitute limitations of the present invention.
Herein, a coordinate system XYZ is provided, wherein a forward direction of the X-axis represents a left direction, a reverse direction of the X-axis represents a right direction, a forward direction of the Y-axis represents a front direction, a reverse direction of the Y-axis represents a rear direction, a forward direction of the Z-axis represents an upper direction, and a reverse direction of the Z-axis represents a lower direction.
As shown in fig. 1, the wheel-stepping compound planetary patrol vehicle according to the embodiment of the present invention includes a vehicle body 7, a locking mechanism 6, and a plurality of wheel leg assemblies 1, where each wheel leg assembly 1 includes a wheel body 5, a swing assembly 4, a steering assembly 3, and a suspension arm 2; the suspension arm 2 is respectively connected with the vehicle body 7 and the steering assembly 3 in a rotating manner, the locking mechanism 6 is arranged between the suspension arm 2 and the vehicle body 7, and the locking mechanism 6 is suitable for locking or unlocking the suspension arm 2 according to the swinging amplitude of the suspension arm 2 relative to the vehicle body 7;
the steering assembly 3 is in driving connection with the swinging assembly 4 to drive the swinging assembly 4 to rotate in a first direction, the swinging assembly 4 is far away from one end of the steering assembly 3 and the wheel body 5 are connected to drive the wheel body 5 to swing in a second direction, and the first direction and the second direction are at a first preset angle.
In the present embodiment, the suspension arm 2 is disposed along the side wall of the vehicle body 7, one end of the suspension arm 2 and the vehicle body 7 rotate around a first axis (an L1 axis shown in fig. 2), the other end of the suspension arm 2 rotates with the steering assembly 3, the steering assembly 3 drives the swinging assembly 4 to rotate in a first direction, the swing component 4 drives the wheel body 5 to swing in a second direction, the first direction and the second direction can form different angles such as 30 degrees, 90 degrees and the like, and are preferably arranged at 90 degrees, the first direction is a horizontal direction (namely, a plane direction defined by an X axis-Y axis), the second direction is a front-back direction (namely, a plane direction defined by a Y axis and a Z axis), and the position of the wheel body 5 relative to the vehicle body 7 is adjusted from different directions, so that the moving range of the wheel body is enlarged. The steering assembly 3 and the swing assembly 4 are combined to realize leg lifting and stepping based on steering.
The wheel body 5 is provided with a driving motor, the driving motor can drive the wheel body 5 to rotate so as to realize wheel type movement, the steering assembly 3 and the swinging assembly 4 are respectively provided with a steering motor 31 and a swinging arm motor 41, namely each wheel leg assembly 1 is provided with three motors, and under the condition of meeting the movement requirement, the use number of the motors is reduced as far as possible.
When the swing range of the suspension arm 2 reaches a certain degree, the locking mechanism 6 is triggered to lock the suspension arm 2, at the moment, the wheel-walking compound planetary inspection vehicle travels in a leg mode, the swing component 4 swings backwards (in the negative direction of the Y axis), the vehicle body 7 descends to a certain height integrally, then the steering component 3 drives the swing component 4 to rotate forwards (in the positive direction of the Y axis) by 180 degrees and touch the ground, then the swing component 4 swings to a vertical state, at the moment, the vehicle body 7 is lifted and restored to a normal height, and the forward walking process is completed; when the swing range of the suspension arm exceeds the range, the locking mechanism 6 unlocks the suspension arm 2, jolts caused by wheel type walking can be relieved to a certain extent by utilizing the up-and-down swing of the suspension arm 2, and the walking stability of the wheel-step composite planetary inspection vehicle is improved.
When more than two wheel leg assemblies 1 are arranged, wheel type walking and leg type walking can be combined at the same time of walking, namely part of the wheel leg assemblies 1 adopt wheel type walking, and part of the wheel leg assemblies adopt leg type walking.
When walking to narrower road conditions, be located car body 7 both sides the usable subassembly 3 that turns to of wheel body 5 turns to 180, makes wheel body 5 is located car body 7's below, the distance between the wheel body 5 of the left and right sides reduces, and the compound planet of round step tour car smoothly passes through narrower section. Of course, the rotation angle of the wheel body 5 may be other angles, which are not described in detail herein and can be selected according to actual situations.
Alternatively, as shown in fig. 2, the steering assembly 3 includes a steering motor 31 and a steering arm 32, the steering motor 31 is mounted on the suspension arm 2, the steering arm 32 includes a horizontal portion and a vertical portion, an output end of the steering motor 31 is rotatably connected with the horizontal portion of the steering arm 32 about a second axis (an L2 axis shown in fig. 2), the vertical portion of the steering arm 32 is adapted to be connected with the swing assembly 4, and the steering motor 31 is adapted to rotate the swing assembly 4 about the second axis (an L2 axis shown in fig. 2) via the steering arm 32.
In this embodiment, the steering arm 32 is L-shaped, the steering motor 31 drives the swing assembly 4 to rotate through the steering arm 32 of the L-shaped, the steering arm 32 is perpendicular to the side wall of the vehicle body 7, the horizontal part of the steering arm 32 is arranged along the direction shown by the X axis, and the vertical part of the steering arm 32 is arranged along the direction shown by the Z axis. The suspension arm 2 is rotatably connected to the vehicle body 7 about a first axis (an L1 axis shown in fig. 2), and the second axis (an L2 axis shown in fig. 2) is relatively perpendicular to the first axis (an L1 axis shown in fig. 2).
If the steering motor 31 is directly installed right above the swing arm motor 41 of the swing assembly 4, on one hand, upward swinging and folding of the swing assembly 4 cannot be realized, which will cause a defect in use because the launching platform is bound with the body 7 and the wheel body 5 of the wheel-step compound planetary patrol car before launching, and if the wheel body 5 cannot be folded on the chassis of the wheel-step compound planetary patrol car (here, folded on the side wall of the body 7), the wheel body 5 cannot be bound, and the wheel leg assembly 1 may be damaged due to vibration during launching; on the other hand, the distance between the two opposite wheel bodies 5 on the left and right sides cannot be adjusted, and thus the requirement of the narrow road condition cannot be met, and in this embodiment, the steering motor 31 drives the horizontal part of the steering arm 32 to rotate 180 °, so that the swing assembly 4 rotates towards the inner side of the vehicle body 7, and then the distance between the two opposite wheel bodies 5 on the left and right sides can be changed, and the purpose of the narrow road condition is achieved.
Alternatively, as shown in fig. 2, the swing assembly 4 is rotatably connected to the steering assembly 3 about a third axis (an L3 axis shown in fig. 2), the swing assembly 4 includes a swing arm 42 and a swing arm motor 41, the swing arm motor 41 is mounted on a vertical portion of the steering arm 32, an output end of the swing arm motor 41 is connected to the swing arm 42 about the third axis (an L3 axis shown in fig. 2), the swing arm 42 is further connected to a rotating shaft of the wheel body 5, and the swing arm motor 41 is adapted to drive the wheel body 5 to swing about the third axis (an L3 axis shown in fig. 2) through the swing arm 42, and the third axis (an L3 axis shown in fig. 2) is perpendicular to the second axis (an L2 axis shown in fig. 2).
In this embodiment, the swing arm motor 41 is installed on the vertical portion of the steering arm 32, the swing arm motor 41 is connected to the wheel body 5 through the swing arm 42, the swing arm 42 is in an inverted L shape, the horizontal portion of the swing arm 42 along the Y axis is connected to the swing arm motor 41, the vertical portion of the swing arm 42 along the Z axis is connected to the driving motor of the wheel body 5, and the driving motor of the wheel body 5 is connected to the rotation shaft of the wheel body 5.
The steering component 3 and the swinging component 4 drive the wheel body 5 to swing firstly and then rotate so as to realize the stepping effect, and drive the rotating wheel body 5 to climb out of a soft ground, on the contrary, under the soft ground, if only the wheel body 5 rotates, the slipping phenomenon can occur, and the embodiment can well solve the problem.
During storage and transportation, the swing assembly 4 swings around a third axis (an L3 axis shown in fig. 2) so that the wheel body 5 is located on the side wall of the vehicle body 7.
Optionally, as shown in fig. 1, a first rotating shaft 8 is further included, at least two wheel leg assemblies 1 are respectively disposed on two sides of the vehicle body 7, the suspension arms 2 of two adjacent wheel leg assemblies 1 located on the same side are connected, the two connected suspension arms 2 are rotatably connected to the vehicle body 7 at a connection point through the first rotating shaft 8, and the locking mechanism 6 is further rotatably connected to the first rotating shaft 8.
In this embodiment, three wheel-leg assemblies 1 are respectively disposed on the left and right sides of the vehicle body 7, the suspension arms 2 of the two wheel-leg assemblies 1 near the front in the left side are connected, the two connected suspension arms 2 share one locking mechanism 6, and the locking mechanism 6 is rotatably connected to a first rotating shaft 8 connecting the two connected suspension arms 2; the situation on the right side is similar and is not described again; the remaining two suspension arms 2 of the left and right wheel-leg assemblies 1 are connected to share a locking mechanism.
Alternatively, as shown in fig. 3, the locking mechanism 6 comprises two triggering devices 61, a transmission device 62 and a locking device 63, one triggering device 61 is arranged above each two adjacent wheel leg assemblies 1, the triggering device 61 is connected with the locking device 63 through the transmission device 62, and the triggering device 61 is adapted to drive the locking device 63 to lock or unlock through the transmission device 62; when any one of the triggering devices 61 is triggered, the locking device 63 locks or unlocks the relative position of the suspension arm 2 and the vehicle body 7.
In this embodiment, the raising of one of the two wheel bodies 5 corresponding to the same locking mechanism 6 by means of two triggering devices 61 causes the lifting of the relative component to trigger the triggering devices 61, the action of said triggering devices 61 being transmitted exclusively to the locking devices 63 by means of the transmission 62, said locking devices 63 effecting the locking of the relative position of the suspension arm 2 and the vehicle body 7. The triggering device 61 may be located right above any one of the suspension arm 2, the swing arm 42, or the wheel body 5, and when the road is rough, the wheel body 5 lifts the triggering device 61; or the wheel body 5 is lifted to drive the swing arm 42 to swing upwards so as to trigger the trigger device 61; or the wheel body 5 is lifted, and the suspension arm 2 is driven to lift through the swinging assembly 4 and the steering assembly 3 which are connected in sequence so as to trigger the trigger device 61.
Alternatively, as shown in fig. 4, the triggering device 61 includes a third rod 611, the third rod 611 is located above the suspension arm 2, and the third rod 611 is adapted to contact with the wheel-leg assembly 1, so that the transmission device 62 drives the locking device 63 to lock or unlock the suspension arm 2.
In this embodiment, the end of the third rod 611 is further connected with a disc-shaped structure, which is more convenient to trigger in contact than a rod shape, when the third rod 611 contacts one of the suspension arm 2, the swing arm 42 and the wheel body 5, the third rod 611 can be triggered; the third rod 611 is located in the fixing seat, and a third spring is connected between the third rod 611 and the fixing seat, when the third rod 611 is triggered, the third rod 611 moves upward (in a direction shown by the positive direction of the Z axis) relative to the fixing seat, and transmits the motion to the transmission device; when the trigger is released, the third rod 611 can be conveniently reset by the third spring.
Optionally, as shown in fig. 4 and 6, the transmission device 62 includes a swinging member 621 and two pushing rods 622, each of the third rod members 611 is connected to one of the pushing rods 622, the third rod members 611 and the pushing rods 622 are arranged at a second predetermined angle, at least one of the contact end surfaces of the third rod members 611 and the pushing rods 622 is provided with a first inclined surface structure 6221, the pushing rods 622 are adapted to contact the swinging member 621, the swinging member 621 is mounted on the vehicle body 7, and the swinging member 621 is connected to the locking device 63 in a swinging manner;
when any one of the suspension arm 2, the swing arm 42 and the wheel body 5 swings to contact with the third rod member 611, the third rod member 611 is adapted to drive the pushing rod 622 to move through the first slope structure 6221 so as to push the swinging member 621 to swing, and the swinging member 621 swings so as to drive the locking device 63 to unlock or lock the suspension arm.
In this embodiment, in order to ensure that the swinging member 621 can rotate when the two pushing rods 622 push the swinging member 621 at the same time (at this time, the wheel bodies 5 of the two wheel leg assemblies 1 corresponding to the two pushing rods 622 are at the low position at the same time), the axes of the two pushing rods 622 do not coincide; each of the pushing rods 622 can be disposed at 90 °, 60 °, etc., and is typically disposed at 90 °, and the acting force of the third rod 611 is transmitted to the pushing rods 622 through the first slope structure 6221, and the direction of the force is changed, although the number of the pushing rods 622 is not limited, and may be one or more, as shown in fig. 3, when the two wheel leg assemblies 1 corresponding to the locking mechanism 6 are located at the same side, the pushing rod 622 of the locking mechanism 6 is an L-shaped rod; when the two corresponding wheel leg assemblies 1 of the locking mechanism 6 are located on different sides (i.e. one left and one right), the pushing rod 622 of the locking mechanism 6 is a straight rod.
For the convenience of resetting, a fourth spring may be disposed on the pushing rod 622, the pushing rod 622 pushes the side wall of the swinging member 621 to drive the swinging member 621 to swing in a third direction, the third direction is also the plane direction defined by the Y axis and the Z axis, and the swinging member 621 swings to drive the locking device 63 to move. The shape of the oscillating member 621 is not limited herein.
In another embodiment, the oscillating member 621 can be eliminated, and the pushing force of the pushing rod 622 is directly transmitted to the locking device 63.
Optionally, as shown in fig. 5 to 7, the locking device 63 includes a toothed wheel structure 631, a first sleeve 632, a first rod member 633 and a second rod member 634, the first rod member 633 is located below the oscillating member 621, the first rod member 633 and the second rod member 634 are coaxially disposed and are all disposed through the first sleeve 632, the first sleeve 632 is fixed on the vehicle body 7, the first rod member 633 is adapted to contact with or disengage from a cam groove 6211 on the oscillating member 621 at an end close to the oscillating member 621, the second rod member 634 is provided with a first end face gear 6341 at an end close to the first rod member 633, the second rod member 634 is provided with a toothed wheel structure 631 at an end far from the first rod member 633, and the toothed wheel structure 631 is rotatably connected to the first rotating shaft 8;
when the swinging member 621 swings until the first lever 633 is disengaged from the cam groove 6211, the first lever 633 moves closer to the second lever 634 to make the first lever 633 contact with the first end face gear 6341, and the other end of the second lever 634 is snapped into the toothed wheel structure 631 to restrict the toothed wheel structure 631 from rotating.
In this embodiment, the first rod member 633 and the second rod member 634 are both slidably connected to the first sleeve 632, so that the first sleeve 632 can limit the moving direction of the first rod member 633 and the second rod member 634 to some extent, and prevent the first rod member 633 and the second rod member 634 from generating an excessive position deviation during the action; the first rod member 633 is positioned right below the oscillating member 621, the oscillating member 621 is provided with a cam groove 6211 at one end close to the first rod member 633, and the oscillating of the oscillating member 621 causes the first rod member 633 to be inserted into or detached from the cam groove 6211; the first end face gear 6341 is located at the upper end of the second bar member 634, and the teeth thereof are disposed toward the first bar member 633, as shown in fig. 7, when the upper end of the first bar member 633 is disengaged from the cam groove 6211, the lower end of the first bar member 633 is inserted into the first end face gear 6341 of the second bar member 634 (at this time, the first bar member 633 and the second bar member 634 are disengaged from the first sleeve 632), so as to drive the second bar member 634 to rotate by a certain angle.
Of course, in other embodiments, the first bar 633 may be provided with a second end face gear at an end near the second bar 634, and the first bar 633 and the second bar 634 are engaged with each other through a spline to transmit force, similar to the structure of the first end face gear 6341.
The first rod 633 is connected with the first sleeve 632 through a first spring, the second rod 634 is connected with the first sleeve 632 through a second spring, and the first rod 633 and the second rod 634 are respectively reset through the first spring and the second spring.
On the basis of the above embodiment, the walking method of the wheel-step compound planetary patrol vehicle according to another embodiment of the present invention adopts the wheel-step compound planetary patrol vehicle,
when passing obstacles, the walking process of the wheel step composite planet patrol vehicle comprises the following steps:
s11: when the wheel leg assembly 1 of the wheel-step compound planetary inspection vehicle travels to an obstacle, the suspension arm 2 of the wheel-step compound planetary inspection vehicle is locked with the vehicle body 7 through the locking mechanism 6;
s12: the swinging component 4 of one of the wheel leg components 1 drives the wheel body 5 of the wheel step compound planetary patrol vehicle to swing forwards around a third axis (an L3 axis shown in FIG. 2);
s13: the other swing assemblies of the wheel leg assemblies 1 drive the corresponding wheel bodies 5 to swing backwards, and at the moment, the whole vehicle body 7 descends to a certain height;
s14: the steering assembly 3 of the wheel leg assembly 1 in S13 drives the swinging assembly 4 to move forward around the second axis (the L2 axis shown in fig. 2) to a third preset position until all the wheel bodies 5 of the wheel leg assembly 1 complete the forward swinging;
s15: all swing subassembly 4 swings simultaneously and the lifting car body 7 is to initial height, and this moment the compound planet of round steps tours the car and accomplishes the obstacle.
In the leg walking, the rotation of the wheel body 5 may be simultaneously combined, and the leg walking and the wheel walking may be skillfully combined to pass through a soft ground.
When the wheel-step compound planet inspection vehicle walks to a smooth ground, the suspension arm 2 and the vehicle body 7 are unlocked, the up-and-down swing of the suspension arm 2 can be used for relieving jolts caused by wheel-type walking to a certain extent, at the moment, the wheel body 5 rotates to drive the vehicle body 7 to move, and the vehicle can firstly steer and then walk by means of the steering assembly 3 when steering is needed.
The leg type walking is realized through the combined action of the steering assembly 3 and the swinging assembly 4, the walking smoothly passes through an obstacle area, and the wheel type walking is realized through the rotation of the wheel body 5; in the process, the suspension arm 2 can be locked or unlocked according to the swing of the suspension arm 2 relative to the vehicle body 7, so that the wheel-step composite planetary patrol vehicle can be switched between leg-type walking and wheel-type walking at will, and can be better suitable for different terrains, and the applicability is strong.
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. The wheel-stepping compound planetary patrol vehicle is characterized by comprising a vehicle body (7), a locking mechanism (6) and a plurality of wheel leg assemblies (1), wherein each wheel leg assembly (1) comprises a wheel body (5), a swinging assembly (4), a steering assembly (3) and a suspension arm (2); the suspension arm (2) is respectively connected with the vehicle body (7) and the steering assembly (3) in a rotating mode, the locking mechanism (6) is arranged between the suspension arm (2) and the vehicle body (7), and the locking mechanism (6) is suitable for locking or unlocking the suspension arm (2) according to the swinging amplitude of the suspension arm (2) relative to the vehicle body (7);
the steering assembly (3) is in driving connection with the swinging assembly (4) to drive the swinging assembly (4) to rotate in a first direction, one end, far away from the steering assembly (3), of the swinging assembly (4) is connected with the wheel body (5) to drive the wheel body (5) to swing in a second direction, and the first direction and the second direction form a first preset angle;
the locking mechanism (6) comprises two triggering devices (61), a transmission device (62) and a locking device (63), wherein one triggering device (61) is arranged above each two adjacent wheel leg assemblies (1), the triggering devices (61) are connected with the locking device (63) through the transmission devices (62), and the triggering devices (61) are suitable for driving the locking device (63) to be locked or unlocked through the transmission devices (62); when any one of the triggering devices (61) is triggered, the locking device (63) realizes locking or unlocking of the relative position of the suspension arm (2) and the vehicle body (7).
2. A wheel-step compound planetary patrol vehicle according to claim 1, wherein said steering assembly (3) comprises a steering motor (31) and a steering arm (32), said steering motor (31) being mounted on said suspension arm (2), said steering arm (32) comprising a horizontal portion and a vertical portion, the output end of said steering motor (31) being rotatably connected to the horizontal portion of said steering arm (32) about a second axis, the vertical portion of said steering arm (32) being adapted to be connected to said swing assembly (4), said steering motor (31) being adapted to bring said swing assembly (4) into rotation about said second axis via said steering arm (32).
3. The wheel-step compound planet patrol vehicle according to claim 2, wherein the swing assembly (4) is rotatably connected with the steering assembly (3) about a third axis, the swing assembly (4) comprises a swing arm (42) and a swing arm motor (41), the swing arm motor (41) is mounted on a vertical portion of the steering arm (32), an output end of the swing arm motor (41) is connected with the swing arm (42) about the third axis in a swinging manner, the swing arm (42) is further connected with a rotating shaft of the wheel body (5), the swing arm motor (41) is adapted to drive the wheel body (5) to swing about the third axis through the swing arm (42), and the third axis is relatively perpendicular to the second axis.
4. A compound planetary vehicle according to claim 3, characterized in that the suspension arm (2) is connected with the body (7) in rotation around a first axis, the second axis being relatively perpendicular to the first axis.
5. The wheel-step compound planet patrol vehicle according to claim 1, further comprising a first rotating shaft (8), wherein at least two wheel leg assemblies (1) are respectively arranged on two sides of the vehicle body (7), the suspension arms (2) of two adjacent wheel leg assemblies (1) on the same side are connected, the two connected suspension arms (2) are rotatably connected with the vehicle body (7) through the first rotating shaft (8) at the joint, and the locking mechanism (6) is further rotatably connected to the first rotating shaft (8).
6. A wheel-step compound planetary patrol vehicle according to claim 5, wherein said triggering device (61) comprises a third bar (611), said third bar (611) being located above said suspension arm (2), said third bar (611) being adapted to be in contact with said wheel-leg assembly (1) so that said transmission device (62) drives said locking device (63) to lock or unlock the suspension arm (2).
7. The compound planetary patrol vehicle in steps according to claim 6, wherein said transmission means (62) comprises an oscillating member (621) and two pushing rods (622), each of said third rods (611) is connected to one of said pushing rods (622), said third rods (611) are arranged at a second predetermined angle to said pushing rods (622), and at least one of the contact end surfaces of said third rods (611) and said pushing rods (622) is provided with a first ramp structure (6221), said pushing rods (622) are adapted to contact said oscillating member (621), said oscillating member (621) is mounted on said vehicle body (7), and said oscillating member (621) is connected to said locking means (63) in an oscillating manner;
when the wheel leg assembly (1) swings to be in contact with the third rod member (611), the third rod member (611) is suitable for driving the push rod (622) to move through the first slope structure (6221) so as to push the swinging member (621) to swing, and the swinging member (621) swings so as to drive the locking device (63) to unlock or lock the suspension arm (2).
8. The wheel-step compound planetary patrol vehicle according to claim 7, wherein the locking device (63) comprises a toothed wheel structure (631), a first sleeve (632), a first rod member (633) and a second rod member (634), the first rod member (633) is located below the oscillating member (621), the first rod member (633) and the second rod member (634) are coaxially arranged and are all arranged through the first sleeve (632), the first sleeve (632) is fixed on the vehicle body (7), the first rod member (633) is adapted to be in contact with or separated from a cam groove (6211) on the oscillating member (621) at an end close to the oscillating member (621), the second rod member (634) is provided with a first face gear (6341) at an end close to the first rod member (633), the second rod member (634) is provided with a toothed wheel structure (631) at an end far from the first rod member (633), the toothed wheel structure (631) is rotationally connected with the first rotating shaft (8);
when the swinging piece (621) swings until the first rod piece (633) is separated from the cam groove (6211), the first rod piece (633) moves close to the second rod piece (634) to enable the first rod piece (633) to be in contact with the first face gear (6341), and the other end of the second rod piece (634) is clamped into the toothed wheel structure (631) to limit the rotation of the toothed wheel structure (631).
9. A walking method of a wheel-step compound planetary patrol vehicle, which is based on any one of claims 1 to 8, and comprises the following steps:
when the wheel leg assembly (1) of the wheel-step compound planetary inspection vehicle travels to an obstacle, the suspension arm (2) of the wheel-step compound planetary inspection vehicle is locked with the vehicle body (7); the swinging component (4) of the wheel leg component (1) drives the wheel body (5) of the wheel step composite planet inspection vehicle to swing backwards around a third axis; the steering component (3) of the wheel-step compound planet inspection vehicle drives the swinging component (4) to rotate around the second axis forwards; the swing assembly (4) swings to lift the vehicle body (7) to an initial height, so that the wheel step compound planet inspection vehicle passes through the obstacle;
when the wheel-step compound planet inspection vehicle travels to a smooth ground, the wheel body (5) rotates to drive the vehicle body (7) to move.
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