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Horizontal oscillating bar four-wheel rover

A detection vehicle and crossbar technology, applied in the aerospace field, can solve problems such as inability to complete detection tasks, poor obstacle-crossing performance, and poor terrain adaptive ability, and achieve the effects of improving terrain adaptability, compact structure, and low power consumption

Active Publication Date: 2013-03-20
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a four-wheeled exploration vehicle with a horizontal swing rod, so as to solve the problem that existing four-wheeled exploration vehicles applied to planetary surfaces or other harsh environments have poor terrain self-adaptability, poor obstacle-crossing performance, and cannot complete Problems with complex detection tasks

Method used

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  • Horizontal oscillating bar four-wheel rover
  • Horizontal oscillating bar four-wheel rover
  • Horizontal oscillating bar four-wheel rover

Examples

Experimental program
Comparison scheme
Effect test

specific Embodiment approach 1

[0008] Specific implementation mode one: combine Figure 1-Figure 4 Illustrate, the lateral swing bar type four-wheel probe car of the present embodiment comprises car body 1, suspension, four wheels and even number first compression springs 16; Four wheels are respectively front steering wheel 11, rear steering wheel 13, The wheel 12 and the right wheel 14; the suspension includes a longitudinal bar 2, a cross bar 4, an independent swing bar 3, a second spring 17, two steering gears and four wheel link rods; the two steering gears are respectively the front steering gear 5 and the rear steering device 6; the four wheel connecting rods are respectively the front wheel connecting rod 7, the rear wheel connecting rod 9, the left wheel connecting rod 8 and the right wheel connecting rod 10; the car body 1 is located on the longitudinal rod 2 And the two are fixedly connected, the cross bar 4 is orthogonal to the longitudinal bar 2 (the longitudinal bar 2 is consistent with the ad...

specific Embodiment approach 2

[0009] Specific implementation mode two: combination Figure 5 with Figure 6 Explain that the front steering device 5 of the present embodiment includes a front steering motor 15, a front speed reducer 18 and two front couplings 19; The rotating shaft is connected to the input shaft of the front speed reducer 18 through one of the two front couplings 19, and the output shaft of the front speed reducer 18 is connected to the front wheel connecting rod 7 through the remaining one of the two front couplings 19. The upper end transmission connection, the lower end of the front wheel link rod 7 is hinged with the axle of the front steering wheel 11; the rear steering device 6 includes a rear steering motor 20, a rear reducer 21 and two rear couplings 22; the rear of the independent swing link 3 end is fixedly connected with the housing of the rear steering motor 20, the rotating shaft of the rear steering motor 20 is connected with the input shaft of the rear reducer 21 through o...

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Abstract

The invention discloses a horizontal oscillating bar four-wheel rover, and relates to a four-wheel rover to solve the problem that a four-wheel rover has low terrain adaptability and low obstacle performance and cannot complete complicated exploration missions on the planet surface or in other severe environments. The rover body is fixedly connected with a vertical bar; a cross-bar is orthogonal to the vertical bar and is rotatably connected to the vertical bar; the front end of an independent oscillating bar is hinged to the lower rear end of the vertical bar, while the rear end is fixedly connected with a rear steering device; the independent oscillating bar is connected with the vertical bar through a second spring; the rear steering device is hinged with a rear steering wheel through a rear wheel side link; the front end of the vertical rod is connected with the upper end of a front wheel side link through a front steering device; the lower end of the front wheel side link is hinged with a front steering wheel; the left end of the cross-bar is hinged with an axle of the left wheel through a left wheel side link, while the right end is connected with an axle of the right wheel through a right wheel side link; and the rover body is connected with the cross-bar through an even number of first compression springs. The horizontal oscillating bar four-wheel rover has high terrain adaptability and obstacle performance, and is used on the planet surface or in other severe environments.

Description

technical field [0001] The invention relates to a four-wheel exploration vehicle, which belongs to the technical field of aerospace. Background technique [0002] Exploration vehicles used on planetary surfaces or other harsh environments are required to have strong terrain adaptability, flexible steering ability, better obstacle avoidance ability, stable body posture, and compact structure, low energy consumption, and light weight. At present, the most widely used probe vehicle is the six-wheel probe vehicle, and the six-wheel probe vehicle has a complex structure and poor reliability due to the large number of rods and the large number of kinematic pairs, which increases the difficulty of control. [0003] However, although the currently used four-wheel exploration vehicle has compact structure, low energy consumption, and simple control, when the left wheel or the right wheel of the four-wheel exploration vehicle is pushed over an obstacle and is instantly raised, the cro...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B64G1/16
Inventor 丁亮邓宗全庄红超高海波张朋王少谦
Owner HARBIN INST OF TECH