CN101445159B - Six-wheel running system for interplanetary exploration patrol vehicle - Google Patents
Six-wheel running system for interplanetary exploration patrol vehicle Download PDFInfo
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- CN101445159B CN101445159B CN2007101937882A CN200710193788A CN101445159B CN 101445159 B CN101445159 B CN 101445159B CN 2007101937882 A CN2007101937882 A CN 2007101937882A CN 200710193788 A CN200710193788 A CN 200710193788A CN 101445159 B CN101445159 B CN 101445159B
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- 239000000725 suspension Substances 0.000 claims abstract description 55
- 238000001514 detection method Methods 0.000 description 4
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- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 2
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- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
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Abstract
The invention relates to a six-wheel running system for an interplanetary exploration patrol vehicle. The system comprises three suspension units which are distributed around a bodywork main instrument cabinet with one transversal suspension unit and the other two longitudinal suspension units, wherein, the transversal suspension unit is arranged in the front part of the main instrument cabinet, and comprises a secondary instrument cabinet connected with the main instrument cabinet, and a wheel I and a wheel II which are connected with the left side and the right side of the secondary instrument cabinet respectively; the left longitudinal suspension unit is arranged at the left side of the main instrument cabinet, and comprises a left main rocker, and a wheel III and a wheel IV which are respectively connected with two ends of the left main rocker; the right longitudinal suspension units are arranged at the right side of the main instrument cabinet, and comprises a right main rocker connected with the main instrument cabinet, and a wheel V and a wheel IV which are respectively connected with two ends of the right main rocker. The invention not only well solves the problem of stability of the bodywork to avoid using a differential mechanism and other devices, but also has good trafficability and load balancing capability, and particularly adapts to various exploration vehicles.
Description
Technical field
The present invention relates to a kind of wheeled car running gear, be specifically related to a kind of six-wheel running system for interplanetary exploration patrol vehicle.
Background technology
The present wheeled interspace detection vehicle main configurations that adopt many wheels rocker arm suspension mechanism arranged side by side as running gear more.What " No. 1, the lunar rover vehicle " launched as the Soviet Union adopted is eight wheel constructions arranged side by side of one-sided double wishbone suspension.The Marsokhod " Suo Jiena " of U.S. emission and " Opportunity Rover " then adopt be single-sided arrangement by two take turns that rocker arm suspension develops and the structure of three-wheel rocker arm suspension.Take turns and compare with eight, six take turns the off-road capability that running gear has promptly significantly promoted vehicle, do not increase too much mechanism's complexity again, are just becoming the development tendency of interspace detection vehicle running gear.But adopt three-wheel to be listed in the running gear of both sides, compartment suspension system for guaranteeing stable increase by one differential gear in the compartment of having in compartment, this has just increased the complexity of system, make running gear weight increase, and there is the compartment in the process of moving, the pitching gap increase, and have the shortcomings such as problem of carriage airtightness.
Through the prior art literature search is found, the Chinese patent publication number is CN 1769126A, open day is on May 10th, 2006, patent name is " suspension structure of six-wheeled type environment inspecting vehicle ", it disclosed a kind of six is taken turns the wheeled car suspension system and just rocking arm type suspension is improved to some extent, and but still can not break away from the existence of diff.The Chinese patent publication number is CN 1718509A, open day is on January 11st, 2006, patent name is " moon craft six is taken turns active suspension mechanism ", its disclosed a kind of moon craft six that is similar to U.S.'s " Opportunity Rover " rocker arm suspension is taken turns active suspension mechanism; rocker arm suspension was realized with being connected by ACTIVE CONTROL of car body; though cancelled diff, brought very big difficulty to Control System Design, is difficult to the real-time adaptation of realization to landform in the actual use.
Summary of the invention
The invention provides a kind of higher cross-country and ground adaptive capacity that both had, avoid introducing box of tricks again, realize the stable and load rectangular distribution of car load, have the six-wheel running system for interplanetary exploration patrol vehicle of good crossing ability.
Six-wheel running system for interplanetary exploration patrol vehicle of the present invention, this system comprises three around the car body master instrument compartment one horizontal two vertical suspension unit of arranging; The lateral suspension unit is positioned at main instrument compartment front portion, comprises the secondary instrument compartment that links to each other with main instrument compartment, and the wheel I and the wheel II that link to each other with the secondary instrument compartment left and right sides respectively; Vertical left suspension unit is positioned at main instrument compartment left side, comprises the left master rocker that links to each other with main instrument compartment, and the wheel III and the wheel IV that link to each other respectively with left master rocker two ends; Vertical right suspension unit is positioned at main instrument compartment right side, comprises the right master rocker that links to each other with main instrument compartment, and the wheel V and the wheel IV that link to each other respectively with right master rocker two ends; Its
In the lateral suspension unit, secondary instrument compartment and main instrument compartment are hinged;
In vertical left suspension unit, left master rocker is hinged in left master rocker midpoint and main instrument compartment;
In vertical right suspension unit, right master rocker is hinged in right master rocker midpoint and main instrument compartment;
In the lateral suspension unit, wheel I links to each other with the secondary instrument compartment left and right sides by the wheel column with wheel II;
In vertical left suspension unit, wheel III links to each other with left master rocker two ends by the left wheel column with wheel IV, also is connected with left front pull bar, left back pull bar between left master rocker mid point and both sides left wheel column; Form a four-bar linkage by the epimere of the left master rocker of part, left front pull bar and left wheel column; The epimere that is parted on the left side master rocker, left back pull bar and left wheel column by another one is formed another four-bar linkage;
In vertical right suspension unit, wheel V links to each other with right master rocker two ends by right wheel column with wheel IV, also is connected with right front pull bar, right back pull bar between the right wheel column of right master rocker mid point and both sides; Form a four-bar linkage by the epimere of the right master rocker of part, right front pull bar and right wheel column; Epimere by the right master rocker of another part, right back pull bar and right wheel column is formed another four-bar linkage.
Effect of the present invention is: six-wheel running system for interplanetary exploration patrol vehicle of the present invention, one group in twos of six wheel of car load form three and center on the compartment one horizontal two vertical suspension units of arranging, for car load provides stable support.Because for main instrument compartment, the point of connection of three suspension units and main instrument compartment is three, constitutes a firm triangle, do not need differential gear can realize the stable and load rectangular distribution of car load yet.Vertically the epimere of master rocker, pull bar and wheel column has been formed a four-bar linkage in the suspension unit, can guarantee like this to be suspended in the pitching process, the wheel column remains on more vertical state with angle between the ground, this has just reduced the possibility that wheel column and obstacle interfere, and also helps the layout of steering hardware and the realization of stepping movement simultaneously.The present invention has not only well solved the stability problem of car body, avoids using devices such as diff, also has good crossing ability and load equalization ability, is particularly suitable for various detection vehicles.
Description of drawings
Fig. 1 is a six-wheel running system for interplanetary exploration patrol vehicle structural representation of the present invention;
Fig. 2 is vertical left suspension unit structural representation among Fig. 1;
Fig. 3 is a six-wheel running system for interplanetary exploration patrol vehicle perspective view of the present invention;
Fig. 4 is vertical left suspension unit motion scheme drawing among Fig. 2;
1. lateral suspension unit among the figure; 2. vertical right suspension unit; 3. vertical left suspension unit; 4. secondary instrument compartment; 5. left master rocker mid point; 6. left master rocker; 7. left front pull bar; 8. left back pull bar; 9. wheel column; 10. wheel II; 11. wheel I; 12. wheel V; 13. wheel IV; 14. wheel III; 15. wheel IV; 16. main instrument compartment.
The specific embodiment
Below in conjunction with accompanying drawing six-wheel running system for interplanetary exploration patrol vehicle of the present invention is further described.
As shown in Figure 1, six-wheel running system for interplanetary exploration patrol vehicle of the present invention, it comprises three around the car body master instrument compartment 16 1 horizontal two vertical suspension units of arranging.
Lateral suspension unit 1 is positioned at main instrument compartment 16 front portions, comprises the secondary instrument compartment 4 that links to each other with main instrument compartment 16, the wheel I 11 and the wheel II 10 that link to each other with secondary instrument compartment 4 left and right sides respectively.Wherein secondary instrument compartment 4 is connected for pin with main instrument compartment 16; Wheel I 11 links to each other with secondary instrument compartment 4 left and right sides by wheel column 9 with wheel II 10.
As shown in Figure 2, described vertical left suspension unit 3 is positioned at main instrument compartment 16 left sides, the wheel III 14 and the wheel IV 15 that comprise the left master rocker 6 that links to each other with main instrument compartment 16, link to each other respectively with left master rocker 6 two ends.Wherein left master rocker 6 is connected with main instrument compartment 16 pins at left master rocker mid point 5 places; Wheel III 14 links to each other with left master rocker 6 two ends by the left wheel column with wheel IV 15, above the left master rocker 6, also be connected with left front pull bar 7, left back pull bar 8 between left master rocker mid point 5 and the both sides left wheel column.Left side master rocker 6 is rotatable at left master rocker mid point 5 places; Form a four-bar linkage by the left master rocker 6 of part, left front pull bar 7 with the epimere of left wheel column; Form another four-bar linkage by another part left side master rocker 6, left back pull bar 8 with the epimere of left wheel column.Two four-bar linkages have guaranteed suspension unit in the pitching process, and it is vertical that the wheel column keeps substantially.
Described vertical right suspension unit 2 is positioned at main instrument compartment 16 right sides, the wheel V 12 and the wheel IV 13 that comprise the right master rocker that links to each other with main instrument compartment 16, link to each other respectively with right master rocker two ends.Wherein right master rocker is connected with main instrument compartment 16 pins in right master rocker midpoint; Wheel V 12 links to each other with right master rocker two ends by right wheel column with wheel IV 13, above the right master rocker, also be connected with right front pull bar, right back pull bar between the right wheel column in right master rocker mid point and both sides.Right master rocker is rotatable in right master rocker midpoint; Form a four-bar linkage by the epimere of the right master rocker of part, right front pull bar and right wheel column; Epimere by the right master rocker of another part, right back pull bar and right wheel column is formed another four-bar linkage.Two four-bar linkages have guaranteed suspension unit in the pitching process, and it is vertical that the wheel column keeps substantially.
As shown in Figure 3, for main instrument compartment, lateral suspension unit, vertical left suspension unit, vertical right suspension unit and main instrument compartment be connected to form three strong point A, B, C, constitute a firm triangle, for vehicle provides enough stable support, do not need differential gear can realize the stable and load rectangular distribution of car load yet.
As shown in Figure 4, when interspace detection is maked an inspection tour wheel of vehicle (as wheel I 11) when climbing up an obstacle, because the proportionality action that hangs, the triangular apex rising height of firm main instrument compartment has only half of obstacle height, the car load pitch angle does not have greatly changed, and is favourable to travelling of vehicle.When one of them wheel ran into obstacle, master rocker rotated with adaptation to the ground around the master rocker mid point, and this moment, the wheel column kept vertical substantially.Avoided wheel column and obstacle to interfere.
Claims (1)
1. six-wheel running system for interplanetary exploration patrol vehicle, this system comprises three around car body master instrument compartment (16) the one horizontal two vertical suspension units of arranging; Lateral suspension unit (1) is positioned at main instrument compartment (16) front portion, comprises the secondary instrument compartment (4) that links to each other with main instrument compartment (16), and the wheel I (11) and the wheel II (10) that link to each other with secondary instrument compartment (4) left and right sides respectively; Vertical left suspension unit (3) is positioned at main instrument compartment (16) left side, comprises the left master rocker (6) that links to each other with main instrument compartment (16), and the wheel III (14) and the wheel IV (15) that link to each other respectively with left master rocker (6) two ends; Vertical right suspension unit (2) is positioned at main instrument compartment (16) right side, comprises the right master rocker that links to each other with main instrument compartment (16), and the wheel V (12) and the wheel IV (13) that link to each other respectively with right master rocker two ends; It is characterized in that:
In lateral suspension unit (1), secondary instrument compartment (4) is hinged with main instrument compartment (16);
In vertical left suspension unit (3), left master rocker (6) is located with main instrument compartment (16) hinged at left master rocker mid point (5);
In vertical right suspension unit (2), right master rocker is hinged in right master rocker midpoint and main instrument compartment (16);
In the lateral suspension unit, wheel I (11) links to each other with secondary instrument compartment (4) left and right sides by wheel column (9) with wheel II (10);
In vertical left suspension unit (3), wheel III (14) links to each other with left master rocker (6) two ends by the left wheel column with wheel IV (15), also is connected with left front pull bar (7), left back pull bar (8) between left master rocker mid point (5) and both sides left wheel column; Form a four-bar linkage by the left master rocker of part (6), left front pull bar (7) with the epimere of left wheel column; Form another four-bar linkage by another part left side master rocker (6), left back pull bar (8) with the epimere of left wheel column;
In vertical right suspension unit (2), wheel V (12) links to each other with right master rocker two ends by right wheel column with wheel IV (13), also is connected with right front pull bar, right back pull bar between the right wheel column of right master rocker mid point and both sides; Form a four-bar linkage by the epimere of the right master rocker of part, right front pull bar and right wheel column; Epimere by the right master rocker of another part, right back pull bar and right wheel column is formed another four-bar linkage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101937882A CN101445159B (en) | 2007-11-28 | 2007-11-28 | Six-wheel running system for interplanetary exploration patrol vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2007101937882A CN101445159B (en) | 2007-11-28 | 2007-11-28 | Six-wheel running system for interplanetary exploration patrol vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101445159A CN101445159A (en) | 2009-06-03 |
| CN101445159B true CN101445159B (en) | 2011-05-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2007101937882A Expired - Fee Related CN101445159B (en) | 2007-11-28 | 2007-11-28 | Six-wheel running system for interplanetary exploration patrol vehicle |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101850795B (en) * | 2010-05-26 | 2011-11-30 | 河北工业大学 | Wheel-leg combined type mobile robot platform |
| CN102069857A (en) * | 2010-12-31 | 2011-05-25 | 无锡巨力重工机械有限公司 | Three-axis balance wheel set |
| CN102303655B (en) * | 2011-06-20 | 2012-11-07 | 河北工业大学 | Wheel-legged combined-type robot platform |
| CN102910297B (en) * | 2012-11-20 | 2014-12-10 | 哈尔滨工业大学 | Multi-spring constrained quadrilateral foldable and extendable suspension type six-wheel vehicle-mounted mechanism |
| CN108082329A (en) * | 2017-12-22 | 2018-05-29 | 江苏集萃智能制造技术研究所有限公司 | The six full landform of wheel of one kind patrols field trolley |
| CN108327471A (en) * | 2018-04-27 | 2018-07-27 | 陈炜 | Wheeled robot suspension frame structure |
| EP3924202B1 (en) * | 2019-02-12 | 2023-10-25 | Sew-Eurodrive GmbH & Co. KG | Mobile element |
| CN110949566A (en) * | 2019-12-25 | 2020-04-03 | 中国科学院沈阳自动化研究所 | Terrain self-adaptive variable-configuration mobile eight-wheel detection robot |
| CN111547272A (en) * | 2020-03-30 | 2020-08-18 | 中国北方车辆研究所 | Manned lunar vehicle |
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2007
- 2007-11-28 CN CN2007101937882A patent/CN101445159B/en not_active Expired - Fee Related
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| CN101445159A (en) | 2009-06-03 |
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Inventor after: Su Bo Inventor after: Yang Shuling Inventor after: Han Xiaoling Inventor after: Jiang Lei Inventor after: Cai Wenbin Inventor after: Lu Guoxuan Inventor before: Su Bo Inventor before: Yang Shuling Inventor before: Lu Guoxuan Inventor before: Jiang Lei Inventor before: Cai Wenbin |
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Free format text: CORRECT: INVENTOR; FROM: SU BO YANG SHULING LU GUOXUAN JIANG LEI CAI WENBIN TO: SU BO YANG SHULING HAN XIAOLING JIANG LEI CAI WENBIN LU GUOXUAN |
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| C53 | Correction of patent for invention or patent application | ||
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Inventor after: Su Bo Inventor after: Yang Shuling Inventor after: Li Chunming Inventor after: Han Xiaoling Inventor after: Jiang Lei Inventor after: Cai Wenbin Inventor after: Lu Guoxuan Inventor after: Lan Wei Inventor before: Su Bo Inventor before: Yang Shuling Inventor before: Han Xiaoling Inventor before: Jiang Lei Inventor before: Cai Wenbin Inventor before: Lu Guoxuan |
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Free format text: CORRECT: INVENTOR; FROM: SU BO YANG SHULING HAN XIAOLING JIANG LEI CAI WENBIN LU GUOXUAN TO: SU BO YANG SHULING LI CHUNMING HAN XIAOLING JIANG LEI CAI WENBIN LU GUOXUAN LAN WEI |
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Granted publication date: 20110504 Termination date: 20171128 |
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| CF01 | Termination of patent right due to non-payment of annual fee |