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Closed chain type suspension fork mechanism of six-wheel planetary exploration device

A detection vehicle and suspension technology, applied in the direction of extraterrestrial vehicles, etc., can solve the problems of many suspension rods and complex structure, and achieve the effect of less suspension rods, stable movement process, and rich configuration innovation

Inactive Publication Date: 2009-02-04
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] The purpose of the present invention is to provide a closed-chain suspension mechanism of a six-wheeled planetary exploration vehicle to solve the problem that the suspension mechanism of the existing six-wheeled environmental exploration vehicle adopts a positive and negative two closed-chain quadrilateral hinge coupling structure and there are suspension rods Many, complex questions

Method used

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  • Closed chain type suspension fork mechanism of six-wheel planetary exploration device
  • Closed chain type suspension fork mechanism of six-wheel planetary exploration device
  • Closed chain type suspension fork mechanism of six-wheel planetary exploration device

Examples

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specific Embodiment approach 1

[0007] Specific implementation mode one: combine figure 1 and figure 2 Describe this embodiment, the suspension mechanism of this embodiment includes two sets of three-wheel four-bar closed hinge suspension mechanisms 20, a differential 21, a first input shaft 10 and a second input shaft 40; A set of three-wheel four-bar closed hinge suspension mechanism 20 is respectively arranged on the left and right sides, and each set of three-wheel four-bar closed hinge suspension mechanism 20 is composed of a front rocker arm 3, a middle rocker arm 4, a rear rocker arm 8, and a balance bar. 9. The front wheel 1, the middle wheel 5 and the rear wheel 6 are composed of one end of the first input shaft 10 and one end of the second input shaft 40 respectively fixedly connected to the middle of the corresponding balance bar 9, and the first input shaft 10 The other end is fixed on the first driving gear 23 in the differential 21, the other end of the second input shaft 40 is fixed on the s...

specific Embodiment approach 2

[0008] Specific implementation mode two: combination figure 1 , image 3 and Figure 4 Describe this embodiment, the differential device 21 of this embodiment is made up of two-gear differential unit 32, three-gear differential unit 31 and through shaft 29; 27. The first driving gear 23 and the first driven planetary gear 28 are composed. The first housing 25 houses the first driving gear 23, the idler gear 27 and the first driven planetary gear 28. The idler gear 27 is located at The middle of the first driving gear 23 and the first driven planetary gear 28 is engaged with the two respectively, and the two-gear differential unit 32 consists of the second housing 24 , the second driving gear 22 and the second driven planetary gear 30 The second housing 24 is equipped with a second driving gear 22 and a second driven planetary gear 30 meshing with each other, and the two ends of the through shaft 29 pass through the first housing 25 and the second housing 24 respectively. Fi...

specific Embodiment approach 3

[0009] Specific implementation mode three: combination figure 1 and figure 2 Describe this embodiment, the difference between this embodiment and specific embodiment 1 is: the suspension mechanism of this embodiment also includes two front steering devices 2 and two rear steering devices 7; A front steering device 2 is fixedly installed, and the front steering device 2 is located above the front wheel 1, and a rear steering device 7 is fixedly installed on each of the rear rocker arms 8, and the rear steering device 7 is located at the rear wheel 6 Above, the differential steering of the suspension mechanism 20 is realized.

[0010] The front steering device 2 and the rear steering device 7 of the present embodiment and the publication number are CN 101033008A, the publication date is September 12, 2007, and the name is "four-wheel or six-wheel differential-torsion bar spring suspension type vehicle-mounted mechanism" The structures of the corresponding components disclosed...

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Abstract

The invention provides a closed chain typed suspension mechanism of a six-wheel planetary detection vehicle, and more particularly relates to closed chain typed suspension mechanism used for a planetary detection vehicle, aiming at the problems that the suspension mechanism of the six-wheel typed environment detection vehicle adopts a positive closed chain rectangular gemel coupling structures and a reverse closed chain rectangular gemel coupling structure which are provided with a plurality of suspension rods and complex structures; two sides of a differential are respectively provided with a set of three-wheel four-rod closed gemel suspension mechanisms; each set of three-wheel four-rod closed gemel suspension mechanism consists of a front rocker arm, a middle rocker arm, a rear rocker arm, a balance rod, a front wheel, a middle wheel and a rear wheel; one end of each input shaft is fixedly connected with a balance rod and the other end thereof is fixedly arranged on the driving gear of a differential; two ends of the balance rod are pivotally connected with the front rocker arm and the rear rocker arm; two ends of the front rocker arm are pivotally connected with the front wheel and the front end of the middle rocker arm; the middle part of the bottom of the middle rocker arm is pivotally connected with the middle wheel; the rear end of the middle rocker arm is pivotally connected with the front end of the rear rocker arm; the rear end of the rear rocker arm is pivotally connected with the rear wheel; the closed chain typed suspension mechanism has the advantages of few suspension rods and simple structure, and can be applicable to planetary detection vehicles, ground detection robots and high-class toy vehicle suspension mechanisms.

Description

technical field [0001] The invention relates to a closed-chain suspension mechanism of a planetary exploration vehicle. Background technique [0002] At present, the development and development of the lunar exploration vehicle has become the focus of the lunar exploration project. Over the past few years, various new types of lunar rovers have emerged. Due to the unknown environment of the moon and the special requirements of the exploration mission, it is a challenging research topic to develop a new type of lunar exploration vehicle. From the imitation of foreign planetary exploration vehicles to the attempt of independent research and development, several new suspension mechanism configurations of planetary exploration vehicles have been proposed. At present, the planetary exploration vehicle is the most common six-wheeled planetary exploration vehicle, and the wheeled planetary exploration vehicle has become the preferred solution for planetary exploration vehicles due...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B64G1/16
Inventor 高海波邓宗全张朋王忠奎
Owner HARBIN INST OF TECH
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