A planetary vehicle moving system for rough terrain and a planetary vehicle

Abstract

The application provides a star planet vehicle moving system for rugged terrain and a star planet vehicle. The star planet vehicle moving system for rugged terrain is provided with a guiding assembly and a walking assembly. A vehicle body is connected with walking wheels of the walking assembly through a connecting piece and a steering knuckle of the guiding assembly. A control arm is rotationally connected between the connecting piece and the steering knuckle. The control arm and the steering knuckle are rotationally connected through a spherical hinge in multiple directions, so that the star planet vehicle is prevented from overturning due to the inclination of the vehicle body caused by the up-and-down movement of the walking wheels on the rugged terrain. In addition, the steering knuckle only has one degree of freedom of up-and-down movement, which is not limited, so that when the walking wheels move on the walking surface, the steering knuckle, the control arm and the connecting piece can stably rise or fall when encountering rugged terrain, without affecting the normal posture of the vehicle body, improving the smoothness and obstacle-crossing ability of the star planet vehicle on the rugged terrain, and improving the running stability of the star planet vehicle in the process of star planet exploration.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of star planet vehicle, in particular to a star planet vehicle moving system for rugged terrain and a star planet vehicle. BACKGROUND

[0002] With the development of space technology, the exploration process of the surface of the star planet has also been accelerated. In the process of exploring the surface of the star planet, the star planet vehicle that can meet the requirements of mobile driving on the surface of the star planet is an important auxiliary tool for exploration.

[0003] In the process of exploring the star planet, taking the moon as an example, the lunar landscape through which the star planet vehicle passes is mostly rugged terrain with large differences in relief. The smoothness of the star planet vehicle for rugged terrain is low, and the obstacle crossing ability is poor. In the process of mobile driving, the vehicle body is easily tilted due to the relief of the terrain, which eventually leads to overturning, seriously affecting the running stability of the star planet vehicle in the process of exploring the star planet. SUMMARY

[0004] The problem solved by the present application is how to improve the smoothness and obstacle crossing ability of the star planet vehicle for rugged terrain, so as to improve the running stability of the star planet vehicle in the process of exploring the star planet.

[0005] To solve the above problems, on the one hand, the present application provides a star planet vehicle moving system for rugged terrain, comprising:

[0006] The connecting piece is a plate-shaped structure, and is used for being installed on the vehicle body of the star planet vehicle.

[0007] The guide assembly comprises a knuckle and four control arms. The knuckle is arranged below the connecting piece. One end of the control arm is rotatably connected with the connecting piece in a first direction, and the axial direction of the control arm is arranged transversely to the first direction. The other end of the control arm is provided with a first ball head. The knuckle is provided with a first placement hole, and the first ball head is rotatably installed in the first placement hole. The control arms are arranged in two groups. The control arms in the same group are arranged in a second direction. The control arms in the two groups are arranged in a third direction.

[0008] The walking assembly comprises a plurality of walking wheels. The walking wheels are arranged in the second direction and are connected with the knuckle.

[0009] The telescopic damping assembly is connected with the connecting piece at one end, and is connected with the knuckle at the other end.

[0010] The beneficial effects of the planet vehicle moving system for rugged terrain of the present application relative to the prior art include: the connecting member is provided as a connecting structure member of the moving system and the planet vehicle, which can effectively ensure the stable connection of the moving system and the vehicle body; the guiding assembly, the walking assembly and the telescopic damping assembly are provided, wherein the guiding assembly is composed of a knuckle and four control arms, the knuckle is arranged below the connecting member and connected with the connecting member through the control arms, the two ends of the telescopic damping assembly are connected with the connecting member and the knuckle respectively, the walking assembly is composed of a plurality of walking wheels and connected with the knuckle, the telescopic damping assembly has a pushing force towards the walking surface on the walking assembly, while maintaining the damping effect, the distance between the vehicle body and the walking surface can be ensured through the support of the walking wheels, and the contact area between the entire planet vehicle and the walking surface is effectively increased, the stability of the mobile driving is improved, and the driver and a plurality of passengers can be conveniently carried; on this basis, the control arms are rotatably connected between the connecting member and the knuckle, and the control arms are rotatably connected in multiple directions between the connecting member and the knuckle through a ball hinge, when the walking wheels are moved up and down under the support of the rugged terrain, the knuckle will also rise or fall synchronously, while driving one end of the control arm to rise or fall, the other end of the control arm will rotate synchronously, converting the linear motion in the vertical direction into the rotary motion of the control arm, thereby avoiding the situation that the planet vehicle overturns due to the inclination of the vehicle body caused by the up-and-down movement of the walking wheels on the rugged terrain; in addition, the four control arms are arranged in two groups, within the same group, the two control arms are arranged in the length direction of the vehicle body, and for the two groups of control arms, the two control arms are arranged in the direction parallel to the height direction of the vehicle body, that is, four control arms are arranged in the space between the connecting member and the knuckle, and the control arms are rotatably connected with the connecting member in the first direction, the axis of the control arm is arranged transversely to the first direction, so that the control arm can only rise and fall synchronously, which can effectively limit the degree of freedom of the knuckle, and the knuckle only has one degree of freedom of up-and-down movement which is not limited, and the walking wheels are connected with the knuckle, so that when the walking wheels run on the walking surface, they can stably rise or fall through the knuckle, the control arm and the connecting member when encountering rugged terrain, without affecting the normal posture of the vehicle body, while ensuring the mobile driving, the smoothness and the obstacle-crossing ability of the planet vehicle on the rugged terrain are improved, thereby improving the running stability of the planet vehicle in the process of planet exploration.

[0011] Optionally, the telescopic damping assembly comprises a telescopic damping rod and a second ball head, the telescopic damping rod is arranged above the guiding assembly and is used for telescoping in the axial direction, one end of the telescopic damping rod is connected with the connecting member, the other end of the telescopic damping rod is connected with the second ball head, and the knuckle is further provided with a second placement hole, and the second ball head is rotatably installed in the second placement hole.

[0012] Optionally, the telescopic damping rod comprises a sleeve piston rod, a damping spring and a sleeve piston cylinder, the sleeve piston rod is slidingly installed in the sleeve piston cylinder and connected with the connecting piece, the sleeve piston cylinder is connected with the second ball head, the damping spring is sleeved on the sleeve piston rod and the sleeve piston cylinder, one end of the damping spring abuts against the end of the sleeve piston rod, and the other end abuts against the end of the sleeve piston cylinder.

[0013] Optionally, the planetary rover moving system for rough terrain further comprises:

[0014] The first cross transmission assembly comprises a first rotating shaft, a second rotating shaft and a first female connecting piece, the connecting piece is provided with a first shaft slot which is open in the first direction, the first rotating shaft is rotatably installed in the first shaft slot through a bearing, the shaft surface of the first rotating shaft is provided with a first rotating hole which is perpendicular to the first direction, the second rotating shaft is rotatably installed in the first rotating hole, the opposite two side walls of the first female connecting piece are respectively connected with the two ends of the second rotating shaft, and the end of the first female connecting piece which is away from the second rotating shaft is connected with the control arm.

[0015] The second cross transmission assembly comprises a third rotating shaft, a fourth rotating shaft and a second female connecting piece, the connecting piece is further provided with a second shaft slot which is open in the first direction, the third rotating shaft is rotatably installed in the second shaft slot through a bearing, the shaft surface of the third rotating shaft is provided with a second rotating hole which is perpendicular to the first direction, the fourth rotating shaft is provided in the second rotating hole, the opposite two side walls of the second female connecting piece are respectively connected with the two ends of the fourth rotating shaft, and the end of the second female connecting piece which is away from the fourth rotating shaft is connected with the telescopic damping rod, and the axial direction of the telescopic damping rod is crosswise arranged with the first direction.

[0016] Optionally, the traveling assembly further comprises a mounting plate and a steering driving piece, the steering knuckle is further provided with a connecting column, the mounting plate is connected with the connecting column, the steering driving piece is installed on the mounting plate and drivingly connected with the traveling wheel, and the steering driving piece is used to drive the traveling wheel to rotate around the vertical direction.

[0017] Optionally, the steering driving piece comprises a rotating power piece, a steering connecting plate and a steering connecting shaft, the rotating power piece is installed on the mounting plate, one end of the steering connecting plate is drivingly connected with the rotating power piece, and the other end of the steering connecting plate is connected with the hub center of the traveling wheel through the steering connecting shaft.

[0018] Optionally, the connecting piece is used to be mounted on the end wall of the cross beam of the vehicle body, and when the connecting piece is mounted on the vehicle body, the upper end of the connecting piece is used to be arranged in a fourth direction and inclined away from the vehicle body, the fourth direction is used to be parallel to the width direction of the vehicle body.

[0019] Optionally, in the direction pointed by the connecting piece to the knuckle, for the four control arms, the upper two control arms gradually approach, and the lower two control arms gradually deviate.

[0020] Optionally, the connecting piece and the knuckle are both hollow structural members.

[0021] In another aspect, the application also provides a star car, comprising a vehicle body and a star car moving system for rough terrain as described above.

[0022] Compared with the prior art, the star car of the application has the same beneficial effects as the star car moving system for rough terrain as described above, which will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0023] Figure 1 Fig. 1 is a structural schematic diagram of a star car in an embodiment of the application;

[0024] Figure 2 Fig. 2 is a structural schematic diagram of a star car moving system for rough terrain in an embodiment of the application;

[0025] Figure 3 Fig. 3 is a connecting structure schematic diagram of a guide assembly in an embodiment of the application;

[0026] Figure 4 Fig. 4 is a connecting structure schematic diagram of a telescopic damping assembly in an embodiment of the application;

[0027] Figure 5 Fig. 5 is a connecting structure schematic diagram of a walking assembly in an embodiment of the application.

[0028] BRIEF DESCRIPTION OF DRAWINGS

[0029] 1-connecting piece; 11-first shaft slot; 12-second shaft slot; 2-steering assembly; 21-knuckle; 211-first placing hole; 212-second placing hole; 213-connecting column; 22-control arm; 221-first ball head; 3-traveling assembly; 31-traveling wheel; 32-mounting plate; 33-steering driving piece; 331-rotary power piece; 332-steering connecting plate; 333-steering connecting shaft; 4-telescopic damping assembly; 41-telescopic damping rod; 411-sleeve piston rod; 412-damping spring; 413-sleeve piston cylinder; 42-second ball head; 5-first cross drive assembly; 51-first rotary shaft; 52-second rotary shaft; 53-first concave connecting piece; 6-second cross drive assembly; 61-third rotary shaft; 62-fourth rotary shaft; 63-second concave connecting piece; 7-vehicle body; 71-cross beam. DETAILED DESCRIPTION

[0030] In order to make the above objectives, features and advantages of the present application more obvious and easy to understand, the specific embodiments of the present application are described in detail below with reference to the drawings.

[0031] It should be noted that in the coordinate system XYZ provided herein, the positive direction of the X axis represents the right direction, the negative direction of the X axis represents the left direction, the positive direction of the Y axis represents the rear direction, the negative direction of the Y axis represents the front direction, the positive direction of the Z axis represents the upward direction, and the negative direction of the Z axis represents the downward direction. At the same time, it should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0032] In one aspect, an embodiment of the present application provides a planetary vehicle moving system for rough terrain, comprising: a connecting piece 1, which is a plate structure, and is used to be installed on a vehicle body 7 of the planetary vehicle; a guide assembly 2, which comprises a steering knuckle 21 and four control arms 22, the steering knuckle 21 is arranged below the connecting piece 1, one end of the control arm 22 is rotationally connected with the connecting piece 1 in a first direction, and the axial direction of the control arm 22 is arranged to cross the first direction, the other end of the control arm 22 is provided with a first ball head 221, the steering knuckle 21 is provided with a first placement hole 211, and the first ball head 221 is rotationally installed in the first placement hole 211, the control arms 22 are arranged in two groups, the control arms 22 in the same group are arranged in a second direction, and the control arms 22 in the two groups are correspondingly arranged in a third direction, wherein the first direction is perpendicular to an end face of the connecting piece 1 facing the steering knuckle 21, the second direction is parallel to the length direction of the vehicle body 7, and the third direction is parallel to the height direction of the vehicle body 7; a walking assembly 3, which comprises a plurality of walking wheels 31, the plurality of walking wheels 31 are arranged in the second direction and are connected with the steering knuckle 21; and a telescopic damping assembly 4, one end of the telescopic damping assembly 4 is connected with the connecting piece 1, and the other end of the telescopic damping assembly 4 is connected with the steering knuckle 21.

[0033] It should be noted that, in the embodiment, as shown in Figures 1 to 3 the first direction is perpendicular to an end face of the connecting piece 1 facing the steering knuckle 21, the end face of the connecting piece 1 facing the steering knuckle 21 is perpendicular to the XZ plane, and has an angle less than 90 degrees with the ZY plane and the XY plane, so the first direction is parallel to the XZ plane, and has an angle less than 90 degrees with the ZY plane and the XY plane; the second direction is parallel to the length direction of the vehicle body 7, that is, parallel to the Y axis direction, and the third direction is parallel to the height direction of the vehicle body 7, that is, parallel to the Z axis direction.

[0034] As shown in Figures 1 to 3As shown, in the present embodiment, the connecting piece 1 is arranged as the connecting structure of the mobile system and the rover, four connecting pieces 1 can be installed on the two cross beams 71 of the rover body 7, a total of four end portions, which can effectively ensure the stable connection of the mobile system and the rover body 7; The guide assembly 2, the walking assembly 3 and the telescopic damping assembly 4 are also arranged, wherein the guide assembly 2 is composed of a knuckle 21 and four control arms 22, the knuckle 21 is arranged below the connecting piece 1 and connected with the connecting piece 1 through the control arm 22, and the two ends of the telescopic damping assembly 4 are respectively connected with the connecting piece 1 and the knuckle 21, and the walking assembly 3 is composed of a plurality of walking wheels 31, the plurality of walking wheels 31 are arranged in the second direction, i.e. the length direction of the rover body 7, and are connected with the knuckle 21, so that the knuckle 21 is located below the connecting piece 1, and the connecting piece 1 is located on the rover body 7, i.e. the knuckle 21 is located below the rover body 7, and the walking wheels 31 are located on the knuckle 21, so that the walking wheels 31 are located on one side of the rover body 7 and below the rover body 7, the telescopic damping assembly has a pushing force towards the walking surface, when the walking wheels 31 are located on the walking surface, the damping effect is maintained, and at the same time, the rover body 7 has a distance from the walking surface under the support of the walking wheels 31 and the guide assembly 2, thereby ensuring the structural stability of the rover body 7 during the driving of the rover, and the arrangement of the plurality of walking wheels 31 can effectively improve the contact area between the entire rover and the walking surface, improve the stability of the mobile driving, and facilitate the carrying of the driver and the plurality of passengers.

[0035] On this basis, the control arm 22 is rotatably connected between the connecting piece 1 and the knuckle 21, and between the connecting piece 1 and the control arm 22, the rotation axis is the first direction, and the axis of the control arm 22 is arranged transversely to the first direction, and the control arm 22 and the knuckle 21 are rotatably connected through the first ball head 221 on the control arm 22 and the first placement hole 211 on the knuckle 21, so that when the walking wheel 31 on the knuckle 21 is subjected to a supporting force of rugged terrain during walking, thereby moving up and down, the walking wheel 31 will give the knuckle 21 an upward or downward pushing force, and the knuckle 21 will also rise or fall synchronously, since the first ball head 221 at the end of the control arm 22 is located in the first placement hole 211, when the knuckle 21 transmits the pushing force to the control arm 22, the end of the control arm 22 with the first ball head 221 rises or falls, at the same time, the end of the control arm 22 away from the knuckle 21 rotates in the first direction in the positive direction or the reverse direction, the first ball head 221 rotates synchronously in the first placement hole 211, converting the vertical linear motion into the rotational motion of the control arm 22, thereby completing the structural change when the walking wheel 31 rises or falls, without affecting the connecting piece 1 and the rover body 7, thereby ensuring the stability of the rover body 7 when walking on rugged terrain, and avoiding the situation that the rover overturns due to the inclination of the rover body 7 caused by the up and down movement of the walking wheel 31 on rugged terrain.

[0036] Meanwhile, the four control arms 22 are arranged in two groups, and in the same group, the two control arms 22 are arranged at intervals along the second direction, i.e., the Y-axis direction. For the two groups of control arms 22, the control arms 22 are arranged at intervals along the third direction, i.e., the Z-axis direction. In this way, four control arms 22 arranged at intervals are formed in the space between the connecting piece 1 and the steering knuckle 21. For the steering knuckle 21, there are four connection points with the control arms 22, and the connection points are arranged at intervals along the Y-axis direction and the Z-axis direction, respectively. When the steering knuckle 21 has a tendency to rotate around the Y-axis direction, the two control arms 22 arranged at intervals along the Z-axis direction limit the rotation. When the steering knuckle 21 has a tendency to rotate around the Z-axis direction, the two control arms 22 arranged at intervals along the Y-axis direction limit the rotation. In this way, the rotation of the steering knuckle 21 around the Y-axis direction and the Z-axis direction is limited by the control arms 22. In the X-axis direction, the two ends of the control arm 22 are connected to the connecting piece 1 and the steering knuckle 21, respectively. When the steering knuckle 21 has a tendency to move along the X-axis direction, the connecting piece 1 and the control arm 22 limit the movement. In this way, the movement of the steering knuckle 21 along the X-axis direction is limited. The control arm 22 is connected to the connecting piece 1 to rotate around the first direction. The axis of the control arm 22 is arranged to cross the first direction. In this way, the control arm 22 can rotate around the first direction, so that the end of the control arm 22 connected to the steering knuckle 21 moves along the Z-axis direction. The four control arms 22 need to be raised or lowered synchronously. In this way, the steering knuckle 21 can move along the Z-axis direction. However, because the control arms 22 can only be raised or lowered synchronously, the rotation of the steering knuckle 21 around the X-axis and the movement of the steering knuckle 21 along the Y-axis are limited. In this way, in the case that the four control arms 22 are connected to the steering knuckle 21 through ball joints and the connecting piece 1 is connected to the control arm 22 to rotate in one direction, the freedom of the steering knuckle 21 can be effectively limited. The steering knuckle 21 only has one freedom, i.e., the movement along the Z-axis direction, which is not limited. The walking wheel 31 is connected to the steering knuckle 21. In this way, when the walking wheel 31 moves on the walking surface, the steering knuckle 21, the control arm 22, and the connecting piece 1 can stably rise or fall, without affecting the normal posture of the vehicle body 7. In this way, the smoothness and the obstacle-crossing ability of the star planet vehicle on the rugged terrain are improved, so that the running stability of the star planet vehicle in the star planet exploration process is improved.

[0037] It should be noted that in the embodiment, the number of walking wheels 31 connected to the steering knuckle 21 is two. In other embodiments of the present application, the number of walking wheels 31 can be other numbers.

[0038] Optionally, the telescopic damping assembly 4 includes a telescopic damping rod 41 and a second ball head 42. The telescopic damping rod 41 is arranged above the guide assembly 2 and is used to telescopically extend along the axial direction. One end of the telescopic damping rod 41 is connected to the connecting piece 1. The other end of the telescopic damping rod 41 is connected to the second ball head 42. The steering knuckle 21 is further provided with a second placement hole 212. The second ball head 42 is rotatably installed in the second placement hole 212.

[0039] In the embodiment, as shown in Figure 1 、 Figure 2 and Figure 4 , the telescopic damping assembly 4 is composed of a telescopic damping rod 41 and a second ball head 42, the telescopic damping rod 41 is arranged above the guide assembly 2, the telescopic damping rod 41 can be telescopic in the axial direction, one end of the telescopic damping rod 41 is connected with the connecting piece 1, the other end is connected with the second ball head 42, and the second ball head 42 is rotatably installed in the second placing hole 212 on the knuckle 21, so that when the running wheel 31 rises or falls, the knuckle 21 rises or falls, the hole wall of the second placing hole 212 rotates around the second ball head 42, and an upward thrust is given to the second ball head 42, under the action of the thrust, the telescopic damping rod 41 is shortened, and the thrust given by the running wheel 31 to the second ball head 42 is accumulated, when the running wheel 31 falls, the telescopic damping rod 41 is elongated, and the accumulated thrust is transmitted to the running wheel 31, the grip of the running wheel 31 is improved, and the force given to the vehicle body 7 when the running wheel 31 moves up and down frequently is reduced, the bumping when the star globe vehicle moves is reduced, and the running stability of the star globe vehicle in the star globe exploration process is improved.

[0040] It should be noted that in the embodiment, the number of running wheels 31 is two, and the number of telescopic damping rods 41 is also two, and corresponds to the two running wheels 31, so as to improve the damping effect.

[0041] Optionally, the telescopic damping rod 41 comprises a sleeve piston rod 411, a damping spring 412 and a sleeve piston cylinder 413, the sleeve piston rod 411 is slidably installed in the sleeve piston cylinder 413 and connected with the connecting piece 1, the sleeve piston cylinder 413 is connected with the second ball head 42, the damping spring 412 is sleeved on the sleeve piston rod 411 and the sleeve piston cylinder 413, one end of the damping spring 412 abuts against the end of the sleeve piston rod 411, and the other end abuts against the end of the sleeve piston cylinder 413.

[0042] In the embodiment, the telescopic damping rod 41 is composed of the sleeve piston rod 411, the damping spring 412 and the sleeve piston cylinder 413, the sleeve piston rod 411 is slidably installed in the sleeve piston cylinder 413 and connected with the connecting piece 1, the sleeve piston cylinder 413 is connected with the second ball head 42, the damping spring 412 is sleeved on the sleeve piston rod 411 and the sleeve piston cylinder 413, and the two ends of the damping spring 412 abut against the end of the sleeve piston rod 411 and the end of the sleeve piston cylinder 413 respectively, so that when the knuckle 21 rises or falls, the damping spring 412 is compressed or relaxed, and the sleeve piston rod 411 slides in the sleeve piston cylinder 413, so as to realize the telescopic damping effect of the telescopic damping rod 41.

[0043] Optionally, the planetary vehicle moving system for rough terrain further comprises a first cross transmission assembly 5, the first cross transmission assembly 5 comprises a first rotating shaft 51, a second rotating shaft 52 and a first concave connecting piece 53, the connecting piece 1 is provided with a first shaft slot 11 which is open in the first direction, the first rotating shaft 51 is rotatably installed in the first shaft slot 11 through a bearing, the shaft surface of the first rotating shaft 51 is provided with a first rotating hole which is perpendicular to the first direction, the second rotating shaft 52 is rotatably installed in the first rotating hole, the opposite two side walls of the first concave connecting piece 53 are connected with the two ends of the second rotating shaft 52 respectively, and the end of the first concave connecting piece 53 which is away from the second rotating shaft 52 is connected with the control arm 22; the second cross transmission assembly 6 comprises a third rotating shaft 61, a fourth rotating shaft 62 and a second concave connecting piece 63, the connecting piece 1 is further provided with a second shaft slot 12 which is open in the first direction, the third rotating shaft 61 is rotatably installed in the second shaft slot 12 through a bearing, the shaft surface of the third rotating shaft 61 is provided with a second rotating hole which is perpendicular to the first direction, the fourth rotating shaft 62 is inserted in the second rotating hole, the opposite two side walls of the second concave connecting piece 63 are connected with the two ends of the fourth rotating shaft 62 respectively, and the end of the second concave connecting piece 63 which is away from the fourth rotating shaft 62 is connected with the telescopic damping rod 41, and the axial direction of the telescopic damping rod 41 is cross to the first direction.

[0044] It should be noted that, in the embodiment, as shown in Figure 1 a connecting piece 1 on one end of one beam 71 of the vehicle body 7 is connected with a running assembly 3 through a guide assembly 2, the running assembly 3 comprises a plurality of running wheels 31 which are arranged along the length direction of the vehicle body 7, and when the planetary vehicle runs on rough terrain, the running wheels 31 on the steering knuckle 21 can be synchronously raised or lowered through the guidance of the guide assembly 2, but some terrain has slope, when one running wheel 31 on one steering knuckle 21 is located at a higher position of the running surface, due to the connecting effect of the steering knuckle 21, other running wheels 31 can be in a suspended state, which seriously affects the stability of the mobile running of the planetary vehicle.

[0045] Therefore, as shown in Figures 1 to 4As shown, in the present embodiment, a first cross transmission assembly 5 is also provided, which is composed of a first rotating shaft 51, a second rotating shaft 52 and a first concave connecting piece 53. The first rotating shaft 51 is arranged in the first shaft slot 11 of the connecting piece 1 in the first direction through a bearing, and a first rotating hole perpendicular to the first direction is arranged on the shaft surface of the first rotating shaft 51, and the second rotating shaft 52 is rotatably arranged in the first rotating hole, and the two ends of the second rotating shaft 52 are connected with the opposite two side walls of the first concave connecting piece 53, and the end of the first concave connecting piece 53 away from the second rotating shaft 52 is connected with the control arm 22. In this way, when the walking wheel 31 moves up and down, the control arm 22 makes the first rotating shaft 51 rotate in the first shaft slot 11 around the first direction through the first concave connecting piece 53 and the second rotating shaft 52, so as to realize the stable movement of the walking wheel 31, and meanwhile, the stability of the vehicle body 7 is not affected. When there is a slope on the walking surface, one side of the steering knuckle 21 is lifted or lowered, and the control arm 22 connected with this side rotates around the axis of the second rotating shaft 52 through the first concave connecting piece 53 and the second rotating shaft 52, and the control arm 22 connected with the other side of the steering knuckle 21 also rotates around the axis of the second rotating shaft 52 through the first concave connecting piece 53 and the second rotating shaft 52. At this time, the rotation directions of the two control arms 22 arranged at intervals along the length direction of the vehicle body 7 are opposite, that is, the rotation of the steering knuckle 21 around the width direction of the vehicle body 7, that is, the X axis is realized, so that the wheel surface of the plurality of walking wheels 31 can be kept consistent with the walking surface at any time, and meanwhile, the up and down movement of the steering knuckle 21 is not affected, that is, through the arrangement of the first cross transmission assembly 5, the freedom of the steering knuckle 21 moving along the Z axis direction is not limited, and meanwhile, the freedom of the steering knuckle 21 rotating around the X axis direction is also released, so that the stability of the mobile driving of the star planet vehicle is effectively improved.

[0046] On this basis, correspondingly, in order to ensure the damping performance of the star planet vehicle on the uneven walking surface and improve the stability of driving, a second cross transmission assembly 6 composed of a third rotating shaft 61, a fourth rotating shaft 62 and a second concave connecting piece 63 is also provided. The third rotating shaft 61 is arranged in the second shaft slot 12 of the connecting piece 1 in the first direction through a bearing, the fourth rotating shaft 62 is rotatably arranged in the second rotating hole on the shaft surface of the third rotating shaft 61, and the two ends thereof are respectively connected with the opposite two side walls of the second concave connecting piece 63, and the second concave connecting piece 63 is connected with the telescopic damping rod 41. In this way, when the steering knuckle 21 rotates around the X axis direction, the telescopic damping rod 41 connected with the side being lifted is compressed, and at the same time, the telescopic damping rod 41 rotates around the third rotating shaft 61 through the second concave connecting piece 63 and the fourth rotating shaft 62. Correspondingly, the telescopic damping rod 41 connected with the side of the steering knuckle 21 being lowered is relaxed, so as to keep the damping synchronization of the star planet vehicle when it is mobile driven on the rugged terrain.

[0047] It should be noted that in the present embodiment, the first cross transmission assembly 5 and the second cross transmission assembly 6 can be replaced by a ball hinge structure composed of, for example, the first ball head 221 and the first placement hole 211, and correspondingly, the ball hinge structure can be replaced by the first cross transmission assembly 5 or the second cross transmission assembly 6.

[0048] Optionally, the walking assembly 3 further comprises a mounting plate 32 and a steering driving member 33, the steering knuckle 21 is further provided with a connecting column 213, the mounting plate 32 is connected with the connecting column 213, and the steering driving member 33 is installed on the mounting plate 32 and is drivingly connected with the walking wheel 31, so as to drive the walking wheel 31 to rotate around the vertical direction.

[0049] In order to keep the stable steering of the vehicle body 7, in the present embodiment, as shown in Figure 5 the walking assembly 3 further comprises the mounting plate 32 and the steering driving member 33, the steering knuckle 21 is provided with the connecting column 213, wherein the mounting plate 32 is connected with the connecting column 213, and the steering driving member 33 is installed on the mounting plate 32 and is drivingly connected with the walking wheel 31, so as to drive the walking wheel 31 to rotate around the vertical direction, towards or away from the vehicle body 7, so as to ensure the connection stability of the walking assembly 3 and the guiding assembly 2, and ensure that when the star car needs to steer, the walking wheel 31 is driven to rotate by the steering driving member 33, so as to realize the stable steering.

[0050] It should be noted that in the present embodiment, each walking wheel 31 is controlled and driven to steer by one steering driving member 33, and similarly, the rotation walking of each walking wheel 31 is also driven by the corresponding rotation driving member.

[0051] Optionally, the steering driving member 33 comprises a rotation power member 331, a steering connecting plate 332 and a steering connecting shaft 333, the rotation power member 331 is installed on the mounting plate 32, one end of the steering connecting plate 332 is drivingly connected with the rotation power member 331, and the other end of the steering connecting plate 332 is connected with the hub center of the walking wheel 31 through the steering connecting shaft 333.

[0052] In the present embodiment, as shown in Figure 5As shown, the steering driving member 33 is composed of a rotating power member 331, a steering connecting plate 332 and a steering connecting shaft 333, wherein the rotating power member 331 is installed on the mounting plate 32, the mounting plate 32 is L-shaped, a vertical section is connected with the connecting column 213, a horizontal section is above the vertical section and connected with the rotating power member 331, the rotating power member 331 is drivingly connected with one end of the steering connecting plate 332, the other end of the steering connecting plate 332 is connected with the hub center of the walking wheel 31 through the steering connecting shaft 333, and the steering connecting plate 332 is also L-shaped and symmetrical with the L-shaped structure of the mounting plate 32 about the vertical direction, so that when the walking wheel 31 needs to be steered, the steering connecting plate 332 is driven to rotate about the vertical direction by the rotating power member 331, thereby driving the walking wheel 31 to rotate about the vertical direction, realizing the steering of the walking wheel 31 and the stable steering of the planetary vehicle.

[0053] It should be noted that in the embodiment, the rotating power member 331 can be a stepping motor, which is installed on the mounting plate 32, and the output end thereof can be drivingly connected with the horizontal section of the steering connecting plate 332 through the mounting plate 32, thereby realizing the steering control of the walking wheel 31.

[0054] Optionally, the connecting member 1 is used to be installed on the upper wall of the end of the cross beam 71 of the vehicle body 7, when the connecting member 1 is installed on the vehicle body 7, the upper end of the connecting member 1 is used to be obliquely arranged along the fourth direction and away from the vehicle body 7, and the fourth direction is used to be parallel to the width direction of the vehicle body 7.

[0055] It should be noted that in the embodiment, as Figures 1 to 5 shown, the fourth direction is the X-axis direction.

[0056] In order to ensure the connection stability of the moving system and the vehicle body 7 and the walking stability of the walking assembly, in the embodiment, the connecting member 1 can be installed on the upper wall of the end of the cross beam 71 of the vehicle body 7, and the upper end of the connecting member 1 can be obliquely arranged along the fourth direction, i.e. the X-axis direction, away from the vehicle body 7, thereby forming an inclined plane at the end of the cross beam 71, facilitating the connection of the connecting member 1 and the guide assembly 2.

[0057] Optionally, in the direction pointed by the connecting member 1 to the steering knuckle 21, the two upper control arms 22 gradually approach, and the two lower control arms 22 gradually depart.

[0058] In order to improve the compactness of the structure, in the embodiment, as Figures 1 to 5 shown, in the direction pointed by the connecting member 1 to the steering knuckle 21, the two upper control arms 22 gradually approach, and the two lower control arms 22 gradually depart, thereby effectively reducing the volume of the moving system in the Y-axis direction and improving the compactness of the structure.

[0059] Optionally, the connecting piece 1 and the knuckle 21 are hollow structural members.

[0060] In the embodiment, as shown in the figure, in order to reduce the weight of the mobile system while ensuring the working stability of the mobile system, the connecting piece 1 and the knuckle 21 are set as hollow structural members. Figures 1 to 5

[0061] On the other hand, an embodiment of the present application provides a star car, comprising a car body 7 and the star car mobile system for rugged terrain as described above.

[0062] As shown in the figure, the technical effects of the star car in the embodiment are the same as those of the star car mobile system for rugged terrain as described above. Figures 1 to 5 Figures 1 to 5

[0063] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited to this. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications shall fall within the protection scope of the present application.​​

Claims

1. A rover mobility system for rough terrain, characterized by, The utility model relates to a kind of star car, including: Connecting piece (1), the connecting piece (1) is plate structure, the connecting piece (1) is used to be installed on the vehicle body (7) of star car; Guiding assembly (2), the guiding assembly (2) includes knuckle (21) and four control arms (22), the knuckle (21) is located below the connecting piece (1), one end of the control arm (22) is connected around the first direction with the connecting piece (1), and the axial direction of the control arm (22) is arranged with the first direction intersection, the other end of the control arm (22) is equipped with first ball head (221), first placement hole (211) is equipped on the knuckle (21), the first ball head (221) is rotatably installed in the first placement hole (211), the control arm (22) is two two a group, the control arm (22) in same group is spaced along the second direction, two groups of control arms (22) are correspondingly spaced along the third direction, wherein, the first direction is perpendicular to the end face of the connecting piece (1) towards the knuckle (21), the second direction is used to be parallel with the length direction of the vehicle body (7), the third direction is used to be parallel with the height direction of the vehicle body (7); Walking assembly (3), the walking assembly (3) includes a plurality of walking wheels (31), a plurality of walking wheels (31) are spaced along the second direction, and are connected with the knuckle (21); Telescopic damping assembly (4), one end of the telescopic damping assembly (4) is connected with the connecting piece (1), the other end of the telescopic damping assembly (4) is connected with the knuckle (21);The telescopic damping assembly (4) includes telescopic damping rod (41) and second ball head (42); First cross drive assembly (5), the first cross drive assembly (5) includes first rotary shaft (51), second rotary shaft (52) and first concave connecting piece (53), the connecting piece (1) is equipped with the first shaft slot (11) of opening arrangement along the first direction, the first rotary shaft (51) is rotatably installed in the first shaft slot (11) by bearing, the shaft surface of the first rotary shaft (51) is equipped with the first rotary hole perpendicular to the first direction, the second rotary shaft (52) is rotatably installed in the first rotary hole, the opposite two side walls of the first concave connecting piece (53) are connected with the two ends of the second rotary shaft (52) respectively, the end portion of the first concave connecting piece (53) away from the second rotary shaft (52) is connected with the control arm (22); The second cross transmission assembly (6) includes a third rotating shaft (61), a fourth rotating shaft (62), and a second concave connector (63). The connector (1) is also provided with a second shaft groove (12) that opens along the first direction. The third rotating shaft (61) is rotatably mounted in the second shaft groove (12) by bearings. The shaft surface of the third rotating shaft (61) is provided with a second rotating hole that is perpendicular to the first direction. The fourth rotating shaft (62) passes through the second rotating hole. The opposite side walls of the second concave connector (63) are respectively connected to the two ends of the fourth rotating shaft (62). The end of the second concave connector (63) away from the fourth rotating shaft (62) is connected to the telescopic damping rod (41). The axial direction of the telescopic damping rod (41) is intersected with the first direction.

2. The terramechanics vehicle movement system for rough terrain according to claim 1, characterized in that, The telescopic damping rod (41) is located above the guide assembly (2) and is used for axial extension and retraction. One end of the telescopic damping rod (41) is connected to the connector (1), and the other end of the telescopic damping rod (41) is connected to the second ball head (42). The steering knuckle (21) is also provided with a second placement hole (212), and the second ball head (42) is rotatably installed in the second placement hole (212).

3. The terramechanics vehicle movement system for rough terrain according to claim 2, characterized in that, The telescopic damping rod (41) includes a sleeve piston rod (411), a damping spring (412), and a sleeve piston cylinder (413). The sleeve piston rod (411) is slidably installed inside the sleeve piston cylinder (413) and connected to the connector (1). The sleeve piston cylinder (413) is connected to the second ball head (42). The damping spring (412) is sleeved on the sleeve piston rod (411) and the sleeve piston cylinder (413). One end of the damping spring (412) abuts against the end of the sleeve piston rod (411), and the other end abuts against the end of the sleeve piston cylinder (413).

4. The terramechanics vehicle movement system for rough terrain of claim 1, wherein, The traveling assembly (3) also includes a mounting plate (32) and a steering drive (33). The steering knuckle (21) is also provided with a connecting column (213). The mounting plate (32) and the connecting column (213) are connected. The steering drive (33) is mounted on the mounting plate (32) and is driven to the traveling wheel (31). The steering drive (33) is used to drive the traveling wheel (31) to rotate in the vertical direction.

5. The terramechanics vehicle movement system for rough terrain according to claim 4, characterized in that, The steering drive component (33) includes a rotary power component (331), a steering connecting plate (332), and a steering connecting shaft (333). The rotary power component (331) is mounted on the mounting plate (32). One end of the steering connecting plate (332) is drivenly connected to the rotary power component (331), and the other end of the steering connecting plate (332) is connected to the hub center of the running wheel (31) through the steering connecting shaft (333).

6. The terramechanics vehicle movement system for rough terrain according to any one of claims 1 to 5, characterized in that, The connecting piece (1) is used for being mounted on the end wall of the cross beam (71) of the vehicle body (7), when the connecting piece (1) is mounted on the vehicle body (7), the upper end of the connecting piece (1) is used for being arranged in a fourth direction and inclined away from the vehicle body (7), the fourth direction is used for being parallel to the width direction of the vehicle body (7).

7. The terramechanical rover mobility system for rough terrain according to any one of claims 1 to 5, characterized in that, In the direction pointed by the connecting piece (1) to the knuckle (21), for the four control arms (22), the upper two control arms (22) gradually approach, and the lower two control arms (22) gradually deviate.

8. The terramechanical rover mobility system for rough terrain of any one of claims 1 to 5, wherein, The connecting piece (1) and the knuckle (21) are both hollow structural members.

9. A star car, characterized by A mobile system of a rough terrain planetary vehicle including a vehicle body (7) and a connecting piece (1) for rough terrain planetary vehicle as claimed in any one of claims 1 to 8.

Images