CN102649479A - Planetary rover suspension mechanism capable of actively lifting and pressing wheel - Google Patents
Planetary rover suspension mechanism capable of actively lifting and pressing wheel Download PDFInfo
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- CN102649479A CN102649479A CN2012100863473A CN201210086347A CN102649479A CN 102649479 A CN102649479 A CN 102649479A CN 2012100863473 A CN2012100863473 A CN 2012100863473A CN 201210086347 A CN201210086347 A CN 201210086347A CN 102649479 A CN102649479 A CN 102649479A
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- torsion spring
- rocking arm
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Abstract
The invention relates to a planetary rover suspension mechanism capable of actively lifting and pressing a wheel, which comprises a chassis (1) and a lifting and pressing mechanism (10), wherein the lifting and pressing mechanism (10) comprises a motor (5), a worm (4), a worm gear (2), a worm gear shaft (3), a torsion spring (7) and a rocker arm (6); the motor (5) is fixedly connected on the chassis (1); an output shaft (52) of the motor (5) is fixedly connected with the worm (4); the worm (4) is meshed with the worm gear (2); the worm gear (2) is fixedly connected with the worm gear shaft (3) by a key (31); the worm gear shaft (3) is provided with a shaft end (35) which is articulated with the top (61) of the rocker arm (6); the torsion spring (7) is arranged between the worm gear shaft (3) and the rocker arm (6); the head end (71) of the torsion spring (7) is fixedly connected with the worm gear shaft (3); the tail end (72) of the torsion spring (7) is fixedly connected with the rocker arm (6); and the bottom end of the rocker arm (6) is articulated with the wheel (9).
Description
Technical field
The present invention relates to a kind of planetary detection body suspension mechanism, especially can initiatively lift the suspension fork mechanism of the wheel of delaying unloading.
Background technology
In planetary detection, require the suspension fork mechanism of planetary detection car can adapt to rugged lunar surface environment, and have very strong obstacle climbing ability and resistance to capsizing.In addition, skidding if there is wheel to be absorbed in sandy soil, how to recover the towability of planetary detection car, also is an important problem.The suspension fork mechanism of existing wheeled planetary detection car, taking turns rocking bar suspension type structure with six of the U.S. is main representative, utilizes differential attachment to solve the stationarity problem of main car body, makes each wheel can both bearing load simultaneously.But such suspension fork mechanism exists obstacle detouring to cross the weak shortcoming of ditch ability, and when having wheel to skid, thereby such suspension can't make other wheel that more tractive force can be provided to other wheel the load transfer of slip wheel.
Summary of the invention
The purpose of this invention is to provide a kind of planetary detection body suspension mechanism that can initiatively lift the wheel of delaying unloading, thereby thereby improve obstacle climbing ability and can redistribute each wheel load recovery towability.
For achieving the above object, the solution that the present invention proposes is: a kind of planetary detection body suspension mechanism that can initiatively lift the wheel of delaying unloading comprises chassis and lifting and pressing mechanism; Said lifting and pressing mechanism comprises motor, worm screw, worm gear, worm-wheel shaft, torsion spring and rocking arm; the top of rocking arm is hinged in worm-wheel shaft through torsion spring, and the bottom of rocking arm is hinged on the wheel, and rocking arm can rotate around worm-wheel shaft under the effect of motor-driven moment; thus with wheel lift or depress, realize ACTIVE CONTROL.Said motor driving moment transfer route is: the output shaft of this motor is connected through coupler with worm screw mutually; The worm and wheel engagement; Worm gear is connected with worm-wheel shaft through key mutually, and worm-wheel shaft is hinged with the top of rocking arm through torsion spring mutually, through above route the motor-driven transmission of torque is arrived rocking arm; Make the rocking arm rotation, thereby raise or force down wheel.
With the car body both sides six-wheel planetary probe vehicles of three wheels being arranged respectively is example, and each wheel all need be installed the above-mentioned lifting and pressing mechanism of a cover, and promptly the left side needs to install three cover lifting and pressing mechanisms, and three cover lifting and pressing mechanisms also need be installed in the right side, needs six cover lifting and pressing mechanisms altogether.
Said motor is fixedly mounted on the chassis; The output shaft of motor is connected through coupler and worm screw, and worm screw is supported by two angular contact ball bearings, and two angular contact ball bearings are installed in respectively on two bearing seats; Two bearing seats are connected on the chassis, and worm screw can be rotated under the effect of Motor torque.The worm and wheel engagement, worm gear is connected through key and worm-wheel shaft, and worm-wheel shaft is by two sliding supported conditions, and two plain bearings are connected on the chassis.Worm-wheel shaft is provided with axle head, and the axle head of worm-wheel shaft and the top of rocking arm are hinged, and the axle head of worm-wheel shaft is provided with a vestibule; Therefore torsion spring is installed in the vestibule, and the head end of torsion spring is connected on the worm-wheel shaft, and the tail end of torsion spring is connected on the rocker arm cover; the top of rocker arm cover and rocking arm is connected, and initiatively lifts when delaying unloading wheel when needs, and the moment of torsion of motor is delivered on the torsion spring through worm screw, worm gear and worm-wheel shaft; be delivered on the rocking arm through torsion spring again; make the rocking arm rotation, the bottom of rocking arm and wheel hinge, and rocking arm rotates just can lift or depress wheel.
The effect of worm and gear among the present invention is initiatively to lift when delaying unloading wheel to play the effect that transmission is slowed down on the one hand, has also utilized the self-locking property of worm and gear on the other hand, and promptly the moment of torsion on the torsion spring does not directly affact on the motor, plays the effect of protection motor.
The effect of torsion spring among the present invention; It mainly is the load problem that solves each wheel; For example the residing landform of each wheel changes or when utilizing the lifting and pressing mechanism ACTIVE CONTROL; Torsional deflection amount through torsion spring changes, and the load that the wheel that links to each other with this torsion spring is born changes, for example when the torsional deflection amount of certain torsion spring increases; The wheel that links to each other with this torsion spring will bear bigger load; And when the torsional deflection amount of certain torsion spring reduced, the wheel that links to each other with this torsion spring will bear littler load, thereby made the planetary detection car under the basicly stable situation of attitude maintenance, make each wheel can both bear certain load.Simultaneously, torsion spring can also play the effect of vibration damping.
Torsion spring in this specification sheets can also be a torsion bar spring.If torsion bar spring, then an end and the worm-wheel shaft of torsion bar spring are connected, and the other end and rocking arm are connected.
When wheel ran into higher obstacle, the lifting and pressing mechanism that utilizes this wheel was this wheel lift, let the also interoperation of lifting and pressing mechanism of other wheel in case of necessity, just can assist obstacle detouring.
When the planetary detection car has wheel to skid; Can utilize the lifting and pressing mechanism of this specification sheets to redistribute the load that each wheel bears; Thereby the recovery towability, concrete grammar is: utilize lifting and pressing mechanism that the wheel that skids is upwards lifted, let the also interoperation of lifting and pressing mechanism of other wheel in case of necessity; Thereby reduce load that slip wheel bears, increase the load that other wheel bears; Because each wheel maximum driving force that can bear is directly proportional with acting on this load of taking turns, so other wheel just can bear bigger propulsive effort, thereby the propulsive effort that slip wheel is lost recovers on other wheel.
When transporting the planetary detection car by means of vehicle, the planetary detection car need draw wheel in to adapt to the fairing of vehicle, therefore needs the mechanism of special gathering wheel.Lifting and pressing mechanism in this specification sheets can serve as the mechanism of drawing wheel in, and promptly the lifting and pressing mechanism in this specification sheets unites two into one with the mechanism of drawing wheel in, so the lifting and pressing mechanism in this specification sheets does not increase the redundancy of planetary detection car.
Description of drawings
Figure 1A shows the six-wheel planetary probe vehicles side view based on both sides of the present invention wheel balanced configuration.
Figure 1B shows based on the six-wheel planetary probe vehicles of Figure 1A and lifts a side view behind the wheel.
Fig. 2 shows the top view based on the rocking arm of planetary detection car of the present invention and junction, chassis.
Fig. 3 shows A-A cutaway view among Fig. 2.
Fig. 4 shows the B-B cutaway view among Fig. 3.
Fig. 5 shows the C-C cutaway view among Fig. 4.
Fig. 6 shows the B-B cutaway view among Fig. 3, adopts torsion bar spring.
The specific embodiment
The specific embodiment one, Figure 1A show the six-wheel planetary probe vehicles side view based on both sides of the present invention wheel balanced configuration, on chassis 1, are provided with six rocking arms 6 altogether, the bottom of each rocking arm wheel 8 that all is hinged.Because wheel distributes in the car body bilateral symmetry, therefore only show three wheels 8 and three rocking arms 6 of a side among the figure.Figure 1B is for lifting the side view behind the wheel (8) based on the six-wheel planetary probe vehicles of Figure 1A.
Fig. 2, Fig. 3, Fig. 4 and Fig. 5 show the active of employing torsion spring of the present invention and lift the planetary detection body suspension mechanism of delaying unloading and taking turns, and this suspension fork mechanism mainly comprises chassis 1 and lifting and pressing mechanism 10, and described lifting and pressing mechanism 10 comprises worm gear 2, worm-wheel shaft 3, worm screw 4, motor 5, rocking arm 6, rotating spring 7; Wherein motor 5 is fixed on the chassis 1 through electric machine support 51, and the output shaft 52 of motor 5 is connected with worm screw 4 through coupler 53 mutually, and worm screw 4 is through 41 supportings of two angular contact ball bearings; Two angular contact ball bearings 41 are installed in respectively on two bearing seats 42; Two bearing seats 42 are connected on the chassis 1, worm gear 2 and worm screw 4 engagements, and worm gear 2 is connected through key 31 with worm-wheel shaft 3 mutually; Worm-wheel shaft 3 is by 32 supportings of two plain bearings; Two plain bearings 32 are connected on the chassis 1, and worm-wheel shaft 3 is provided with axle head 35, and axle head 35 is hinged with the top 61 of rocking arm 6; The inner cylinder face 61a on the external cylindrical surface 35a of the axle head 35 of worm-wheel shaft 3 and the top 61 of rocking arm 6 is the slide relative face; Be provided with vestibule 36 in the axle head 35, be provided with torsion spring 7 in the vestibule 36, the head end 71 and the worm-wheel shaft 3 of torsion spring 7 are connected; The tail end 72 of torsion spring 7 is connected through rocker arm cover 63 and rocking arm 6, thus make torsion spring 7 can be between worm-wheel shaft 3 and rocking arm 6 transfer torque.
The head end 71 of described torsion spring 7 realizes that with worm-wheel shaft 3 mode that is connected is: in the vestibule 36 that the axle head 35 of worm-wheel shaft 3 forms; Be provided with the spring position-limiting ear 37 of two protrusions; The head end 71 of torsion spring 7 inserts between the spring position-limiting ear 37 of these two protrusions, has realized the head end 71 of torsion spring 7 and being connected of worm-wheel shaft 3.
The tail end 72 of described torsion spring 7 realizes that with rocking arm 6 mode that is connected is: in rocker arm cover 63, be provided with spring limiting stopper 631 and square groove 632; The tail end 72 of torsion spring 7 inserts in the square groove 632; Under the clamping of spring limiting stopper 631; Realized the tail end 72 of torsion spring 7 and being connected of rocker arm cover 63, rocker arm cover 63 is connected through pad 62 and rocking arm 6, has therefore realized the tail end 72 of torsion spring 7 and being connected of rocking arm 6.
The head end 71 of torsion spring 7 is connected with worm-wheel shaft 3, tail end 72 is connected with rocking arm 6, make torsion spring 7 just can be between worm-wheel shaft 3 and rocking arm 6 transfer torque.Initiatively lift when needs and to delay unloading wheel 8 the time; Motor 5 rotates; The drive torque of motor 5 is delivered on the worm screw 4 through motor output shaft 52, coupler 53, and worm screw 4 is delivered to drive torque on worm gear 2 and the worm-wheel shaft 3 again, and worm-wheel shaft 3 passes to rocking arm 6 through torsion spring 7 with drive torque again; Thereby rocking arm 6 is rotated, reach the purpose of lifting the wheel 8 of delaying unloading.
When planetary detection car cruising, because the axle head 35 of rocking arm 6 and worm-wheel shaft 3 is hinge modes, the landform variation causes rocking arm 6 to rotate around the axle head 35 of worm-wheel shaft 3; But owing to have torsion spring 7 between rocking arm 6 and the worm-wheel shaft 3; Therefore the rotation of rocking arm 6 must change the torsional deflection amount of torsion spring 7, and the moment of torsion of torsion spring 7 is changed, thus the load that the wheel 8 that change links to each other with this torsion spring 7 is born; Therefore pass through the torsional deflection quantitative changeization of each torsion spring 7; The load that each wheel 8 is born also can change, and has solved the load problem of each wheel 8, and torsion spring 7 can also play the effect of vibration damping simultaneously.Owing to the latching characteristics of worm gear 2 and worm screw 4, make the change in torque of torsion spring 7 can not directly act on the motor 5 in addition, thus protection motor 5.
The effect of jam nut 33 and lock washer 34 is longitudinal travels of constraint worm-wheel shaft 3, and lock washer 34 also is an antifriction element simultaneously.The effect of two worm gear pads 22 is to regulate endplay, and the axial location of constraint worm gear 2 also is an anti-wear component simultaneously.Pad 62 also is an anti-wear component.
The specific embodiment two, (referring to Fig. 6) this embodiment are with the difference of the specific embodiment one; Torsion spring in the specific embodiment one 7 is replaced by torsion bar spring 9; The head end 91 of torsion bar spring 9 is connected on the worm-wheel shaft 3; The tail end 92 of torsion bar spring 9 is connected on the rocker arm cover 63, and other composition is identical with the specific embodiment one with connection mode.
Claims (3)
1. the planetary detection body suspension mechanism that can initiatively lift the wheel of delaying unloading is characterized in that it comprises chassis (1) and lifting and pressing mechanism (10), and said lifting and pressing mechanism (10) comprises motor (5), worm screw (4), worm gear (2), worm-wheel shaft (3), torsion spring (7) and rocking arm (6); Said motor (5) is fixedly mounted on the chassis (1); The output shaft (52) of motor (5) is connected through coupler (53) and worm screw (4), and worm screw (4) is by two angular contact ball bearings (41) supporting, and two angular contact ball bearings (41) are installed in respectively on two bearing seats (42); Two bearing seats (42) are connected on the chassis (1); Worm screw (4) and worm gear (2) engagement, worm gear (2) is connected through key (31) and worm-wheel shaft (3), and worm-wheel shaft (3) is supported by two plain bearings (32); Two plain bearings (32) are connected on the chassis (1); Worm-wheel shaft (3) is provided with axle head (35), and axle head (35) is hinged with the top (61) of rocking arm (6), and the external cylindrical surface (35a) of axle head (35) is the slide relative face with the inner cylinder face (61a) on the top (61) of rocking arm (6); Be provided with torsion spring (7) between worm-wheel shaft (3) and the rocking arm (6); The head end (71) of torsion spring (7) is connected with worm-wheel shaft (3), and the tail end (72) of torsion spring (7) is connected with rocking arm (6), and the bottom of rocking arm (6) and wheel (8) are hinged.
2. the planetary detection body suspension mechanism that can initiatively lift the wheel of delaying unloading according to claim 1; It is characterized in that; The axle head (35) of worm-wheel shaft (3) is provided with a vestibule (36); Be provided with the spring position-limiting ear (37) of two protrusions in the vestibule (36), the head end (71) of torsion spring (7) inserts between the spring position-limiting ear (37) of these two protrusions, has realized the head end (71) of torsion spring 7 and being connected of worm-wheel shaft (3); In rocker arm cover (63), be provided with spring limiting stopper (631) and square groove (632); The tail end (72) of torsion spring (7) inserts in the square groove (632); Under the clamping of spring limiting stopper (631); Realized the tail end (72) of torsion spring (7) and being connected of rocker arm cover (63), rocker arm cover (63) is connected through pad (62) and rocking arm (6), has therefore realized the tail end (72) of torsion spring (7) and being connected of rocking arm (6).
3. the planetary detection body suspension mechanism that can initiatively lift the wheel of delaying unloading according to claim 1 and 2; It is characterized in that; Torsion spring (7) between worm-wheel shaft (3) and the rocking arm (6) can be torsion bar spring (9); The head end (91) of this torsion bar spring (9) is connected on the worm-wheel shaft (3), and tail end (92) is connected on the rocker arm cover (63).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100863473A CN102649479A (en) | 2012-03-28 | 2012-03-28 | Planetary rover suspension mechanism capable of actively lifting and pressing wheel |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100863473A CN102649479A (en) | 2012-03-28 | 2012-03-28 | Planetary rover suspension mechanism capable of actively lifting and pressing wheel |
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| Publication Number | Publication Date |
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| CN102649479A true CN102649479A (en) | 2012-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100863473A Pending CN102649479A (en) | 2012-03-28 | 2012-03-28 | Planetary rover suspension mechanism capable of actively lifting and pressing wheel |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380297A (en) * | 2017-09-06 | 2017-11-24 | 钦州学院 | Deform the full landform robot running gear of pleiotaxy |
| CN109693811A (en) * | 2018-12-17 | 2019-04-30 | 西北工业大学 | A kind of differential rear-mounted Mars vehicle moving mechanism |
| CN115571242A (en) * | 2022-11-11 | 2023-01-06 | 湖南大学 | Variable-wheelbase carrying device |
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| WO2006018261A1 (en) * | 2004-08-16 | 2006-02-23 | Glaxo Group Limited | Medicament dispenser |
| CN101033008A (en) * | 2007-04-25 | 2007-09-12 | 哈尔滨工业大学 | Four-wheel or six-wheel differential-torsion rod spring suspension type vehicle-carrying mechanism |
| CN201161630Y (en) * | 2008-01-09 | 2008-12-10 | 湖南大学 | Active swing arm type variable diamond-type fourth wheel lunar vehicle moving system |
| CN201210109Y (en) * | 2008-06-16 | 2009-03-18 | 张宏彬 | Torque force control device for rotation axis |
| CN101544187A (en) * | 2009-05-06 | 2009-09-30 | 哈尔滨工业大学 | Active and passive combined six-wheel probe vehicle moving mechanism |
-
2012
- 2012-03-28 CN CN2012100863473A patent/CN102649479A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2006018261A1 (en) * | 2004-08-16 | 2006-02-23 | Glaxo Group Limited | Medicament dispenser |
| CN101033008A (en) * | 2007-04-25 | 2007-09-12 | 哈尔滨工业大学 | Four-wheel or six-wheel differential-torsion rod spring suspension type vehicle-carrying mechanism |
| CN201161630Y (en) * | 2008-01-09 | 2008-12-10 | 湖南大学 | Active swing arm type variable diamond-type fourth wheel lunar vehicle moving system |
| CN201210109Y (en) * | 2008-06-16 | 2009-03-18 | 张宏彬 | Torque force control device for rotation axis |
| CN101544187A (en) * | 2009-05-06 | 2009-09-30 | 哈尔滨工业大学 | Active and passive combined six-wheel probe vehicle moving mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107380297A (en) * | 2017-09-06 | 2017-11-24 | 钦州学院 | Deform the full landform robot running gear of pleiotaxy |
| CN107380297B (en) * | 2017-09-06 | 2023-09-05 | 钦州学院 | Deformed multi-wheel type all-terrain robot walking mechanism |
| CN109693811A (en) * | 2018-12-17 | 2019-04-30 | 西北工业大学 | A kind of differential rear-mounted Mars vehicle moving mechanism |
| CN115571242A (en) * | 2022-11-11 | 2023-01-06 | 湖南大学 | Variable-wheelbase carrying device |
| CN115571242B (en) * | 2022-11-11 | 2024-04-16 | 湖南大学 | Variable-wheelbase carrying device |
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Application publication date: 20120829 |