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Planetary rover suspension mechanism capable of actively lifting and pressing wheel

A technology for exploration vehicles and wheels, which is applied in the field of planetary exploration vehicle suspension mechanisms, and can solve problems such as weak ability to cross obstacles and ditches

Inactive Publication Date: 2012-08-29
HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, this type of suspension mechanism has the disadvantage of weak ability to cross obstacles and ditch, and when a wheel slips, this type of suspension cannot transfer the load of the slipping wheel to other wheels, so that other wheels can provide more traction

Method used

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  • Planetary rover suspension mechanism capable of actively lifting and pressing wheel
  • Planetary rover suspension mechanism capable of actively lifting and pressing wheel
  • Planetary rover suspension mechanism capable of actively lifting and pressing wheel

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specific Embodiment approach 1

[0020] Specific implementation mode one, Figure 1A It shows a side view of a six-wheeled planetary exploration vehicle with symmetrical configuration of wheels on both sides based on the present invention. Six rocker arms 6 are arranged on the chassis 1, and a wheel 8 is hinged to the bottom end of each rocker arm. Since the wheels are distributed symmetrically on both sides of the vehicle body, only three wheels 8 and three rocker arms 6 on one side are shown in the figure. Figure 1B based on Figure 1A The side view of the six-wheeled planetary rover after lifting one wheel (8).

[0021] figure 2 , image 3 , Figure 4 and Figure 5 Shown is the planetary exploration vehicle suspension mechanism that uses torsion springs to actively lift and press wheels of the present invention. The suspension mechanism mainly includes a chassis 1 and a lifting and pressing mechanism 10. , worm 4, motor 5, rocker arm 6, rotating spring 7, wherein the motor 5 is fixed on the chassis 1...

specific Embodiment approach 2

[0027] Specific implementation mode two, (see Figure 6 ) The difference between this embodiment and the first embodiment is that the torsion spring 7 in the first embodiment is replaced with a torsion bar spring 9, and the head end 91 of the torsion bar spring 9 is fixedly connected to the worm shaft 3, and the torsion bar spring The tail end 92 of 9 is fixedly connected on the rocker cover 63, and the other composition and connection methods are the same as those in Embodiment 1.

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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 [0001] The invention relates to a suspension mechanism of a planetary exploration vehicle, in particular to a suspension mechanism capable of actively lifting and pressing wheels. Background technique [0002] In planetary exploration, the suspension mechanism of the planetary exploration vehicle is required to be able to adapt to the rugged lunar surface environment, and to have a strong ability to overcome obstacles and resist overturning. In addition, if a wheel slips into sandy soil and slips, how to restore the traction capacity of the planetary rover is also an important issue. The suspension mechanism of the existing wheeled planetary exploration vehicle is mainly represented by the six-wheel rocker suspension structure in the United States. The differential device is used to solve the stability problem of the main vehicle body, and at the same time, each wheel can bear the load. However, this type of suspension mechanism has the disadvantage of weak ...

Claims

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Application Information

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IPC IPC(8): B64G1/16B62D61/12
Inventor 杜建军刘暾
Owner HARBIN INST OF TECH SHENZHEN GRADUATE SCHOOL
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