CN104354878A - Transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler - Google Patents
Transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler Download PDFInfo
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- CN104354878A CN104354878A CN201410610201.3A CN201410610201A CN104354878A CN 104354878 A CN104354878 A CN 104354878A CN 201410610201 A CN201410610201 A CN 201410610201A CN 104354878 A CN104354878 A CN 104354878A
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Abstract
The invention discloses a transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler and relates to a lunar rover. The problems that the current manned lunar rover is poor in shock reducing performance and not good in obstacle crossing performance and manipulation performance are solved. A shock absorber cover is fixedly connected to the lower end of each lug boss; an annular shock absorber is arranged under the shock absorber cover; four cross rods are fixed to the peripheral surface of the annular shock absorber; four steering arms correspond to the four cross rods one by one; one end of each steering arm is hinged to the corresponding cross rod and the other end of each steering arm is connected with a pin shaft; the lower ends of the pin shafts are fixedly connected with four suspension frames; two vertical shock absorbers are arranged at the lower end of each suspension frame and are arranged on the two sides of wheels; the upper end of each vertical shock absorber is fixedly connected with the corresponding suspension frame and the lower end of each vertical shock absorber is hinged to a rotating shaft of the wheels; the two ends of a front connecting rod are respectively hinged to a longitudinal rod; the two ends of a rear connecting rod are respectively hinged to a longitudinal rod; the longitudinal rods are fixedly connected with the peripheral surface of the annular shock absorber. The transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler is used for travelling under a complex topographic condition of a lunar surface.
Description
Technical field
The present invention relates to a kind of lunar rover vehicle, be specifically related to a kind of transverse annular damping longitudinal spring damping mixing four-wheeled.
Background technology
Specific physical and the design of lunar surface environment factor to manned lunar rover moving system of moonscape propose strict technical requirements, require larger hill climbing ability, good ride comfort, preferably lunar surface comformability, failure-free maneuvering performance, enough bearing capacities, the higher speed of a motor vehicle, stronger cross country power, and there is very strong adaptation lunar surface environment and condition.
The manned lunar rover vehicle is manned lunar exploration and the important component part setting up lunar base, and be that lunar surface detects requisite prospecting tools, the quality of its performance counts for much.The designs of natural cause to the manned lunar rover vehicle such as the physical property of moonscape own and surface state propose certain technical requirements.Although countries in the world comprise the manned lunar rover moving system that China all have devised different types of structure, all there is respective merits and faults in these mobile system configurations, the manned lunar rover vehicle configuration of development of new remains a challenging problem.Due to the difference of detection mission and performance requirement, the various manned lunar rover moving system configurations developed at present, size differ, performance is different, the design of the manned lunar rover vehicle exists to be becomed privileged and diversified feature, design process lacks inheritance, cause design iterations work, waste a large amount of time and resource, in design process, much conscious and introducing that is empirical method may cause the problem such as not science, configuration hydraulic performance decline of design simultaneously.In order to make the manned lunar rover vehicle complete complicated manned exploration's task, need for astronaut provides a applicable manned lunar rover vehicle configuration.
Summary of the invention
The present invention be solve that the damping performance that the existing manned lunar rover vehicle exists is poor, obstacle detouring and the bad problem of maneuvering performance, and then provide a kind of transverse annular damping longitudinal spring damping mixing four-wheeled.
Transverse annular damping longitudinal spring damping mixing four-wheeled of the present invention comprises chassis, front rod, rear linking rod, four wheels, four bearing pins, four suspensions, four annular bumpers, four damper cap, four cross bars, four spindle arms, four vertical poles and eight vertical bumpers, described chassis comprises car body and four boss, four boss are in rectangular layout on the lower surface of car body, boss and car made in one piece, the lower end of each boss is connected with a damper cap, annular bumper is arranged on below damper cap, four cross bars are in rectangular layout, and each cross bar is fixed on the external peripheral surface of annular bumper near the inboard one end of car body, four spindle arms and four cross bar one_to_one corresponding, one end and the cross bar of spindle arm are hinged, the other end of spindle arm and pinned connection, the lower end of bearing pin is fixedly connected with four suspensions, the lower end of each suspension is furnished with two vertical bumpers, these two vertical bumpers are arranged on the both sides of wheel, the upper end of each vertical bumper is connected with suspension, the lower end of each vertical bumper and the rotating shaft of wheel hinged, front rod and rear linking rod are arranged between four annular bumpers, a two ends hinged vertical pole respectively of front rod, a two ends hinged vertical pole respectively of rear linking rod, vertical pole is fixedly connected with the external peripheral surface of annular bumper.
The present invention compared with prior art has following beneficial effect:
One, mobile system of the present invention has omnidirectional's damping performance, has good comformability to condition of road surface complicated and changeable, when certain wheel clears the jumps, the vertical damping spring on suspension is utilized to realize stretching or compression, the height of automatic adjustment wheel, thus the position of adjustment lunar rover vehicle center of gravity, the overturning couple that offset wheel place obstacle produces, play the effect of buffering, make car body that violent vibration or inclination can not occur, this outer ring bumper can resist the shock and vibration in the water surface, keep the stationarity that car body travels, damping performance is better, improve the ability that it adapts to complex-terrain, enhance the anti-of the lunar rover vehicle and overturn performance, improve travelling comfort, obstacle detouring and maneuvering performance phase prior art are enhanced about more than once.
Two, the present invention is four motorized wheels mode, and car body can be regulated relative to the span of wheel, and that improves driving system passes through performance; Wheel count is few, electrical motor direct drive of wheel, eliminate the transmission links such as power-transfer clutch, change-speed box and transmission shaft, driving system is simplified, complete vehicle quality is alleviated greatly, and when wheel acceleration, deceleration, motor torque response is very fast and accuracy is higher, and driving efficiency is improved, the vibration of driving system improves, and mobile system reliability is high.
Three, be folding work state when the present invention does not work, thus do not need larger means of delivery, reduce cost; Launch during work, car body size increases, and ensures the stability that car body travels.
Four, rod member of the present invention and kinematic pair less, compact conformation, control simple.
Five, the present invention can keep moving along any direction under the constant prerequisite of vehicle body attitude, keep away barrier at any time, improve the alerting ability turned to, improve the comformability that the lunar rover vehicle works under menology harsh environment, this characteristic makes its problem such as path planning, track following become relatively simple.
Accompanying drawing explanation
Fig. 1 is integral structure block diagram of the present invention;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the I partial enlarged drawing of Fig. 1;
Fig. 4 is the birds-eye view of annular bumper 6;
Fig. 5 is folded state block diagram of the present invention (being folding work state when the present invention does not work).
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 ~ Fig. 3 illustrates present embodiment, present embodiment comprises chassis 1, front rod 11, rear linking rod 12, four wheels 2, four bearing pins 3, four suspensions 4, four annular bumpers 6, four damper cap 7, four cross bars 8, four spindle arms 9, four vertical poles 10 and eight vertical bumpers 5, chassis 1 comprises car body 1-1 and four boss 1-2, four boss 1-2 are in rectangular layout on the lower surface of car body 1-1, boss 1-2 and car body 1-1 makes one, the lower end of each boss 1-2 is connected with a damper cap 7, annular bumper 6 is arranged on below damper cap 7, four cross bars 8 are in rectangular layout, and each cross bar 8 is fixed on the external peripheral surface of annular bumper 6 near the inboard one end of car body 1-1, four spindle arms 9 and four cross bar 8 one_to_one corresponding, one end and the cross bar 8 of spindle arm 9 are hinged, the other end of spindle arm 9 is connected with bearing pin 3, the lower end of bearing pin 3 is fixedly connected with four suspensions 4, the lower end of each suspension 4 is furnished with two vertical bumpers 5, these two vertical bumpers 5 are arranged on the both sides of wheel 2, the upper end of each vertical bumper 5 is connected with suspension 4, the lower end of each vertical bumper 5 and the rotating shaft 2-1 of wheel 2 hinged, front rod 11 and rear linking rod 12 are arranged between four annular bumpers 6, a two ends hinged vertical pole 10 respectively of front rod 11, a two ends hinged vertical pole 10 respectively of rear linking rod 12, vertical pole 10 is fixedly connected with the external peripheral surface of annular bumper 6.The rotating shaft 2-1 of each wheel 2 is connected with travel-driving mechanism.When not working, by four wheels 2 around folding joint doubling 90 degree, see Fig. 5; During work, wheel is first dug around folding joint by four wheels 2, more locked.
Detailed description of the invention two: composition graphs 3 illustrates present embodiment, the vertical bumper 5 of present embodiment comprises the first cylinder barrel 5-1, first piston bar 5-2 and vertical damping spring 5-3, one end of first piston bar 5-2 is placed in the inside of the first cylinder barrel 5-1, and vertical damping spring 5-3 is enclosed within the first cylinder barrel 5-1 and first piston bar 5-2.The tail end of the first cylinder barrel 5-1 is fixedly connected with suspension 14, and outer end and the rotating shaft 2-1 of first piston bar 5-2 are hinged.Other step is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 4 illustrates present embodiment, the annular bumper 6 of present embodiment comprises stator 6-1, rotor 6-2, two stator connecting piece 6-3, two rotor connecting member 6-4, two end roller 6-5, four annular damping spring 6-6 and four cylinder 6-7, rotor 6-2 is sleeved on stator 6-1, rotor 6-2 rotates around stator 6-1, two stator connecting piece 6-3 and two rotor connecting member 6-4 are uniform to be arranged between rotor 6-2 and stator 6-1, and two stator connecting piece 6-3 are symmetricly set on the upper and lower side of stator 6-1, two rotor connecting member 6-4 are symmetricly set on the left and right end of stator 6-1, stator connecting piece 6-3 is fixedly connected with stator 6-1, rotor connecting member 6-4 is by end roller 6-5 and stator 6-1 Structure deformation, end roller 6-5 and rotor connecting member 6-4 is hinged, rotor connecting member 6-4 is fixedly connected with rotor 6-2, an annular damping spring 6-6 is set between adjacent stator connecting piece 6-3 and rotor connecting member 6-4, annular damping spring 6-6 is sleeved on cylinder 6-7, the two ends of cylinder 6-7 are hinged with stator connecting piece 6-3 and rotor connecting member 6-4 respectively.Stator 6-1 is fixedly connected with damper cap 7, and rotor 6-2 is connected with vertical pole 10 with cross bar 8, and cross bar 8 is linked by spindle arm 9 and suspension 14.When wheel 2 lateral loading, rotor 6-2 is subject to the rotating torque of cross bar 8 and rotates, and drives annular damping spring 6-6 hinged with it to stretch or compression, plays the effect of horizontal shock-absorbing.Other step is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 4 illustrates present embodiment, the rotor connecting member 6-4 that each stator connecting piece 6-3 of present embodiment is adjacent is that 90 ° of angles are arranged.Other step is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 2 illustrates present embodiment, the stator connecting piece 6-3 of present embodiment and stator 6-1 makes one.Other step is identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 2 illustrates present embodiment, the rotor connecting member 6-4 of present embodiment and rotor 6-2 makes one.Other step is identical with detailed description of the invention five.
Claims (6)
1. a transverse annular damping longitudinal spring damping mixing four-wheeled, described transverse annular damping longitudinal spring damping mixing four-wheeled configuration comprises chassis (1), front rod (11), rear linking rod (12), four wheels (2), four bearing pins (3), four suspensions (4), four annular bumpers (6), four damper cap (7), four cross bars (8), four spindle arms (9), four vertical poles (10) and eight vertical bumpers (5), described chassis (1) comprises car body (1-1) and four boss (1-2), four boss (1-2) are in rectangular layout on the lower surface of car body (1-1), boss (1-2) and car body (1-1) make one, the lower end of each boss (1-2) is connected with a damper cap (7), annular bumper (6) is arranged on below damper cap (7), four cross bars (8) are in rectangular layout, and each cross bar (8) is fixed on the external peripheral surface of annular bumper (6) near car body (1-1) inboard one end, four spindle arms (9) and four cross bar (8) one_to_one corresponding, one end and the cross bar (8) of spindle arm (9) are hinged, the other end of spindle arm (9) is connected with bearing pin (3), the lower end of bearing pin (3) is fixedly connected with four suspensions (4), the lower end of each suspension (4) is furnished with two vertical bumpers (5), these two vertical bumpers (5) are arranged on the both sides of wheel (2), the upper end of each vertical bumper (5) is fixedly connected with suspension (4), the lower end of each vertical bumper (5) and the rotating shaft (2-1) of wheel (2) hinged, front rod (11) and rear linking rod (12) are arranged between four annular bumpers (6), a two ends hinged vertical pole (10) respectively of front rod (11), a two ends hinged vertical pole (10) respectively of rear linking rod (12), vertical pole (10) is fixedly connected with the external peripheral surface of annular bumper (6).
2. transverse annular damping longitudinal spring damping mixing four-wheeled according to claim 1, it is characterized in that: described vertical bumper (5) comprises the first cylinder barrel (5-1), first piston bar (5-2) and vertical damping spring (5-3), one end of first piston bar (5-2) is placed in the inside of the first cylinder barrel (5-1), and vertical damping spring (5-3) is enclosed within the first cylinder barrel (5-1) and first piston bar (5-2).
3. transverse annular damping longitudinal spring damping mixing four-wheeled according to claim 1 or 2, it is characterized in that: described annular bumper (6) comprises stator (6-1), rotor (6-2), two stator connecting pieces (6-3), two rotor connecting member (6-4), two end rollers (6-5), four annular damping springs (6-6) and four cylinders (6-7), rotor (6-2) is sleeved on stator (6-1), two stator connecting pieces (6-3) and two rotor connecting member (6-4) are uniform is arranged between rotor (6-2) and stator (6-1), and two stator connecting pieces (6-3) are symmetricly set on the upper and lower side of stator (6-1), two rotor connecting member (6-4) are symmetricly set on the left and right end of stator (6-1), stator connecting piece (6-3) is fixedly connected with stator (6-1), rotor connecting member (6-4) is by end roller (6-5) and stator (6-1) Structure deformation, end roller (6-5) is hinged with rotor connecting member (6-4), rotor connecting member (6-4) is fixedly connected with rotor (6-2), an annular damping spring (6-6) is set between adjacent stator connecting piece (6-3) and rotor connecting member (6-4), annular damping spring (6-6) is sleeved on cylinder (6-7), the two ends of cylinder (6-7) respectively with stator connecting piece (6-3) and rotor connecting member (6-4) hinged.
4. a kind of deep camber thin-wall member resisting medium external pressure shaping method according to claim 3, is characterized in that: the rotor connecting member (6-4) that described each stator connecting piece (6-3) is adjacent is arranged in 90 ° of angles.
5. a kind of deep camber thin-wall member resisting medium external pressure shaping method according to claim 4, is characterized in that: one made by described stator connecting piece (6-3) and stator (6-1).
6. a kind of deep camber thin-wall member resisting medium external pressure shaping method according to claim 5, is characterized in that: one made by described rotor connecting member (6-4) and rotor (6-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410610201.3A CN104354878B (en) | 2014-11-03 | 2014-11-03 | Transverse annular damping longitudinal spring damping mixing carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410610201.3A CN104354878B (en) | 2014-11-03 | 2014-11-03 | Transverse annular damping longitudinal spring damping mixing carriage |
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| CN104354878A true CN104354878A (en) | 2015-02-18 |
| CN104354878B CN104354878B (en) | 2016-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410610201.3A Active CN104354878B (en) | 2014-11-03 | 2014-11-03 | Transverse annular damping longitudinal spring damping mixing carriage |
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Cited By (7)
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| CN105129110A (en) * | 2015-08-26 | 2015-12-09 | 重庆大学 | Planetary rover |
| CN106671720A (en) * | 2017-03-15 | 2017-05-17 | 桂林理工大学 | Vibration absorption device and omnidirectional vehicle |
| CN108583188A (en) * | 2018-05-16 | 2018-09-28 | 安徽机电职业技术学院 | A kind of multidirectional sprung suspension |
| CN108639380A (en) * | 2018-03-29 | 2018-10-12 | 北京空间技术研制试验中心 | Lunar surface sniffing robot |
| CN112429274A (en) * | 2020-11-30 | 2021-03-02 | 哈尔滨工业大学 | Torsion spring type foldable suspension mechanism and planet detection vehicle |
| CN112441258A (en) * | 2020-11-30 | 2021-03-05 | 哈尔滨工业大学 | A trailing arm suspension mechanism and planet car for planet car |
| CN112441257A (en) * | 2020-11-30 | 2021-03-05 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112429274A (en) * | 2020-11-30 | 2021-03-02 | 哈尔滨工业大学 | Torsion spring type foldable suspension mechanism and planet detection vehicle |
| CN112441258A (en) * | 2020-11-30 | 2021-03-05 | 哈尔滨工业大学 | A trailing arm suspension mechanism and planet car for planet car |
| CN112441257A (en) * | 2020-11-30 | 2021-03-05 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
| CN112441257B (en) * | 2020-11-30 | 2022-08-23 | 哈尔滨工业大学 | Star detection vehicle |
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