CN201971168U - Wheel-leg type crank-slider six-wheeled lunar rover - Google Patents
Wheel-leg type crank-slider six-wheeled lunar rover Download PDFInfo
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- CN201971168U CN201971168U CN201120087131XU CN201120087131U CN201971168U CN 201971168 U CN201971168 U CN 201971168U CN 201120087131X U CN201120087131X U CN 201120087131XU CN 201120087131 U CN201120087131 U CN 201120087131U CN 201971168 U CN201971168 U CN 201971168U
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- wheel
- wheel guide
- slider
- guide rod
- lunar rover
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Abstract
The utility model discloses a wheel-leg type crank-slider six-wheeled lunar rover, which comprises a carriage, the carriage is provided with crank-slider mechanisms connected with a power system, and the crank-slider mechanisms are respectively arranged on the middle part and the front and the rear ends of the carriage. Each crank-slider mechanism comprises a crankshaft, a wheel-connecting rod, a wheel guide rod and a wheel guide way, the wheel guide rod is matched with the wheel guide way in a sliding fit manner, the front and the rear ends of the carriage are provided with road condition detectors, the lunar rover is also provided with a visual mast, a solar panel and a collecting manipulator, the visual mast is driven by a gear and a rack to go up and down, the solar panel can be unfolded and folded, the collecting manipulator adopts a five-bar linkage mechanism, and a screw blade and a probe are mounted on the front end of the collecting manipulator. The lunar rover has the advantages of compact structure, short drive chain, quick drive, light weight, high moving performance, high stability and high obstacle-crossing performance.
Description
Technical field
The utility model relates to the vehicle of walking on a kind of moon, relates in particular to a kind of wheel leg type crank block six and takes turns the lunar rover vehicle.
Background technology
The lunar rover vehicle is as the driverless operation probe vehicles, and travelling performance is its key property.Certain performance requirement of the lunar rover vehicle is mainly reflected in ground and adapts to row, cruising characteristic, aspects such as obstacle detouring climbing property.For guaranteeing the stability and the particularity of system of vehicle transmission, the mechanism of the lunar rover vehicle should be compact, and messenger chain is short as far as possible, realizes the quick and stable of transmission.In addition, the lunar rover vehicle also should possess the key property of detection as the instrument of moon exploration, comprises shooting, signal transmission etc.
At present the lunar rover vehicle design various forms of formal systems such as wheeled, leg formula and crawler type are arranged.According to data, the driving system of the domestic lunar rover vehicle is all toward the wheeled direction research of suspension-type, all is the utilization self-balancing mechanism, makes wheel utilize principle such as lever that wheel is raised under the antagonistic force of obstacle and accomplishes the obstacle detouring function.Though the design of suspension-type wheel car is so not high to the control requirement of vehicle body, efficient is higher, and the altitude range of its obstacle detouring is less, generally can not surpass the height of wheel itself, runs into high slope and just is difficult to swash.In addition, this design can not be crossed over vertical step and wide gap, says nothing of the obstacle of crossing over fluking type.Just as walking freely as the robot, its environment is that comformability is stronger to the lunar rover vehicle of leg formula, can both walk in various landform, can stride across big step and wide gap.But this machine human efficiency is very low, and walking movement complexity and speed are slow.Crawler-mounted lunar rover vehicle stationarity is very high, and sport efficiency is also than the height of leg formula, but its transmission is more complicated, and weight is big, and energy consumption is big.
Summary of the invention
The purpose of this utility model is to overcome the shortcoming and defect of above-mentioned prior art, provides the wheel leg type crank block six that a kind of travelling performance is strong, stationarity good, obstacle performance is high to take turns the lunar rover vehicle.
The utility model is achieved through the following technical solutions:
A kind of wheel leg type crank block six is taken turns the lunar rover vehicle, comprises the compartment, and the compartment is provided with and power system bonded assembly slider-crank mechanism, and described slider-crank mechanism is arranged at the middle part and the rear and front end in compartment respectively.
Described rear end slider-crank mechanism comprises bonded assembly trailing wheel bent axle, trailing wheel connecting rod, trailing wheel guide rod successively, and rear end, described compartment is provided with the trailing wheel guide rail, described trailing wheel guide rod and trailing wheel guide rail bearing fit, and described trailing wheel guide rod is connected with trailing wheel;
Described front end slider-crank mechanism comprises bonded assembly front-wheel bent axle, front-wheel connecting rod, front-wheel guide rod successively, and described compartment front end is provided with the front-wheel guide rail, described front-wheel guide rod and front-wheel guide rail bearing fit, and described front-wheel guide rod is connected with front-wheel;
Described middle part slider-crank mechanism, comprise bonded assembly breast wheel bent axle, breast wheel connecting rod, breast wheel guide rod successively, middle part, described compartment is provided with the breast wheel guide rail, described breast wheel guide rod and breast wheel guide rail bearing fit, and described breast wheel guide rod is connected with breast wheel.
The front and back end in described compartment is provided with the road conditions detector.Described wheel leg type crank block six is taken turns the lunar rover vehicle and also is provided with vision mast, solar panels, mechanical picker arm.
Compared with prior art the beneficial effects of the utility model are:
(1) stationarity.When even running road surface travels, the suffered ground reaction force of each wheel all equates, wheel is 1/6 of a vehicle body gravity, and the power system of each wheel, the lifting of control wheel is also set a fixing moment of torsion output, this moment of torsion is through behind the slider-crank mechanism, and generation one power straight down is added on the wheel, with the antagonistic force balance of ground in the face of wheel.
On the moon, when running into uneven road surface, each wheel in compartment situation difference of contacting to earth, suffered ground-surface counteraction is also different.Be subjected to ground-surface antagonistic force on the wheel and be fed back to working resistance moment of torsion the lifting motor of power system through slider-crank mechanism.If this moment of torsion is the moment of torsion overbalance of exporting with lifting motor, and motor will rotate, and drives slider-crank mechanism, and drive wheels is made corresponding lifting action, keep each wheel tightly contact and respectively take turns with ground stressed evenly, thereby guarantee the steady of vehicle body.
(2) obstacle detouring.Detect and have perpendicular to the ground before and after the car or during approximately perpendicular step, when being arranged on former and later two road conditions detectors of compartment because wheel self can not roll on step.So skidding will appear in the lunar rover vehicle.This moment, the lunar rover vehicle stopped immediately, and the lifting motor control slider-crank mechanism of power system rises vehicle body.Two-wheeled lifts before the car then, is positioned on the step.Each wheel can lift respectively when advancing afterwards, and as person to go upstairs, wheel is up the steps one by one, to realize leaping over obstacles.The highest obstacle clearing capability of this lunar rover vehicle can reach 0.5 meter.
The lunar rover vehicle of prior art when front end two wheels in compartment rise, has only middle part and rear end four wheels support vehicle body altogether, and car dumps forward with regard to causing crank easily like this.Be head it off, the breast wheel guide rod of two wheels in the utility model lunar rover vehicle middle part can move forward and backward, and the center of gravity that guarantees lunar rover vehicle vehicle body drops between two teams' wheel all the time and vehicle body is not toppled over.
Description of drawings
Fig. 1 takes turns the structural representation of the lunar rover vehicle for the utility model wheel leg type crank block six.
The specific embodiment
Below in conjunction with specific embodiment the utility model is done further concrete detailed description the in detail, but embodiment of the present utility model is not limited thereto, the technological parameter for not indicating especially can carry out with reference to routine techniques.
Embodiment
As shown in Figure 1, the utility model wheel leg type crank block six is taken turns the lunar rover vehicle, comprises compartment 1, and compartment 1 is provided with and power system bonded assembly slider-crank mechanism, and described slider-crank mechanism is arranged at the middle part and the rear and front end in compartment 1 respectively.Also be provided with computing machine in the compartment, be used to control all devices and communication task in the lunar rover vehicle.
Compartment 1 rear end slider-crank mechanism, comprise bonded assembly trailing wheel bent axle 2, trailing wheel connecting rod 3, trailing wheel guide rod 4 successively, 1 rear end, described compartment is provided with trailing wheel guide rail 16, described trailing wheel guide rod 4 and trailing wheel guide rail 16 bearing fits, described trailing wheel guide rod 4 is connected with trailing wheel 5, and 1 front and back end is provided with the road conditions detector in the compartment.This lunar rover vehicle also is provided with vision mast (not shown), provides the solar panels (not shown) of electric energy, mechanical picker arm (not shown) to the lunar rover vehicle.The rack-and-gear transmission is adopted in the lifting of vision mast, can realize the free adjustment of each height in 0.5 meter scope.Mode as solar panels employing fan is folding is launched and is regained.The machinery picker arm then adopts five-rod linkage mechanism, realizes the space three-dimensional motion of arm.The mechanical arm front end has been installed screw blade and probe, is used to polish lunar surface material and observes its heterogeneous microstructure.Be provided with camera on the vision mast, can realize that 360 ° rotate freely and any change of self luffing angle, increase field range greatly around the mast axle center.
Compartment 1 front end slider-crank mechanism, comprise bonded assembly front-wheel bent axle 11, front-wheel connecting rod 12, front-wheel guide rod 13 successively, described compartment 1 front end is provided with front-wheel guide rail 15, described front-wheel guide rod 13 and front-wheel guide rail 15 bearing fits, and described front-wheel guide rod 13 is connected with front-wheel 14;
Compartment 1 middle part slider-crank mechanism, comprise bonded assembly breast wheel bent axle 6, breast wheel connecting rod 7, breast wheel guide rod 9 successively, 1 middle part, described compartment is provided with breast wheel guide rail 8, described breast wheel guide rod 9 and breast wheel guide rail 8 bearing fits, and described breast wheel guide rod 9 is connected with breast wheel 10.
When even running road surface travels, the suffered ground reaction force of each wheel all equates, wheel is 1/6 of a vehicle body gravity, and the power system of each wheel, the lifting of control wheel is also set a fixing moment of torsion output, this moment of torsion is through behind the slider-crank mechanism, and generation one power straight down is added on the wheel, with the antagonistic force balance of ground in the face of wheel.
On the moon, when running into uneven road surface, each wheel in compartment situation difference of contacting to earth, suffered ground-surface counteraction is also different.Be subjected to ground-surface antagonistic force on the wheel and be fed back to working resistance moment of torsion the lifting motor of power system through slider-crank mechanism.If this moment of torsion is the moment of torsion overbalance of exporting with lifting motor, and motor will rotate, and drives slider-crank mechanism, and drive wheels is made corresponding lifting action, keep each wheel tightly contact and respectively take turns with ground stressed evenly, thereby guarantee the steady of vehicle body.
Detect and have perpendicular to the ground before and after the car or during approximately perpendicular step, when being arranged on former and later two road conditions detectors of compartment because wheel self can not roll on step.So skidding will appear in the lunar rover vehicle.This moment, the lunar rover vehicle stopped immediately, and the lifting motor control slider-crank mechanism of power system rises vehicle body.Two-wheeled lifts before the car then, is positioned on the step.Each wheel can lift respectively when advancing afterwards, and as person to go upstairs, wheel is up the steps one by one, to realize leaping over obstacles.The highest obstacle clearing capability of this lunar rover vehicle can reach 0.5 meter.
The lunar rover vehicle of prior art when front end two wheels in compartment rise, has only middle part and rear end four wheels support vehicle body altogether, and car dumps forward with regard to causing crank easily like this.Be head it off, the breast wheel guide rod of two wheels in the utility model lunar rover vehicle middle part can move forward and backward, and the center of gravity that guarantees lunar rover vehicle vehicle body drops between two teams' wheel all the time and vehicle body is not toppled over.
Just can realize the utility model preferably as mentioned above.
The foregoing description is the utility model preferred implementation; but embodiment of the present utility model is not restricted to the described embodiments; other any do not deviate from change, the modification done under spirit of the present utility model and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within the protection domain of the present utility model.
Claims (5)
1. a wheel leg type crank block six is taken turns the lunar rover vehicle, comprises the compartment, and the compartment is provided with and power system bonded assembly slider-crank mechanism, it is characterized in that: described slider-crank mechanism is arranged at the middle part and the rear and front end in compartment respectively.
2. wheel leg type crank block six according to claim 1 is taken turns the lunar rover vehicle, it is characterized in that:
Described rear end slider-crank mechanism comprises bonded assembly trailing wheel bent axle, trailing wheel connecting rod, trailing wheel guide rod successively, and rear end, described compartment is provided with the trailing wheel guide rail, described trailing wheel guide rod and trailing wheel guide rail bearing fit, and described trailing wheel guide rod is connected with trailing wheel;
Described front end slider-crank mechanism comprises bonded assembly front-wheel bent axle, front-wheel connecting rod, front-wheel guide rod successively, and described compartment front end is provided with the front-wheel guide rail, described front-wheel guide rod and front-wheel guide rail bearing fit, and described front-wheel guide rod is connected with front-wheel;
Described middle part slider-crank mechanism, comprise bonded assembly breast wheel bent axle, breast wheel connecting rod, breast wheel guide rod successively, middle part, described compartment is provided with the breast wheel guide rail, described breast wheel guide rod and breast wheel guide rail bearing fit, and described breast wheel guide rod is connected with breast wheel.
3. wheel leg type crank block six according to claim 1 and 2 is taken turns the lunar rover vehicle, it is characterized in that: the front and back end in described compartment is provided with the road conditions detector.
4. wheel leg type crank block six according to claim 3 is taken turns the lunar rover vehicle, it is characterized in that: described wheel leg type crank block six is taken turns the lunar rover vehicle and also is provided with vision mast, solar panels, mechanical picker arm.
5. wheel leg type crank block six according to claim 4 is taken turns the lunar rover vehicle, it is characterized in that: the rack-and-gear transmission is adopted in described vision mast lifting, solar panels adopt folding mode to launch and regain, the machinery picker arm adopts five-rod linkage mechanism, and mechanical picker arm front end is equipped with screw blade and probe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120087131XU CN201971168U (en) | 2011-03-29 | 2011-03-29 | Wheel-leg type crank-slider six-wheeled lunar rover |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120087131XU CN201971168U (en) | 2011-03-29 | 2011-03-29 | Wheel-leg type crank-slider six-wheeled lunar rover |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201971168U true CN201971168U (en) | 2011-09-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201120087131XU Expired - Fee Related CN201971168U (en) | 2011-03-29 | 2011-03-29 | Wheel-leg type crank-slider six-wheeled lunar rover |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201971168U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN105314129A (en) * | 2014-07-02 | 2016-02-10 | 上海宇航***工程研究所 | Active-passive combined type planet car suspension capable of being unfolded and folded and suspension system thereof |
-
2011
- 2011-03-29 CN CN201120087131XU patent/CN201971168U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105314129A (en) * | 2014-07-02 | 2016-02-10 | 上海宇航***工程研究所 | Active-passive combined type planet car suspension capable of being unfolded and folded and suspension system thereof |
| CN105314129B (en) * | 2014-07-02 | 2019-06-28 | 上海宇航***工程研究所 | The passive combined celestial body suspension of the master that receipts can be opened up and its suspension system |
| 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 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110914 Termination date: 20140329 |