CN201161630Y - Active swing arm type variable diamond-type fourth wheel lunar vehicle moving system - Google Patents
Active swing arm type variable diamond-type fourth wheel lunar vehicle moving system Download PDFInfo
- Publication number
- CN201161630Y CN201161630Y CNU2008200520491U CN200820052049U CN201161630Y CN 201161630 Y CN201161630 Y CN 201161630Y CN U2008200520491 U CNU2008200520491 U CN U2008200520491U CN 200820052049 U CN200820052049 U CN 200820052049U CN 201161630 Y CN201161630 Y CN 201161630Y
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- wheel
- rocking arm
- suspension system
- swing arm
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Abstract
The utility model discloses an active swing arm variable diamond four-wheel lunar rover moving system, comprising a diamond frame provided with a front wheel, a back wheel, a left wheel and a right wheel having independent driving systems, wherein the front and back wheels are respectively fixed on the frame via a front suspension system and a back suspension system, the left and right wheels are respectively fixed on the frame via a left suspension system and a right suspension system, the front and back suspension systems comprise a swing arm drive mechanism and a steering mechanism, the front and back wheels are linked for steering, the left and right suspension systems comprise a swing arm drive mechanism. The active swing arm variable diamond four-wheel lunar rover moving system adopts a four-wheel three-shaft diamond chassis and an active swing arm to utilize the high-efficiency mobility of wheel drive type and the climbing ability of foot type moving system, having simple and compact structure, low cost, the use for various serious conditions, wide application, high stability, high reliability, flexible steering and strong mobility.
Description
Technical field
The utility model is mainly concerned with the design field of running gear, refers in particular to a kind of initiatively rocking arm variable diamond-type four-wheel lunar rover moving system, gathers the field applicable to unmanned probing under the harsh environment and ore.
Background technology
Domestic moon craft substantially all is to adopt six of parallel arrangement to take turns driving system at present, and structure is relatively complicated, directly influences its lightweight and reliability.In addition, suspension adopts passive earthing mode more, and its off-road capability and maneuvering performance have been subjected to certain restriction.For the lunar surface environment, the lunar rover vehicle requires unique moonscape running environment such as the unfamiliar landforms of adaptation and many grieshoch, microgravity and realizes ground month transfer, and this lightweight and rideability to vehicle has special requirement.People generally believe in the lunar wheeled vehicle six, and to take turns be optimum, although and traditional four-wheeled is simpler, light than six wheel constructions owing to do not possess cross-country traveling ability not within range of choice.If will bring into play the advantage of the simple in structure and good reliability of four-wheeled, just must improve rideabilities such as its cross-country traveling ability by the innovative design of new ideas.
The utility model content
Problem to be solved in the utility model just is: at the technical matters that prior art exists, the utility model provides a kind of simple and compact for structure, with low cost, initiatively rocking arm variable diamond-type four-wheel lunar rover moving system that can be fit to operation under the various harsies environment, applied widely, good stability.
For solving the problems of the technologies described above, the solution that the utility model proposes is: a kind of initiatively rocking arm variable diamond-type four-wheel lunar rover moving system, it is characterized in that: it comprises the quasi-rhombus vehicle frame and is installed on the front-wheel that has independent driving system on the vehicle frame, trailing wheel, revolver and right wheel, described front-wheel and trailing wheel are fixed on the vehicle frame by front suspension system and rear-suspension system respectively, revolver and right wheel are fixed on the vehicle frame by left suspension system and right suspension system respectively, described front suspension system and rear-suspension system comprise rocking arm actuating unit and steering hardware, the front and back wheel linked steering, left suspension system and right suspension system comprise the rocking arm actuating unit.
Described rocking arm actuating unit comprises motor, rocking arm worm-gear speed reducer and rocking arm, and the output shaft of described motor links to each other with rocking arm by the rocking arm worm-gear speed reducer, and rocking arm links to each other with wheel.
Described steering hardware comprises steer motor and steering gear worm worm decelerating machine, and the output shaft of steer motor links to each other with rocking arm in the rocking arm actuating unit by the steering gear worm worm decelerating machine.
Compared with prior art, advantage of the present utility model just is:
1, three rhombus chassis of the employing four-wheel of the utility model novelty and the initiatively new structure of swing arm, the efficient movability of wheeled type of drive and the ability of creeping of pin formula mobile system have been given full play to, and adopt the four-wheel individual drive, it is good to have an off-road capability, the characteristics that carrying capacity is strong.
2, the utility model initiatively rocking arm variable diamond-type four-wheel lunar rover moving system wheel quantity is few, simple in structure, and lightweight degree height has improved the driving system reliability.
3, the utility model initiatively rocking arm variable diamond-type four-wheel lunar rover moving system adopts the actv. suspension frame structure, and its rhombus is arranged and can be turned to the touchdown point that changes the relative vehicle frame of four-wheel by initiatively rocking arm around fore suspension and rear suspension with front and back wheel as required, thereby realize that center of gravity can be in four-wheel between any three wheels, strengthen the throwing over barrier of the lunar rover vehicle and the ability of crossing over trench, thereby strengthened the off-road capability of the lunar rover vehicle.
4, the utility model initiatively rocking arm variable diamond-type four-wheel lunar rover moving system adopts the rhombus chassis structure, under same steering angle, by the front and back wheel linked steering, can significantly reduce the Turning radius of the lunar rover vehicle, improves the steering flexibility of the lunar rover vehicle.Simultaneously can also realize pivot stud, can realize keeping away barrier at any time, significantly improve the comformability of the lunar rover vehicle.
5, the utility model initiatively rocking arm variable diamond-type four-wheel lunar rover moving system adopt can the reversal of stroke self-locking worm-gear speed reducer connect suspension and vehicle body; drive rocking arm by motor imput power worm-gear speed reducer outputting power during rocking arm, not the fixing rocking arm of the reversal of stroke self-lock ability by worm-gear speed reducer during rocking arm.Even this utility model still can normally be exercised when the rocking arm power input device broke down.
Description of drawings
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is the structural representation of suspension in the utility model;
Fig. 3-1,3-2,3-3,3-4,3-5,3-6,3-7,3-8 are the scheme drawings of crossing over blockage in the utility model application example;
Fig. 4-1,4-2,4-3,4-4,4-5,4-6,4-7,4-8 are the scheme drawings of crossing over ditch in the utility model application example;
Fig. 5-a, 5-b, 5-c are the scheme drawings of anti-roll in the utility model application example;
Fig. 6 is a side-looking structural representation of the present utility model.
Marginal data
1, front-wheel 2, front suspension
3, right wheel 4, right suspension
5, rear suspension 6, trailing wheel
7, revolver 8, left suspension
9, vehicle frame 10, rocking arm motor
11, rocking arm worm-gear speed reducer 12, rocking arm
13, steering gear worm worm decelerating machine 14, steer motor
The specific embodiment
Below with reference to the drawings and specific embodiments the utility model is described in further details.
As Fig. 1, Fig. 2 and shown in Figure 6, initiatively rocking arm variable diamond-type four-wheel lunar rover moving system of the present utility model, it comprises quasi-rhombus vehicle frame 9 and is installed on the front-wheel 1 that has independent driving system on the vehicle frame 9, trailing wheel 6, revolver 7 and right wheel 3, front-wheel 1 and trailing wheel 6 are fixed on the vehicle frame 9 by front suspension system 2 and rear-suspension system 5 respectively, revolver 7 and right wheel 3 are fixed on the vehicle frame 9 by left suspension system 8 and right suspension system 4 respectively, front suspension system 2 and rear-suspension system 5 comprise rocking arm actuating unit and steering hardware, and left suspension system 8 and right suspension system 4 comprise the rocking arm actuating unit.Wherein, the rocking arm actuating unit comprises rocking arm motor 10, rocking arm worm-gear speed reducer 11 and rocking arm 12, and the output shaft of rocking arm motor 10 links to each other with rocking arm 12 by rocking arm worm-gear speed reducer 11, and rocking arm 12 links to each other with wheel.Steering hardware comprises steer motor 14 and steering gear worm worm decelerating machine 13, and the output shaft of steer motor 14 links to each other with rocking arm 12 in the rocking arm actuating unit by steering gear worm worm decelerating machine 13.Wherein, the worm-gear speed reducer 11 that all rocking arms 12 all pass through the reversal of stroke self-locking links to each other with vehicle frame 9, and the takeoff output by worm-gear speed reducer 11 during swing arm is realized rocking arm 12, does not need power maintenance at ordinary times.
When common rough road is travelled, utilize the self-locking of reductor, suspension is maintained fixed.Because lunar rover vehicle driving system speed is extremely slow, will improve off-road capability by the rocking arm 12 of ACTIVE CONTROL independent suspension.Turn to by the front and rear wheel linked steering, when turning to; the power of rocking arm motor 10 inputs is by 12 outputs of steering gear worm worm decelerating machine; drive 12 arms that rock back and forth around its center rotation; and rocking arm 12 connects firmly together with axletree; so front and rear wheel also can promptly be realized turning to around the rotation of rocking arm 12 centers.Simultaneously, because ground contact point and rocking arm 12 line of centers extended lines and ground-surface intersection point are not points, so when turning to, ground contact point can also promptly change the earthing position of the relative vehicle body of wheel around rocking arm 12 rotational.
When moon car test measures the front when obstacle is arranged, realize that by control initiatively rocking arm adjustment suspension can make the lunar rover vehicle cross the obstacle that is higher than radius of wheel, detailed process is: 1, measure the place ahead when obstacle is arranged when moon car test, stop four wheel drive, lift front suspension 2, start the drive motor of right wheel 3, trailing wheel 5 and revolver 7 simultaneously, make lunar rover vehicle ahead running, contact with the cliff place with revolver 7 up to right side wheel 3, and the revolution front arm, make front-wheel 1 contact (as Fig. 3-step 2) with the obstacle upper surface.2, stop to drive, start the rocking arm motor of front suspension 2, right suspension 4 and left suspension 8, front arm and left and right sides rocking arm are swung backward, until the gravity vertical direction by right take turns 3 and revolver 7 core wheels (as Fig. 3-step 3).3, the front-wheel rocking arm stops swinging, and only allows intermediate rockers continue swing backward, and four wheel drive guarantees that the breast wheel horizontal direction contacts (as Fig. 3-step 4) with obstacle cliff place simultaneously.4, when right side wheel 3 and revolver 7 core wheels apart from ground-surface height during greater than obstacle height, the left and right wheels rocking arm stops operating, continue four wheel drive, the appropriateness trailing wheel rocking arm that raises up is climbed up obstacle (as Fig. 3-step 5,6 and 7) by driving the traction lunar rover vehicle when left and right wheels is climbed up obstacle.5, move ahead after a bit of distance, stop four wheel drive, the four-wheel release, according to each swing degree backswing of taking turns rocking arm to the cruising angle (as Fig. 3-step 8).
The detailed process of moat is as follows more: 1, when detecting the place ahead trench is arranged, stop four wheel drive, four rocking arms are put simultaneously and are the upright position, trailing wheel 6 are turned to go to 180 degree then, and center of gravity is positioned between the triangle of front-wheel 1, revolver 7, trailing wheel 6 compositions.Then the front and back rocking arm is upwards arranged certain angle, will put a low-angle behind the revolver rocking arm simultaneously, relatively big angle of right wheel rocking arm forward swing makes center of gravity be positioned between the triangle of revolver 7, right wheel 3, trailing wheel 6 compositions, as figure (4-1).2, driving four-wheel (notes: because trailing wheel 6 turns to 180 degree, so during the forerunner in fact trailing wheel 6 be to retreat), front-wheel 1 runs into trench earlier, because center of gravity is positioned within the three-wheel of back, so when front-wheel 1 is unsettled, car still can be exercised by pulsation-free, and front-wheel 1 can stride across a trench by pulsation-free like this, as figure (4-2).3, second arrival trench is the right side wheel 3 of forward swing, because front-wheel 1 has arrived the opposite bank, center of gravity is positioned at the triangle of front-wheel 1, revolver 7, trailing wheel 6 compositions again, so when right wheel 3 is unsettled, car too can smooth-ride, thereby send right wheel 3 safety to stride across a trench, as figure (4-3).At this moment two-wheeled is in the trench opposite bank, and two-wheeled is crossed trench, but four-wheel ground connection all.4,3 releases are taken turns on the right side, the front and back wheel rocking arm is put to vertical ground, front-and rear-wheel steer moves in a circle to taking turns 3 earth points around the right side, center of gravity will be in front-wheel 1 this moment, right wheel 3, in the triangle that trailing wheel 6 earth points are formed, next drive other three-wheel, car body will be taken turns 3 around the right side and be moved in a circle, revolver 7 will arrive trench, but because center of gravity is positioned at right wheel 3, front-wheel 1, within trailing wheel 6 triangles, so car still can smooth-ride when revolver 7 is unsettled, revolver 7 when it is unsettled before pendulum rocker, make its pendulum to take turns 3 rocking arms concordant with the right side, when revolver 7 strides across a trench, stop to drive, as figure (4-4).5, left and right wheels all strides across a trench this moment of before, and have only trailing wheel 6 not stride across a trench this moment, but is in ground state.With front-and rear-wheel steer to the cruising angle, as figure (4-5).6, at this moment, the left and right wheels rocking arm all is a forward swing, and center of gravity is in the triangle of revolver 7, right wheel 3, trailing wheel 6, moves forward relatively in order to make center of gravity, left and right sides two-wheeled rocking arm is put until center of gravity simultaneously backward be positioned within the triangle of front three-wheel earth point, as figure (4-6).7, drive four-wheel, because center of gravity is in the front portion, car still can smooth-ride when trailing wheel 6 was suspended from the trench, as figure (4-7).8, continue to drive four-wheel, trailing wheel 6 promptly can stride across a trench safely.Promptly finished moat action more, as figure (4-8).
The anti-roll process: the side tilt angle of the lunar rover vehicle is the height of gravitational center decision by car load, the suspension of the rhombus lunar rover vehicle has initiatively adjustable, can improve the ride comfort of vehicle body by dual mode, one for swinging front suspension and middle suspension forward by control, rear suspension is swung backward, thereby the whole height that reduces vehicle body is (as Fig. 5-b).Another kind of mode is that forward and backward suspension position remains unchanged, and guarantees that by adjusting breast wheel side tilt angle between vehicle body and ground is (as Fig. 5-c).
Claims (3)
1, a kind of initiatively rocking arm variable diamond-type four-wheel lunar rover moving system, it is characterized in that: it comprises quasi-rhombus vehicle frame (9) and is installed on the front-wheel (1) that has independent driving system on the vehicle frame (9), trailing wheel (6), revolver (7) and right wheel (3), described front-wheel (1) and trailing wheel (6) are fixed on the vehicle frame (9) by front suspension system (2) and rear-suspension system (5) respectively, revolver (7) and right wheel (3) are fixed on the vehicle frame (9) by left suspension system (8) and right suspension system (4) respectively, described front suspension system (2) and rear-suspension system (5) comprise rocking arm actuating unit and steering hardware, and left suspension system (8) and right suspension system (4) comprise the rocking arm actuating unit.
2, initiatively rocking arm variable diamond-type four-wheel lunar rover moving system according to claim 1, it is characterized in that: described rocking arm actuating unit comprises rocking arm motor (10), rocking arm worm-gear speed reducer (11) and rocking arm (12), the output shaft of described rocking arm motor (10) links to each other with rocking arm (12) by rocking arm worm-gear speed reducer (11), and rocking arm (12) links to each other with wheel.
3, initiatively rocking arm variable diamond-type four-wheel lunar rover moving system according to claim 1 and 2, it is characterized in that: described steering hardware comprises steer motor (14) and steering gear worm worm decelerating machine (13), and the output shaft of steer motor (14) links to each other with rocking arm (12) in the rocking arm actuating unit by steering gear worm worm decelerating machine (13).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200520491U CN201161630Y (en) | 2008-01-09 | 2008-01-09 | Active swing arm type variable diamond-type fourth wheel lunar vehicle moving system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008200520491U CN201161630Y (en) | 2008-01-09 | 2008-01-09 | Active swing arm type variable diamond-type fourth wheel lunar vehicle moving system |
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| CN201161630Y true CN201161630Y (en) | 2008-12-10 |
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| CNU2008200520491U Expired - Fee Related CN201161630Y (en) | 2008-01-09 | 2008-01-09 | Active swing arm type variable diamond-type fourth wheel lunar vehicle moving system |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102649479A (en) * | 2012-03-28 | 2012-08-29 | 哈尔滨工业大学深圳研究生院 | Planetary rover suspension mechanism capable of actively lifting and pressing wheel |
| CN104229160A (en) * | 2014-10-15 | 2014-12-24 | 哈尔滨工业大学 | Four-wheel moving system for manned lunar vehicle |
| CN104354878A (en) * | 2014-11-03 | 2015-02-18 | 哈尔滨工业大学 | Transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler |
| CZ306763B6 (en) * | 2013-09-16 | 2017-06-21 | Technická univerzita v Liberci | An undercarriage system of a wheeled vehicle designed for impassable terrains |
| CN107985442A (en) * | 2017-12-28 | 2018-05-04 | 徐工集团工程机械有限公司 | Drive mechanism for wheel, wheel unit and unmanned platform truck |
| CN110816709A (en) * | 2019-11-18 | 2020-02-21 | 中国北方车辆研究所 | Obstacle crossing control method for six-wheel rocker arm suspension vehicle |
| CN111547272A (en) * | 2020-03-30 | 2020-08-18 | 中国北方车辆研究所 | Manned lunar vehicle |
| WO2020173184A1 (en) * | 2019-02-27 | 2020-09-03 | 深圳市大可奇科技有限公司 | Vehicle power control system and method |
| CN111762339A (en) * | 2020-06-30 | 2020-10-13 | 哈尔滨工业大学 | Online machine learning control method for vehicle wheels of star probe vehicle |
| CN111806178A (en) * | 2020-06-03 | 2020-10-23 | 中国北方车辆研究所 | Four-wheel vehicle trench crossing control method with telescopic rocker arm suspension |
-
2008
- 2008-01-09 CN CNU2008200520491U patent/CN201161630Y/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102649479A (en) * | 2012-03-28 | 2012-08-29 | 哈尔滨工业大学深圳研究生院 | Planetary rover suspension mechanism capable of actively lifting and pressing wheel |
| CZ306763B6 (en) * | 2013-09-16 | 2017-06-21 | Technická univerzita v Liberci | An undercarriage system of a wheeled vehicle designed for impassable terrains |
| CN104229160A (en) * | 2014-10-15 | 2014-12-24 | 哈尔滨工业大学 | Four-wheel moving system for manned lunar vehicle |
| CN104354878A (en) * | 2014-11-03 | 2015-02-18 | 哈尔滨工业大学 | Transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler |
| CN107985442A (en) * | 2017-12-28 | 2018-05-04 | 徐工集团工程机械有限公司 | Drive mechanism for wheel, wheel unit and unmanned platform truck |
| WO2020173184A1 (en) * | 2019-02-27 | 2020-09-03 | 深圳市大可奇科技有限公司 | Vehicle power control system and method |
| CN110816709B (en) * | 2019-11-18 | 2020-12-01 | 中国北方车辆研究所 | Obstacle crossing control method for six-wheel rocker arm suspension vehicle |
| CN110816709A (en) * | 2019-11-18 | 2020-02-21 | 中国北方车辆研究所 | Obstacle crossing control method for six-wheel rocker arm suspension vehicle |
| CN111547272A (en) * | 2020-03-30 | 2020-08-18 | 中国北方车辆研究所 | Manned lunar vehicle |
| CN111806178A (en) * | 2020-06-03 | 2020-10-23 | 中国北方车辆研究所 | Four-wheel vehicle trench crossing control method with telescopic rocker arm suspension |
| CN111806178B (en) * | 2020-06-03 | 2022-01-11 | 中国北方车辆研究所 | Four-wheel vehicle trench crossing control method with telescopic rocker arm suspension |
| CN111762339A (en) * | 2020-06-30 | 2020-10-13 | 哈尔滨工业大学 | Online machine learning control method for vehicle wheels of star probe vehicle |
| CN111762339B (en) * | 2020-06-30 | 2022-01-11 | 哈尔滨工业大学 | Online machine learning control method for vehicle wheels of star probe vehicle |
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| C14 | Grant of patent or utility model | ||
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| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20081210 Termination date: 20120109 |