RU168035U1 - VEHICLE VEHICLE VEHICLE WITH DIFFICULT GROUND AND RELIEF CONDITIONS - Google Patents

Abstract

The utility model relates to the field of transport and relates to the construction of research or special-purpose vehicles on the earth, lunar or Martian soil surface. The essence of the utility model consists in the fact that in a vehicle for moving around terrain with difficult soil and relief conditions, made in the form of a six-wheeled vehicle a chassis comprising a supporting frame with a container, to which three wheel modules are made pivotally made in the form of balancing trolleys, each of which is provided with steam motor wheels, the supporting frame is made of two beams forming a T-shaped structure, each end of which is equipped with a hinge of connection with one of the balancing trolleys. The technical result of the utility model is a new T-shaped design of the chassis frame containing only two beams - a longitudinal and transverse, which simplifies and facilitates its design. 4 ill.

Description

The utility model relates to the field of transport and relates to the construction of research vehicles or special purpose on the earth, lunar or Martian soil surface.

Such vehicles include ground transportation robots, as well as planet rovers - lunar rovers and rovers.

The main design features of the self-propelled chassis of such vehicles are the use of motor wheels (wheels), i.e. individual electromechanical drives embedded in each wheel, as well as the use of inelastic balancing suspensions, providing mechanical connections of each motor-wheel with the chassis frame or the bearing body so that all the motor-wheels of the multi-drive vehicle have contact with an uneven contact surface.

The design of the rover is known, the balancing suspension of which is made according to the Rocker Bogie scheme [Malenkov MI and others. Increasing the mobility of rovers by improving the systems of movement and their control algorithms. Bulletin of Mechanical Engineering. 2015. “No. 8. from. 37-44], which provides constant contact with the supporting surface of all six wheels when moving along a complex soil terrain within the swing angles of the balancers, limited by stops. This result is achieved due to the installation of a longitudinal side beam on each side of the chassis, one of the ends of which is connected to one of the motor wheels, and the second is made in the form of a hinge of an additional longitudinal balancer, each of which ends is connected to two other motor wheels of this side. To reduce the roll and trim angles of the vehicle body, the swing axles of the side balancers are connected by mechanisms for synchronizing the rotation angles of these balancers, which enable the side balancers of the opposite sides to rotate only in opposite directions.

Depending on the chassis design, the mechanism for synchronizing the sides can be made in the form of two half shafts and connecting these half shafts, a conical differential or in the form of a lever-hinge mechanism with one transverse balancer.

The disadvantage of the described chassis design is the presence of movable transverse links of the balancers of the opposite sides, which significantly limits the layout of either the onboard office and scientific equipment located in the container (when using the synchronization mechanism with the double-sided differential), or the attached office and scientific equipment (when using the lever-hinged synchronization mechanism).

The second and main drawback of the analogue design is the non-optimal redistribution of normal reactions along the wheels of one side due to the influence of reactive torques of the wheels, which are closed to the ground through the hinges of the levers. This reduces the cross-country ability of the vehicle, especially when climbing uphill on deformable, loosely coupled soils such as sand or volcanic slag. In some cases, the separation of individual wheels from the ground is possible, which increases the normal load on the support wheels and leads to slipping and immersion of the most loaded wheels in the ground.

The last of the above disadvantages is eliminated in the design of the chassis with the so-called three-point suspension of wheels [Kucherenko V., Bogatchov A., Winnendael M., Chassis Concepts for ExoMars Rover. Proc. Of the ESA Workshop "ASIRA". November 2-4. Estec. Noordwijk (the Netherlands). 2004.]. This chassis is equipped with three modules, each of which is a balanced suspension made in the form of two parallelograms with a common balancer. The support of the swing axles of the balancers of the two front modules is rigidly connected with the side walls of the container of the vehicle, and the support of the swing axis of the rear module is rigidly connected with the rear wall of the container. Such a suspension also ensures constant contact of all six wheels with an uneven supporting surface within the swing angles of the balancers of the listed modules and a significant reduction in the heel and trim angles of the hull when overcoming the scraps at the same time with two sides, as well as when overcoming single height obstacles under the wheels of each side.

However, unlike Rocker Bogie-type suspensions, the onboard longitudinal balancers of the front modules do not have cross connections and do not limit the possibility of arranging equipment inside the container, as well as the possibility of arranging attachments. Thanks to parallelogram suspensions, the normal reactions of two wheels connected by one balancer are aligned, which significantly improves the overall picture of the redistribution of reactions among the wheels. The separation of the middle wheels from the supporting surface is excluded even in the situation of the front wheels stop in a vertical wall.

The disadvantage of this vehicle is the excessive integration of the self-propelled chassis and container, which is necessary for the organization of movement and conduct sea trials. Meanwhile, the configuration of the container to a decisive extent depends on the overall mass and other characteristics of the attached equipment and the equipment located inside it, including the thermal management system. The lack of autonomy of the chassis and container at all, even the very early stages of development, manufacture and testing, for example, a planet rover, significantly complicates the organization of work and ground testing of components.

This drawback is eliminated in the design of the rover chassis, adopted as a prototype [Design and Manufacture of full size breadboard EXOMARS Rover Chassis. Lee C, Dalcolmo J., Klinker S. Proc. of the 9 ^th Workshop "ASTRA". november 28-30. Estec. Noorlwijk, the Netherlands. 2006.]. The basis of the vehicle is a six-wheeled chassis, including a supporting frame formed by a combination of interconnected longitudinal and transverse beams. The supporting part of the chassis is represented by three wheeled modules, which are connected with the supporting frame, and each module is equipped with a pair of motor-wheels. The module is made in the form of a balancing trolley containing a balancing beam pivotally connected to a supporting frame, at the ends of which motor wheels are mounted using swinging levers. The levers, by means of articulated link rods pivotally connected to them, which are also pivotally connected to the frame, form a parallelogram mechanism with a balancing beam, providing plane-parallel movement to the motor wheels. A container is mounted to the supporting frame by means of a bolted connection to accommodate various kinds of equipment.

A bolted connection increases the rigidity of the supporting structure, however, this leads to an increase, already significant, due to the mass of the frame, the total mass of the chassis, which is a drawback in relation to planet rovers designed to move on difficult and unpredictable soil conditions. It should be noted as a disadvantage that some design complexity of the supporting frame is not justified by the task of combining all the elements of the chassis.

Thus, the objective of the utility model is to reduce the mass of the vehicle and simplify its design.

The task is achieved due to the fact that in a vehicle for moving around terrain with difficult soil and terrain conditions, made in the form of a six-wheeled chassis, including a supporting frame with a container, to which three wheel modules made in the form of balancing trolleys are pivotally connected, each of which is equipped with a pair of motor wheels, the supporting frame is made of two beams forming a T-shaped structure, each end of which is equipped with a hinge connection with one of the balancing trolleys.

The technical result of the utility model is a new T-shaped design of the chassis frame, containing only two beams - longitudinal and transverse, which simplifies and facilitates its design.

In the drawings attached to the description, are given:

- FIG. 1-3d is an image of a general view of a vehicle;

- FIG. 2-3d is an image of a general view of the chassis;

- FIG. 3-3d is an image of one of the front wheel modules;

- FIG. 4-3d is an image of a rear wheel module;

The vehicle contains a six-wheeled chassis 1, on which a container 2 is mounted, designed to accommodate various equipment. The chassis 1 contains a supporting frame 3, on which a container 2 is attached by means of a bolted connection (not shown). The supporting frame 3 is made of two beams (longitudinal and transverse), which together form a rigid T-shaped structure. The supporting part of the chassis 1 contains three wheel modules: two front - 4 and one rear - 5. Each module is equipped with a pair of motor wheels 6 and is made in the form of a balancing trolley, the basis of which is a balancing beam 7, its middle part connected by a hinge 8 with one of the three ends of the T-shaped frame 3. The wheels 6 are mounted on the ends of the pivoting levers 9, which are connected by the hinges 10 to the ends of the balance beam 7. The other ends of the levers 9 are connected by means of ball hinges to the reaction rods 11, which, in turn, also articulated They are connected with the frame 3 in the area of its articulation with the balancing beam 7. The reactive rods 11 of each module form a parallelogram mechanism with the corresponding balancing beam 7, which provides plane-parallel movement of the module wheels when the balancing beam is turned 7. It should be noted that the mechanical coupling of the frame 3 and the bottom container 2 is carried out not less than three supporting platforms 12 using additional to the bolted connections, pin connections, eliminating the possibility of relative movement of this their vehicle elements, increasing the overall rigidity of the supporting structure.

The improvement proposed in the utility model simplifies the design of the chassis carrying part and reduces the total mass of the latter, which, ultimately, makes it possible to increase the mass of scientific instruments and, due to their duplication, to increase the reliability of onboard equipment.

Claims (1)

A vehicle for moving around terrain with difficult soil and terrain conditions, made in the form of a six-wheeled chassis, including a supporting frame with a container, with which three wheeled modules pivotally connected in the form of balancing trolleys, each of which is equipped with a pair of motor-wheels, are distinguished, characterized in that the supporting frame is made of two beams forming a T-shaped structure, each end of which is equipped with a hinge connection with one of the balancing trolleys.

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