CN113232891B - Foldable moving system of six-wheeled moon detection vehicle - Google Patents
Foldable moving system of six-wheeled moon detection vehicle Download PDFInfo
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- CN113232891B CN113232891B CN202110741536.9A CN202110741536A CN113232891B CN 113232891 B CN113232891 B CN 113232891B CN 202110741536 A CN202110741536 A CN 202110741536A CN 113232891 B CN113232891 B CN 113232891B
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
Abstract
A foldable six-wheeled moon exploration vehicle moving system relates to an exploration vehicle moving system. The invention aims to solve the problems that the existing crank-slider linkage lunar rover has a complex structure, occupies a large area when being installed in a carrier rocket, and is not flexible enough in the walking direction on lunar soil road surfaces. The front vehicle body and the rear vehicle body are rotatably connected, the upper parts of two rear vehicle body suspensions are respectively arranged at the left side and the right side of the rear vehicle body, and the lower parts of the two rear vehicle body suspensions are respectively provided with a lower arm sleeve and a wheel in sequence from top to bottom; the suspension hinges in the front automobile body left and right sides on two, and two go up the length direction horizontal displacement that the suspension can follow the front automobile body through the rectangular hole on the front automobile body, and a lower arm sleeve and wheel are installed respectively according to the order from top to bottom to the both ends tip of suspension on every, and the one end of every pull rod rotates with the connecting axle of preceding automobile body and back automobile body junction to be connected, and every pull rod other end is connected with a last suspension. The invention is used for moon exploration.
Description
Technical Field
The invention relates to a detection vehicle moving system, in particular to a foldable six-wheeled moon ball detection vehicle moving system.
Background
With the development of aerospace technology all over the world, human beings have higher and higher exploration degrees on other stars, and a wheel type planet detection vehicle is indispensable equipment in planet detection, and is a special vehicle capable of running on the surface of the moon and completing complex tasks, such as moon detection, investigation, collection and analysis of samples. For a mobile lunar surface probe vehicle or robot, good adaptability and trafficability to complex lunar surface environments and stable driving capability are generally required. Such lunar exploration vehicles need to have good flexibility, stability, load bearing capacity, and also need to be able to withstand strong radiation, high and low temperatures. In the research of the star probe car, the developed countries such as russia and the like start earlier in the United states, and certain research results have been obtained, the research on the lunar probe car in China starts later than abroad, probably starts at the end of 20 th century and lags behind the foreign countries by more than 40 years, but due to the rapid advance of the science and technology in recent years, the research also obtains small results. For example, in the journal of 3 rd volume of 18 rd of the chinese mechanical engineering, 3 rd month, and the second half of 2 months in 2007, a design and prototype development of a double crank slider linked lunar vehicle is disclosed, the lunar vehicle drives the relative height between 3 wheels to change by a double crank slider linked suspension to adapt to the terrain change on the moon. However, the crank-slider linkage mechanism has the problems of complex structure, large occupied area and insufficient flexibility in the walking direction on lunar soil road surface when being arranged in a rocket.
Disclosure of Invention
The invention aims to solve the problems that the existing crank-slider linkage lunar rover has a complex structure, occupies a large area when being installed in a rocket, and is not flexible enough in the walking direction on lunar soil road surfaces. Further provides a foldable six-wheeled moon rover moving system.
The technical scheme of the invention is as follows: a foldable six-wheel moon detection vehicle moving system comprises a rear vehicle body, two rear vehicle body suspensions, a plurality of lower arm sleeves, a plurality of wheels, a front vehicle body, two upper suspensions and two pull rods, wherein the front vehicle body is rotatably connected with the rear vehicle body, and the rear vehicle body is turned upwards and buckled on the front vehicle body; the upper parts of the two rear vehicle body suspensions are respectively arranged at the left side and the right side of the rear vehicle body, and the lower parts of the two rear vehicle body suspensions are respectively provided with a lower arm sleeve and a wheel from top to bottom; the left and right sides of automobile body in front is articulated to two last suspensions, and two last suspensions can follow the length direction horizontal displacement of preceding automobile body through the rectangular hole on the preceding automobile body, and a lower arm sleeve and wheel are installed respectively according to the order from top to bottom to the both ends tip of every last suspension, and the one end of every pull rod rotates with the connecting axle of preceding automobile body and back automobile body junction to be connected, and the other end and the last suspension of every pull rod are connected.
Compared with the prior art, the invention has the following effects:
1. the double-damping wheel has double damping functions and good terrain adaptability, the first-stage damping is realized by the elastic strip 7-1 of the wheel, the second-stage damping is completed by the lower support, the spring and the spring sleeve together, and when the wheel is in contact with the rugged ground surface, most wheels can be effectively ensured to be grounded as far as possible;
2. the lower arm can adjust the extending length according to actual needs, the effect of adjusting the pitch angle and the roll angle of the vehicle body can be achieved, and when the inclined plane runs, the vehicle body can be kept at the horizontal position as far as possible by extending the length of the lower arm, so that the vehicle is prevented from overturning;
3. the vehicle body modules (the front vehicle body and the rear vehicle body) can be folded to reduce the occupied area, the folded state is that the rear vehicle body is upwards turned over on the front vehicle body, for example, the folded state can be kept in a delivery cabin, and the moon rover can be unfolded after running on the moon, and the vehicle body can automatically walk without a worker or an auxiliary device for transferring;
4. the wheel module adopts an integrated design, the driving motor and the transmission mechanism are hidden in the wheel hub and sealed by the dustproof cover plate, so that the space of other modules can be saved, the gravity center of the lunar vehicle is reduced, and the stability is further improved;
5. in the obstacle crossing process, the horizontal movement of the sliding block is converted into the vertical movement of the wheels, and compared with the obstacle crossing mode of directly driving the lower arm corner, the obstacle crossing process is smoother and more stable;
6. the invention adopts the modular design, each module is respectively processed and assembled, and finally the modules are assembled together, so the structure is reasonable and ingenious, the implementation is convenient, and the robot is suitable for completing the lunar exploration and the mobile robot for mining and collecting minerals.
7. The six wheels of the invention can rotate 360 degrees under the driving of the steering motor, and the transverse walking and the longitudinal walking of the vehicle body are more flexible and convenient.
Drawings
Fig. 1 is an overall structural view of a mechanical structure of a foldable six-wheeled lunar exploration vehicle moving system of the present invention, fig. 2 is a structural view of a vehicle body folding mechanism of the present invention, fig. 3 is a structural view of a suspension mechanism of the present invention, fig. 4 is a structural view of a lower arm mechanism of the present invention, fig. 5 is a structural view of a wheel mechanism of the present invention, fig. 6 is a structural view of a wheel hub of the present invention, fig. 7 is a structural view of a wheel of the present invention, fig. 8 is a structural view of a rear vehicle body suspension of the present invention, and fig. 9 is a sectional view of a lead screw linkage shaft of the present invention.
Detailed Description
The technical scheme of the invention is not limited to the specific embodiments listed below, and any reasonable combination of the specific embodiments is included.
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 5 and 8, and includes a rear vehicle body 1, two rear vehicle body suspensions 2, a plurality of lower arm sleeves 3, a plurality of wheels 4, a front vehicle body 5, two upper suspensions 6 and two tie rods 7, wherein the front vehicle body 5 and the rear vehicle body 1 are rotatably connected, and the rear vehicle body 1 is folded upwards and fastened on the front vehicle body 5; the upper parts of the two rear vehicle body suspensions 2 are respectively arranged at the left side and the right side of the rear vehicle body 1, and the lower parts of the two rear vehicle body suspensions 2 are respectively provided with a lower arm sleeve 3 and a wheel 4 in sequence from top to bottom; the two upper suspensions 6 are hinged to the left side and the right side of the front vehicle body 5, the two upper suspensions 6 can horizontally displace along the length direction of the front vehicle body 5 through the long holes 5-16 in the front vehicle body 5, the end parts of the two ends of each upper suspension 6 are respectively provided with a lower arm sleeve 3 and a wheel 4 in sequence from top to bottom, one end of each pull rod 7 is rotatably connected with a connecting shaft at the junction of the front vehicle body 5 and the rear vehicle body 1, and the other end of each pull rod 7 is connected with one upper suspension 6.
This embodiment simple structure can realize the folding of moon exploration car, has reduced the third along automobile body length direction in the same way as whole exploration car after folding, when carrying on the rocket, reduces the diameter in rocket delivery compartment, and after stepping on the moon moreover, the exploration car can be taken out of the storehouse by oneself, can also adapt to unevenness's lunar soil road surface.
The second embodiment is as follows: referring to fig. 1 to 3, the front vehicle body 5 of the present embodiment includes a front vehicle housing 5-17, a folding structure and an obstacle crossing mechanism, and both the folding structure and the obstacle crossing mechanism are installed in the front vehicle housing 5-17. According to the arrangement, the length of the vehicle body is controlled through the turnover structure, the rear vehicle body is turned over on the front vehicle body, the obstacle crossing mechanism is adapted to an uneven road surface by adjusting the distance between the wheels and the ground, and the adjusting mode is simple and reliable. Other components and connections are the same as those in the first embodiment.
The third concrete implementation mode: the embodiment is described with reference to fig. 2 to 3, and the folding structure of the embodiment comprises a belt 5-18, a spline shaft 5-1, a small pulley bracket 5-2, a small pulley 5-3, a large pulley 5-4, a large pulley bracket 5-5, a worm shaft 5-6, a worm wheel 5-7 and a motor 5-16; the motor 5-16 is arranged in a front vehicle shell 5-17 through a motor base, the small belt wheel bracket 5-2 is arranged in the front vehicle shell 5-17, the small belt wheel 5-3 is arranged on the small belt wheel bracket 5-2, the output shaft of the motor 5-16 is connected with the small belt wheel 5-3, the large belt wheel bracket 5-5 is arranged in the front vehicle shell 5-17, the large belt wheel 5-4 is arranged on the large belt wheel bracket 5-5, the large belt wheel 5-4 is connected with the small belt wheel 5-3 through a belt 5-18, the worm shaft 5-6 is inserted in the large belt wheel 5-4, the spline shaft 5-1 is arranged at one side of the front vehicle shell 5-17, a groove is arranged in the middle of one side of the front vehicle shell 5-17, the middle of one side of the rear vehicle body 1 is inserted in the groove of the front vehicle shell 5-17, the inserting part of the rear vehicle body 1 is clamped with the spline shaft 5-1, the worm wheel 5-7 is arranged on one side of the spline shaft 5-1 in the length direction, and the worm shaft 5-6 is meshed with the worm wheel 5-7. According to the arrangement, the rear vehicle body is driven to turn upwards through the spline on the middle part of the spline shaft 5-1, the turning process is simple in structure and flexible and reliable in operation, mechanical self-locking can be realized by using the self-locking performance of the worm gear, and a power-off brake can be omitted. Other components and connection relationships are the same as those in the first or second embodiment.
The rear car body 1 of the embodiment is connected with a front car body 5 through a spline shaft 5-1, a rear car body suspension 2 is connected with the rear car body through threads, wire grooves 2-1 are distributed in the rear car body suspension 2, so that cables can be conveniently installed and can directly enter the inside of the car body, the rear two lower arm sleeves 3 are connected with the rear car body suspension 2 through threads, the front four lower arm sleeves 3 are connected with an upper suspension through threads, the lower arms 3-3 are connected with the lower arm sleeves 3 through lifting lead screws 3-4 and are driven, motor drag covers 3-6 are connected with the lower arms 3-3 through threads, a bogie 3-7 is driven by an output shaft of a key-connected steering motor and is positioned through locking nuts, the spring sleeves 4-1 on two sides are connected with the bogie through threads, the lower brackets 4-3 and the springs 4-2 are installed into the spring sleeves 4-1 together, the limiting is carried out through a spring baffle 4-9, the spring baffle 4-9 is connected with a spring sleeve through threads, the lower support 4-3 is connected with a hub shaft 4-4, and the wheel 4 is connected through a locking nut.
The integral type automatic positioning device comprises a spline shaft 5-1, a bearing, a small belt wheel support, a small belt wheel 5-3, a large belt wheel support 5-5, a worm shaft 5-6, a worm wheel 5-7, a spline shaft 5-6, locking nuts and locking nuts, wherein the spline shaft 5-1 and the bearing are arranged in a dustproof hole in the rear end of a front vehicle body 5, the spline hole of the rear vehicle body is in spline connection and matching with the spline shaft, the small belt wheel support is in threaded connection with the front vehicle body 5, the small belt wheel 5-3 is arranged on an output shaft of a driving motor and is connected with the output shaft through the spline shaft, the large belt wheel support 5-5 is in threaded connection with the front vehicle body, the large belt wheel 5-4 is in transmission with the small belt wheel through a V belt and is connected with the worm shaft 5-6 at the same time, the worm wheel 5-7 is in keyed connection with the spline shaft and is in transmission with the worm shaft 5-6 at the same time, and after all parts are installed, the spline shaft 5-1 is positioned through the locking nuts.
The fourth concrete implementation mode: the obstacle crossing mechanism of the embodiment is described by combining the figures 2 to 3 and 9, and comprises a bull gear 5-8, a double-hole bearing seat 5-9, a pinion gear 5-10, two screw rod linkage shafts 5-11, a wire groove 5-11-1 arranged in the screw rod linkage shaft 5-11, a single-hole bearing seat 5-12, a screw rod 5-13, a sliding block 5-14 and a sliding groove 5-15, wherein the double-hole bearing seat 5-9 and the single-hole bearing seat 5-12 are oppositely arranged in a front vehicle shell 5-17, the bull gear 5-8 and the pinion gear 5-10 are respectively arranged on the double-hole bearing seat 5-9, the bull gear 5-8 is meshed with the pinion gear 5-10, the screw rod 5-13 is arranged on the single-hole bearing seat 5-12 and the bull gear 5-8, the sliding block 5-14 is arranged on the screw rod 5-13, two ends of the sliding blocks 5-14 are respectively connected with a lead screw linkage shaft 5-11, the sliding grooves 5-15 are positioned under the lead screws 5-13, and the sliding blocks 5-14 are slidably arranged in the sliding grooves 5-15. So set up, obstacle crossing mechanism mainly is through the distance on the vertical height between adjustment wheel and the lunar surface, and this distance is realized through the synergism of slider, last suspension and pull rod, and mechanical auto-lock is realized to the auto-lock performance of usable lead screw nut simultaneously, saves the brake that loses electricity. Other components and connection relations are the same as those of any one of the first to third embodiments.
According to the embodiment, a double-hole bearing seat 5-9 is in threaded connection with a front vehicle body 5, a large gear 5-8 is in key connection with a lead screw 5-13, a small gear 5-10 is meshed with the large gear, a sliding chute 5-15 is in threaded connection with the front vehicle body 5, a sliding block 5-14 is in threaded fit and transmission with the lead screw 5-13 and moves in the sliding chute 5-15, a single-hole bearing seat 5-12 is in threaded connection with the front vehicle body 5, a lead screw linkage shaft 5-11 is in threaded connection with four threaded holes of the sliding block, the lead screw linkage shaft 5-11 is in threaded connection with a vehicle body dust guard 100, and an upper suspension 6 is tightly attached to a shaft shoulder of the lead screw linkage shaft for installation and is positioned by using a locking nut.
The fifth concrete implementation mode: referring to fig. 4 to explain the embodiment, a lower arm sleeve 3 of the embodiment includes a lower arm suspension 3-10, a lower arm screw driving motor 3-9, a lower arm bearing 3-1, a screw baffle 3-2, a lower arm 3-3, an elevator screw 3-4, a limit nut 3-5, a motor support cover 3-6, a bogie 3-7 and a lower arm motor 3-8, the lower arm screw driving motor 3-9 is installed in the lower arm 3-3, an output shaft of the lower arm screw driving motor 3-9 is connected with the lower arm bearing 3-1 installed in the lower arm 3-3, the lower arm 3-3 is embedded in the lower arm suspension 3-10 in a sliding manner, the elevator screw 3-4 is installed on the lower arm 3-3, one end of the elevator screw 3-4 passes through the lower arm 3-3 and then is installed in the lower arm bearing 3-1, a screw baffle 3-2 is arranged on a lifting screw 3-4 between the lower arm bearing 3-1 and the lower arm 3-3, a limit nut 3-5 is arranged at the other end of the lifting screw 3-4, and a lower arm motor 3-8 is connected with a wheel frame of the wheel 4 and provides rotation power for the wheel frame. By the arrangement, mechanical self-locking can be realized by utilizing the self-locking performance of the lead screw nut, a power-off brake is omitted, and other components and connection relations are the same as those of any one of the first to fourth specific embodiments.
The bearing 3-1 is matched with the lifting screw rod 3-4, two sleeves are arranged at two ends of the bearing 3-1, the screw rod baffle plate 3-2 is tightly attached to the sleeves, the screw rod baffle plate 3-2 is in threaded connection with the lower arm sleeve and is positioned by using a locking nut, and the lower end of the lifting screw rod is provided with a limiting nut 3-5 for mechanical limiting.
The sixth specific implementation mode: the present embodiment will be described with reference to fig. 5, and a wheel 4 of the present embodiment includes a wheel frame and a wheel body, and the wheel frame is attached to a hub shaft of the wheel body. According to the arrangement, the steering motors 3-8 in the lower arm sleeves 3 drive the bogies 3-7 to rotate, the bogies 3-7 are connected with the wheel frames and drive the wheel frames to rotate 360 degrees around the lower arm sleeves 3, so that the vehicle body can adapt to walking at various angles, and the phenomena of vehicle overturning or jamming and the like caused by emergency turning cannot occur. In addition, the square hole below the wheel frame is arranged in the square shaft at the joint of the hub shaft for fixing connection, and then the square locking nut is used for fixing, so that the wheel body does not influence the wheel frame when rotating around the hub shaft. Other components and connection relations are the same as those of any one of the first to fifth embodiments.
The seventh embodiment: the wheel frame of the embodiment is described with reference to fig. 5, and comprises a spring sleeve 4-1, two springs 4-2, two lower brackets 4-3 and a spring baffle 4-9, wherein the spring sleeve 4-1 is a door-shaped sleeve, two vertical sections of the spring sleeve 4-1 are respectively provided with a stepped hole 4-1-1, a spring 4-2 is installed in a large-diameter hole in each stepped hole, the upper part of each lower bracket 4-3 is inserted into one spring 4-2 and extends into a small-diameter hole in each stepped hole, and the lower part of each lower bracket 4-3 is rotatably connected with two sides of a wheel body. With the arrangement, the door-shaped sleeve in the embodiment comprises the left and right L-shaped rods and the connecting frame, wherein the left and right L-shaped rods are detachably connected through the connecting frame, and the connecting frame is connected with the output shafts of the lower arm motors 3-8 to further drive the wheel frame to rotate. Other components and connection relations are the same as those of any one of the first to sixth embodiments.
The specific implementation mode is eight: referring to fig. 5, the embodiment is described, each lower bracket 4-3 of the embodiment is provided with a cable installation groove 4-3-1 along the length direction thereof, and the upper part of each stepped hole 4-1-1 is provided with a cable outlet hole 4-1-2 communicated with the stepped hole 4-1-1. By the arrangement, the transmission cable is conveniently hidden in the cable installation groove 4-3-1, the cable is prevented from being exposed outside, and the installation space is saved. Other components and connection relations are the same as those of any one of the first to seventh embodiments.
The specific implementation method nine: referring to fig. 5 for explaining the present embodiment, the wheel body of the present embodiment comprises a hub axle 4-4, a hub 4-8, a tire 4-15, a wheel body driving motor 4-16, a planet carrier 4-7, a first sun gear 4-5, a second sun gear 4-6, a first ring gear 4-17, a second ring gear 4-18, a first planet gear 4-19, a second planet gear 4-20 and a vehicle body dust cover 4-21,
the bottom of one end of the hub 4-8 is bowl-shaped, one end of the hub 4-8 is an open mounting side, a tire 4-15 is sleeved on the hub 4-8, a hub shaft 4-4 is arranged in the hub 4-8 in a penetrating way, a wheel body driving motor 4-16 is sleeved on the hub shaft 4-4, a first sun gear 4-5 and a second sun gear 4-6 are sleeved on the hub shaft 4-4, a first gear ring 4-17 and a second gear ring 4-18 are respectively sleeved on the first sun gear 4-5 and the second sun gear 4-6, the first gear ring 4-17 and the second gear ring 4-18 are respectively engaged with the first sun gear 4-5 and the second sun gear 4-6 through a first planet gear 4-19 and a second planet gear 4-20, a planet carrier 4-7 is arranged between the second sun gear 4-6 and the bottom of the hub 4-8, the dustproof cover 4-21 of the vehicle body is sealed outside the wheel body driving motor 4-16. In this way, other components and connection relationships are the same as those in any one of the first to eighth embodiments.
The lower support 4-3 and the spring sleeve 4-1 are installed on two sides, the driving motor is connected to the hub shaft 4-4 through threads, the output end of the driving motor is connected with the sun gear 14-5 through threads, meanwhile, the shaft shoulder of the installation shaft of the gear ring 1 is tightly attached to holes distributed on the circumference of the hub shaft 4-4 and is positioned through nuts, three planet gears are installed in the middle of the driving motor and connected with the sun gear 24-6 through the planet gear shaft to drive the driving motor to rotate, the installation shaft of the gear ring 2 is installed in the holes of the gear ring 1, 3 planet gears are installed in the middle of the driving motor and connected with the planet carrier 4-7 through the planet gear shaft, and the planet carrier 4-7 is connected with the hub 4-8 and is positioned through a locking nut.
The specific implementation mode is ten: referring to fig. 6 and 7, the tire 4-15 of the present embodiment includes a galvanized wire cover tire 8-1 and a plurality of spokes 7-1, the spokes 7-1 are welded to the hub 4-8 in a circular array, and the galvanized wire cover tire 8-1 covers the spokes 7-1. According to the arrangement, the galvanized wire mesh cover tire 8-1 is a cover tire with a smooth outer circumference and no pits or grooves, plays a role in supporting when the lunar soil is hard and the lunar surface is moving, can reduce the running resistance, can enable the cover tire part to sink into the lunar soil when the lunar soil is soft, enables the convex parts at the two sides of the hub to contact the lunar soil, increases the contact area to improve the friction force, avoids the in-situ slipping caused by insufficient friction force, and can enable the lunar soil in the cover tire to freely fall out due to the gravity when the cover tire moves to the hard lunar surface due to the gaps of the wire mesh. In addition, the plurality of wheel spokes 7-1 adopted by the embodiment not only can support the galvanized wire mesh outer tire 8-1, but also can play a role in damping and buffering the whole vehicle body, so that a relatively stable role can be ensured in the walking process of the vehicle body. Other components and connection relationships are the same as those in any one of the first to ninth embodiments.
The web spoke 7-1 of the present embodiment is a groove-shaped spoke.
The working principle of the invention is explained in conjunction with fig. 1 to 9:
after a driving motor in a mobile system of the foldable six-wheeled lunar exploration vehicle drives a small belt wheel 5-3 to rotate, power is transmitted to a large belt wheel 5-4 through belt transmission, is transmitted to a worm shaft 5-6 through key connection, is transmitted to a spline shaft 5-1 through key connection through meshing of a worm wheel 5-7 and the worm shaft, and is matched with a spline hole of a rear vehicle body 1 through the spline shaft, so that the rear vehicle body is driven to rotate. A driving motor in a foldable six-wheeled lunar exploration vehicle moving system drives pinions 5-10 to rotate, the pinions 5-10 are meshed with large gears 5-8 and connected through keys to enable screw rods 5-13 to rotate, the screw rods 5-13 and sliding blocks 5-14 are in threaded transmission, and the sliding blocks 5-14 are matched with sliding grooves 5-15, so that the sliding blocks 5-14 are driven to horizontally move in the sliding grooves, the upper suspension 6 is driven to horizontally move through screw rod linkage shafts 5-11, and the upper suspension 6 is pulled by a pull rod 7, so that the suspension 6 rotates while horizontally moving. A driving motor in a mobile system of the foldable six-wheeled lunar exploration vehicle drives a lifting screw rod 3-4 to rotate, power is transmitted to a lower arm 3-3 through screw rod penetrating transmission, and a limiting nut 3-5 limits the movement of the lower arm after the lower arm moves to a certain position. After a driving motor in a mobile system of the foldable six-wheeled lunar exploration vehicle drives a bogie 3-7 to rotate through key connection, the bogie 3-7 drives a spring sleeve 4-1 to rotate through threaded connection, and accordingly the whole wheel 4 is driven to perform steering motion. The sun gear 14-5 is driven to rotate by a driving motor in the mobile system of the foldable six-wheel moon-shaped exploration vehicle, and the sun gear 24-6 is driven to rotate by the planet gear shaft through the planet gear shaft at the revolution speed of the planet gear because the gear ring is fixed on the hub shaft 4-4, and similarly, the planet gear shaft 2 drives the planet carrier 4-7 to rotate and simultaneously drives the hub 4-8 to rotate by the planet carrier 4-7. After a hub in a foldable six-wheeled moon detection vehicle moving system contacts the ground or is impacted, the elastic strip 7-1 on the hub deforms and absorbs shock, and meanwhile, the lower support 4-3 compresses the spring 4-2, so that the lower support 4-3 rises, and the effect of buffering and absorbing shock is achieved.
Claims (7)
1. The utility model provides a but six rounds of moon detection car moving system which characterized in that: it comprises a rear vehicle body (1), two rear vehicle body suspensions (2), a plurality of lower arm sleeves (3), a plurality of wheels (4), a front vehicle body (5), two upper suspensions (6) and two pull rods (7),
the front vehicle body (5) is rotationally connected with the rear vehicle body (1), and the rear vehicle body (1) is turned upwards and buckled on the front vehicle body (5);
the upper parts of the two rear vehicle body suspensions (2) are respectively arranged at the left side and the right side of the rear vehicle body (1), and the lower parts of the two rear vehicle body suspensions (2) are respectively provided with a lower arm sleeve (3) and a wheel (4) according to the sequence from top to bottom;
the two upper suspensions (6) are hinged to the left side and the right side of the front vehicle body (5), the two upper suspensions (6) can horizontally displace along the length direction of the front vehicle body (5) through the long holes (100) in the front vehicle body (5), the end parts of the two ends of each upper suspension (6) are respectively provided with a lower arm sleeve (3) and a wheel (4) according to the sequence from top to bottom, one end of each pull rod (7) is rotatably connected with a connecting shaft at the junction of the front vehicle body (5) and the rear vehicle body (1), and the other end of each pull rod (7) is connected with one upper suspension (6);
the front vehicle body (5) comprises a front vehicle shell (5-17), a turnover structure and an obstacle crossing mechanism, wherein the turnover structure and the obstacle crossing mechanism are both arranged in the front vehicle shell (5-17);
the turnover structure comprises a belt (5-18), a spline shaft (5-1), a small belt wheel support (5-2), a small belt wheel (5-3), a large belt wheel (5-4), a large belt wheel support (5-5), a worm shaft (5-6), a worm wheel (5-7) and a motor (5-16); the motor (5-16) is arranged in the front vehicle shell (5-17) through a motor base, the small belt wheel bracket (5-2) is arranged in the front vehicle shell (5-17), the small belt wheel (5-3) is arranged on the small belt wheel bracket (5-2), the output shaft of the motor (5-16) is connected with the small belt wheel (5-3), the large belt wheel bracket (5-5) is arranged in the front vehicle shell (5-17), the large belt wheel (5-4) is arranged on the large belt wheel bracket (5-5), the large belt wheel (5-4) is connected with the small belt wheel (5-3) through a belt (5-18), the worm shaft (5-6) is inserted in the large belt wheel (5-4), the spline shaft (5-1) is arranged at one side of the front vehicle shell (5-17), a groove is formed in the middle of one side of the front vehicle shell (5-17), the middle of one side of the rear vehicle body (1) is inserted into the groove of the front vehicle shell (5-17), the inserted part of the rear vehicle body (1) is clamped with the spline shaft (5-1), the worm wheel (5-7) is installed on one side of the spline shaft (5-1) in the length direction, and the worm shaft (5-6) is meshed with the worm wheel (5-7);
the obstacle crossing mechanism comprises a large gear (5-8), a double-hole bearing seat (5-9), a small gear (5-10), two screw rod universal shafts (5-11), a single-hole bearing seat (5-12), screw rods (5-13), a sliding block (5-14) and a sliding groove (5-15), wherein the double-hole bearing seat (5-9) and the single-hole bearing seat (5-12) are oppositely arranged in a front vehicle shell (5-17), the large gear (5-8) and the small gear (5-10) are respectively arranged on the double-hole bearing seat (5-9), the large gear (5-8) and the small gear (5-10) are meshed, the screw rods (5-13) are arranged on the single-hole bearing seat (5-12) and the large gear (5-8), the sliding block (5-14) is arranged on the screw rods (5-13), two ends of the sliding blocks (5-14) are respectively connected with a lead screw linkage shaft (5-11), the sliding grooves (5-15) are positioned under the lead screws (5-13), and the sliding blocks (5-14) are slidably arranged in the sliding grooves (5-15).
2. The system of claim 1, wherein the foldable six-wheeled moon rover moving system comprises: the lower arm sleeve (3) comprises a lower arm suspension (3-10), a lower arm lead screw driving motor (3-9), a lower arm bearing (3-1), a lead screw baffle (3-2), a lower arm (3-3), a lifting lead screw (3-4), a limit nut (3-5), a motor support cover (3-6), a bogie (3-7) and a lower arm motor (3-8),
the lower arm screw rod driving motor (3-9) is installed in the lower arm (3-3), an output shaft of the lower arm screw rod driving motor (3-9) is connected with a lower arm bearing (3-1) installed in the lower arm (3-3), the lower arm (3-3) is embedded in a lower arm suspension (3-10) in a sliding mode, the lifting screw rod (3-4) is installed on the lower arm (3-3), one end of the lifting screw rod (3-4) penetrates through the lower arm (3-3) and then is installed in the lower arm bearing (3-1), a screw rod baffle plate (3-2) is arranged on the lifting screw rod (3-4) between the lower arm bearing (3-1) and the lower arm (3-3), a limiting nut (3-5) is installed at the other end of the lifting screw rod (3-4), and the lower arm motor (3-8) is connected with a wheel frame of a wheel (4) and provides rotating power for the wheel frame.
3. The system of claim 2, wherein the foldable six-wheeled moon-shaped probe vehicle comprises: the wheel (4) comprises a wheel frame and a wheel body, and the wheel frame is rotatably arranged on the wheel body.
4. A foldable hexacyclic lunar probe vehicle movement system according to claim 3, characterized in that: the wheel frame comprises a spring sleeve (4-1), two springs (4-2), two lower brackets (4-3) and a spring baffle (4-9),
the spring sleeve (4-1) is a door-shaped sleeve, two vertical sections of the spring sleeve (4-1) are respectively provided with a stepped hole (4-1-1), a large-diameter hole in each stepped hole is internally provided with a spring (4-2), the upper part of each lower support (4-3) is inserted into one spring (4-2) and extends into a small-diameter hole in each stepped hole, and the lower part of each lower support (4-3) is rotatably connected with the two sides of the wheel body.
5. The system of claim 4, wherein the foldable six-wheeled lunar exploration vehicle comprises: each lower support (4-3) is provided with a cable mounting groove (4-3-1) along the length direction, and the upper part of each stepped hole (4-1-1) is provided with a cable outlet hole (4-1-2) communicated with the stepped hole (4-1-1).
6. The system of claim 5, wherein the foldable six-wheeled moon-shaped probe vehicle comprises: the wheel body comprises a hub shaft (4-4), a hub (4-8), a tire (4-15), a wheel body driving motor (4-16), a planet carrier (4-7), a first sun wheel (4-5), a second sun wheel (4-6), a first gear ring (4-17), a second gear ring (4-18), a first planet wheel (4-19), a second planet wheel (4-20) and a vehicle body dust cover (4-21),
the bottom of one end of the hub (4-8) is bowl-shaped, one end of the hub (4-8) is an open mounting side, a tire (4-15) is sleeved on the hub (4-8), the hub shaft (4-4) is arranged in the hub (4-8) in a penetrating manner, a wheel body driving motor (4-16) is sleeved on the hub shaft (4-4), a first sun wheel (4-5) and a second sun wheel (4-6) are sleeved on the hub shaft (4-4), a first gear ring (4-17) and a second gear ring (4-18) are respectively sleeved on the first sun wheel (4-5) and the second sun wheel (4-6), and the first gear ring (4-17) and the second gear ring (4-18) and the first sun wheel (4-5) and the second sun wheel (4-6) are respectively meshed through a first planet wheel (4-19) and a second planet wheel (4-20) And the planet carrier (4-7) is arranged between the second sun gear (4-6) and the bottom of the wheel hub (4-8), and the dustproof cover (4-21) of the vehicle body is packaged at the outer side of the wheel body driving motor (4-16).
7. The system of claim 6, wherein: the tire (4-15) comprises a galvanized iron wire net cover tire (8-1) and a plurality of spoke wheels (7-1), the spoke wheels (7-1) are welded on the wheel hub (4-8) in a ring array mode, and the galvanized iron wire net cover tire (8-1) is coated on the spoke wheels (7-1).
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