A four-wheel planetary rover

Abstract

The present invention provides a four-wheel planetary rover, which relates to the technical field of planetary rovers. The four-wheel planetary rover includes a vehicle body, wheels, a power mechanism and a transmission mechanism. The transmission mechanism includes a first connecting rod, a second connecting rod, a connecting plate, a rotating shaft and a connecting rod. A through hole is formed in the vehicle body, and the rotating shaft passes through the through hole and is rotatably connected to the vehicle body. The first connecting rod, the second connecting rod and the connecting plate are arranged inside the vehicle body. The middle of the first connecting rod is rotatably connected to the middle of the second connecting rod. Both ends of the first connecting rod and both ends of the second connecting rod are hinged to one end of the connecting plate. The other end of the connecting plate is connected to one end of the rotating shaft. The other end of the rotating shaft is connected to one end of the connecting rod. The other end of the connecting rod is connected to the wheel. The power mechanism is arranged inside the vehicle body and is used to drive the first connecting rod and the second connecting rod to rotate in the horizontal direction. The present invention can make the four-wheel planetary rover adapt to terrain changes and has a low difficulty in coordinated movement only by driving a set of transmission mechanism with one power mechanism.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary rovers, and more particularly to a four-wheel planetary rover. Background Art

[0002] The terrain on the surface of a planet is complex, rugged, and full of obstacles, requiring the planetary rover to have good mobility. Currently, all successfully operated planetary rovers adopt a six-wheel rocker structure, with two or more power mechanisms and transmission mechanisms, having a gear differential or a link differential, for the six wheels to move coordinately. The structure is complex. When the planetary rover contracts or extends, multiple sets of transmission mechanisms need to work simultaneously, and the transmission process is relatively complex. It is difficult to coordinate the movement of the six wheels. Summary of the Invention

[0003] The problem to be solved by the present invention is how to reduce the difficulty of coordinated movement of the planetary rover.

[0004] To this end, the present invention provides a four-wheel planetary rover, including a vehicle body, wheels, a power mechanism, and a transmission mechanism. The transmission mechanism includes a first link, a second link, a connecting plate, a rotating shaft, and a connecting rod. There are four of the connecting plates, the rotating shafts, and the connecting rods. Through holes are formed in the vehicle body, and the rotating shafts are inserted through the through holes and rotatably connected to the vehicle body. The first link, the second link, and the connecting plates are arranged inside the vehicle body. The middle of the first link is rotatably connected to the middle of the second link. Both ends of the first link and both ends of the second link are hinged to one end of the connecting plate. The other end of the connecting plate is connected to one end of the rotating shaft. The other end of the rotating shaft is connected to one end of the connecting rod. The other end of the connecting rod is connected to the wheel. The power mechanism is arranged inside the vehicle body and is used to drive the first link and the second link to rotate in the horizontal direction.

[0005] Optionally, the connecting plates connected to both ends of the first link are on the front and rear sides of the first link in the horizontal plane, and the connecting plates connected to both ends of the second link are on the front and rear sides of the second link in the horizontal plane.

[0006] Optionally, both ends of the power mechanism are respectively connected to the middle of the first link and the middle of the second link.

[0007] Optionally, both ends of the power mechanism are respectively drivingly connected to one end of the first link and the second link facing the same direction.

[0008] Optionally, the power mechanism includes a motor, a first motor link, and a second motor link. One end of the first motor link is connected to the motor, and one end of the second motor link is connected to the motor. The other ends of the first motor link and the second motor link are respectively hinged to one ends of the first link and the second link facing the same direction. The motor is used to drive the first motor link and the second motor link to rotate in the horizontal direction.

[0009] Optionally, the four-wheel lunar rover further includes a connecting shaft. Connecting holes are provided in the middle of the first link and the second link. The rotating shaft passes through the connecting holes of the first link and the second link and is rotatably connected to the first link and the second link.

[0010] Optionally, the connecting plate is provided with a hinge hole and a shaft hole. The hinge hole is hinged to the end of the first link or the second link, and the rotating shaft passes through the shaft hole and is connected to the connecting plate.

[0011] Optionally, one end of the connecting rod is provided with a first bushing, and the first bushing is sleeved on the rotating shaft.

[0012] Optionally, a turntable is provided at one end of the rotating shaft facing the wheel. The diameter of the turntable is larger than the diameter of the rotating shaft, and the first bushing is sleeved on the turntable.

[0013] Optionally, the four-wheel lunar rover further includes an extension rod. One end of the extension rod is hinged to the connecting plate, and the other end of the extension rod is hinged to the end of the first link or the second link.

[0014] Compared with the prior art, the beneficial effects of the four-wheel lunar rover of the present invention are:

[0015] The present invention is provided with a first connecting rod and a second connecting rod inside the vehicle body. The middle parts of the first connecting rod and the second connecting rod are rotationally connected, enabling the first connecting rod to rotate relative to the second connecting rod. Both ends of the first connecting rod and the second connecting rod are each connected to a connecting plate and are hinged to one end of the connecting plate, such that when the first connecting rod and the second connecting rod rotate in the horizontal plane, they can drive the connecting plate to rotate. Through holes are provided on the vehicle body, and the number and positions of the through holes correspond to the number and positions of the wheels. There are four rotating shafts, connecting plates, and connecting rods. The rotating shafts pass through the through holes, and the other end of the connecting plate is connected to the end of the rotating shaft inside the vehicle body. The rotation of the connecting plate can drive the rotation of the rotating shaft. The end of the rotating shaft outside the vehicle body is connected to one end of the connecting rod. The rotation of the rotating shaft drives the connecting rod to rotate around the rotating shaft. The other end of the connecting rod is connected to the wheel. The connecting plate rotates around the rotating shaft, and the end of the connecting rod connected to the wheel moves in the vertical direction, driving the wheel to move in the vertical direction. A power mechanism is also provided, which can drive the first connecting rod and the second connecting rod to rotate in the horizontal direction, thereby driving the connecting plate, rotating shaft, and connecting rod to rotate to control the vertical movement of the wheels. The power mechanism can control all four wheels to move upward or downward, or two of the wheels to move upward and two of the wheels to move downward, enabling the four-wheel planetary rover to extend or contract to adapt to more terrains. The present invention can make the four-wheel planetary rover adapt to terrain changes by only using one power mechanism to drive a set of transmission mechanisms. Compared with the traditional six-wheel rocker structure, the present invention has a simple structure, low cost, and low difficulty in coordinated movement. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is one of the structural schematic diagrams of the four-wheel planetary rover according to Embodiment 1 of the present invention;

[0017] Figure 2 is the second structural schematic diagram of the four-wheel planetary rover according to Embodiment 1 of the present invention;

[0018] Figure 3 is one of the structural schematic diagrams of the four-wheel planetary rover according to Embodiment 2 of the present invention;

[0019] Figure 4 is the second structural schematic diagram of the four-wheel planetary rover according to Embodiment 2 of the present invention.

[0020] DESCRIPTION OF THE REFERENCE NUMERALS:

[0021] 1 - vehicle body; 2 - wheel; 31 - first connecting rod; 32 - second connecting rod; 33 - connecting plate; 331 - shaft hole; 34 - rotating shaft; 341 - turntable; 35 - connecting rod; 351 - first bushing; 36 - connecting shaft; 37 - extension rod; 38 - U-shaped rod; 4 - power mechanism; 41 - motor; 42 - first motor connecting rod; 43 - second motor connecting rod. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings.

[0023] It should be noted that in the description of the present disclosure, the orientation or positional relationships indicated by terms such as "upper", "lower", "left", "right", "top", "bottom", "front", "rear", "inner", and "outer" are based on the orientation or positional relationships shown in the accompanying drawings. This is only for the convenience of describing the present disclosure and does not indicate or imply that the device referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation on the protection scope of the present disclosure.

[0024] The terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature.

[0025] Moreover, although the present invention is described with reference to specific embodiments in this disclosure, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed, as long as they do not deviate from the spirit and scope of the present invention defined by the appended claims. It should be understood that different dependent claims and the features described herein can be combined in a manner different from that described in the original claims. It should also be understood that the features described in connection with a single embodiment can be used in other described embodiments.

[0026] To solve the above problems, as Figures 1 to 4 shown, the present invention provides a four-wheel planetary rover, including a vehicle body 1, wheels 2, a power mechanism 4, and a transmission mechanism. The transmission mechanism includes a first connecting rod 31, a second connecting rod 32, a connecting plate 33, a rotating shaft 34, and a connecting rod 35. There are four of the connecting plate 33, the rotating shaft 34, and the connecting rod 35. A through hole is formed in the vehicle body 1, and the rotating shaft 34 is inserted through the through hole and rotatably connected to the vehicle body 1. The first connecting rod 31, the second connecting rod 32, and the connecting plate 33 are arranged inside the vehicle body 1. The middle of the first connecting rod 31 is rotatably connected to the middle of the second connecting rod 32. Both ends of the first connecting rod 31 and both ends of the second connecting rod 32 are hinged to one end of the connecting plate 33. The other end of the connecting plate 33 is connected to one end of the rotating shaft 34. The other end of the rotating shaft 34 is connected to one end of the connecting rod 35. The other end of the connecting rod 35 is connected to the wheel 2. The power mechanism 4 is arranged inside the vehicle body 1 and is used to drive the first connecting rod 31 and the second connecting rod 32 to rotate in the horizontal direction.

[0027] In this embodiment, by arranging a first connecting rod 31 and a second connecting rod 32 inside the vehicle body 1, the middle parts of the first connecting rod 31 and the second connecting rod 32 are rotatably connected, so that the first connecting rod 31 can rotate relative to the second connecting rod 32. One connecting plate 33 is connected to each end of the first connecting rod 31 and the second connecting rod 32, and is hinged to one end of the connecting plate 33, so that when the first connecting rod 31 and the second connecting rod 32 rotate in the horizontal plane, they can drive the connecting plate 33 to rotate. A through hole is provided on the vehicle body 1, a rotating shaft 34 is passed through the through hole, and the other end of the connecting plate 33 is connected to one end of the rotating shaft 34 inside the vehicle body 1. The rotation of the connecting plate 33 can drive the rotating shaft 34 to rotate. One end of the rotating shaft 34 outside the vehicle body 1 is connected to one end of a connecting rod 35. The rotation of the rotating shaft 34 drives the connecting rod 35 to rotate around the rotating shaft 34. The other end of the connecting rod 35 is connected to the wheel 2. The connecting plate 33 rotates around the rotating shaft 34, and one end of the connecting rod 35 connected to the wheel 2 moves in the vertical direction, driving the wheel 2 to move in the vertical direction. A power mechanism 4 is also provided. The power mechanism 4 can drive the first connecting rod 31 and the second connecting rod 32 to rotate in the horizontal direction, and then drive the connecting plate 33, the rotating shaft 34, and the connecting rod 35 to rotate accordingly, so as to control the wheel 2 to move in the vertical direction. The power mechanism 4 can control all four wheels 2 to move upward or downward, or two of the wheels 2 move upward and two wheels 2 move downward, so that the four-wheel rover can be extended or contracted to adapt to more terrains. The present invention can make the four-wheel rover adapt to terrain changes only by driving a set of transmission mechanisms with one power mechanism 4. Compared with the traditional six-wheel rocker structure, the present invention has a simple structure, low cost, and low difficulty in coordinated movement.

[0028] Optionally, as Figures 1 to 4 shown, the connecting plates 33 connected to both ends of the first connecting rod 31 are located on the front and rear sides of the first connecting rod 31 in the horizontal plane, and the connecting plates 33 connected to both ends of the second connecting rod 32 are located on the front and rear sides of the second connecting rod 32 in the horizontal plane.

[0029] In this embodiment, by arranging the connecting plates 33 at both ends of the first connecting rod 31 on both sides of the first connecting rod 31 in the relative Y-axis direction, that is, one connecting plate 33 at one end of the first connecting rod 31 is in front of the first connecting rod 31, and the other connecting plate 33 is behind the first connecting rod 31. Similarly, the connecting plates 33 at both ends of the second connecting rod 32 are arranged on both sides of the second connecting rod 32 in the relative Y-axis direction, that is, one connecting plate 33 at one end of the second connecting rod 32 is in front of the second connecting rod 32, and the other connecting plate 33 is behind the second connecting rod 32. Such an arrangement can make the wheels 2 at the left front and right rear of the four-wheel rover move downward, while the wheels 2 at the left rear and right front move upward; or make the wheels 2 at the left front and right rear of the four-wheel rover move upward, while the wheels 2 at the left rear and right front move downward, which can make the four-wheel rover better adhere to the ground and improve its adaptability to the terrain.

[0030] Optionally, as Figure 1 and Figure 2 shown, both ends of the power mechanism 4 are respectively connected to the middle of the first connecting rod 31 and the middle of the second connecting rod 32.

[0031] In the first embodiment of the present invention, the power mechanism 4 can be a motor 41. The motor 41 can be one or two. When there are two motors 41, the two connected motors 41 are connected to the middle of the first connecting rod 31 and the second connecting rod 32. The output ends of the two motors 41 are respectively connected to the first connecting rod 31 and the second connecting rod 32. And the two motors 41 can drive the first connecting rod 31 and the second connecting rod 32 to rotate by forward rotation or reverse rotation, thereby controlling the movement of the wheel 2. The motor 41 serves as both a power source and a bearing to rotatably connect the first connecting rod 31 and the second connecting rod 32. When there is one motor 41, the motor 41 is a double-shaft motor, and the rotation directions of the two output shafts can be arbitrarily controlled.

[0032] Optionally, as Figure 3 and Figure 4 shown, both ends of the power mechanism 4 are respectively drivingly connected to one end of the first connecting rod 31 and the second connecting rod 32 facing the same direction.

[0033] In the second embodiment of the present invention, the power mechanism 4 is arranged on the side of the first connecting rod 31 and the second connecting rod 32 close to the vehicle body 1. Both ends of the power mechanism 4 are respectively connected to the ends of the first connecting rod 31 and the second connecting rod 32. Compared with arranging the driving mechanism in the middle of the first connecting rod 31 and the second connecting rod 32, when the driving mechanism is arranged at the ends of the first connecting rod 31 and the second connecting rod 32, the torque required for the driving mechanism to drive the first connecting rod 31 and the second connecting rod 32 to rotate is smaller, and it is easier for the driving mechanism to drive the first connecting rod 31 and the second connecting rod 32 to rotate.

[0034] Specifically, the first connecting rod 31 and the second connecting rod 32 can be symmetric broken-line structures. The end of the first connecting rod 31 connected to the driving mechanism and the end of the second connecting rod 32 connected to the driving mechanism do not coincide in the horizontal direction, that is, they are respectively located on the front and back sides of the driving mechanism.

[0035] Optionally, as Figure 3 and Figure 4 shown, the power mechanism 4 includes a motor 41, a first motor connecting rod 42 and a second motor connecting rod 43. One end of the first motor connecting rod 42 is connected to the motor 41, one end of the second motor connecting rod 43 is connected to the motor 41, the other end of the first motor connecting rod 42 and the other end of the second motor connecting rod 43 are respectively hinged to one end of the first connecting rod 31 and the second connecting rod 32 facing the same direction, and the motor 41 is used to drive the first motor connecting rod 42 and the second motor connecting rod 43 to rotate in the horizontal direction.

[0036] In the second embodiment of the present invention, the driving mechanism may include a motor 41. The motor 41 may be one or two. When there are two motors 41, a first motor link 42 and a second motor link 43 are provided. The first motor link 42 and the second motor link 43 are respectively connected to the two output shafts of the two motors 41. The first motor link 42 is connected to the first link 31, and the second motor link 43 is connected to the second link 32. When there is one motor 41, the motor 41 is a dual-axis motor, and the two output shafts of the dual-axis motor are respectively connected to the first motor link 42 and the second motor link 43. The motor 41 can drive the first motor link 42 and the second motor link 43 to move towards each other. At this time, all four wheels 2 move upward; the motor 41 can drive the first motor link 42 and the second motor link 43 to move away from each other. At this time, all four wheels 2 move downward; the motor 41 can drive the first motor link 42 and the second motor link 43 to move in the same direction. At this time, the wheels 2 at the front left and rear right of the four-wheel lunar rover can move downward, while the wheels 2 at the rear left and front right move upward; or the wheels 2 at the front left and rear right of the four-wheel lunar rover can move upward, while the wheels 2 at the rear left and front right move downward, which can make the four-wheel lunar rover better adhere to the ground and improve its adaptability to the terrain.

[0037] Optionally, as Figure 3 and Figure 4 shown, the four-wheel lunar rover further includes a connecting shaft 36. Connecting holes are provided in the middle parts of the first link 31 and the second link 32. The rotating shaft 34 passes through the connecting holes of the first link 31 and the second link 32 and is rotatably connected to the first link 31 and the second link 32.

[0038] In the second embodiment of the present invention, the middle parts of the first link 31 and the second link 32 are connected by a connecting shaft 36. The connection method can adopt the following structure. Connecting holes corresponding to the connecting shaft 36 are provided in the middle parts of the first link 31 and the second link 32. The connecting shaft 36 passes through the two connecting holes and is rotatably connected to the first link 31 and the second link 32. By providing the connecting shaft 36, the rotation of the first link 31 and the second link 32 can be assisted.

[0039] Optionally, as Figure 1 shown, the connecting plate 33 is provided with a hinge hole and a shaft hole 331. The hinge hole is hinged to the end of the first link 31 or the second link 32. The rotating shaft 34 passes through the shaft hole 331 and is connected to the connecting plate 33.

[0040] In this embodiment, the connecting plate 33 is provided with a hinge hole and a shaft hole 331. The end of the first connecting rod 31 or the second connecting rod 32 can be connected to the connecting plate 33 through the hinge hole, that is, the end of the first connecting rod 31 or the second connecting rod 32 and the connecting plate 33 form a spherical hinge, so that the connecting plate 33 can rotate with the first connecting rod 31 or the second connecting rod 32. The rotating shaft 34 can be inserted into the shaft hole 331 to be connected to the connecting plate 33, so that the rotating shaft 34 rotates with the connecting plate 33. By providing the hinge hole and the shaft hole 331, the connecting plate 33 can rotate around the rotating shaft 34 as the center and rotate with the connecting rod 35, thereby driving the rotating shaft 34 to rotate.

[0041] Optionally, as Figure 1 shown, one end of the connecting rod 35 is provided with a first bushing 351, and the first bushing 351 is sleeved on the rotating shaft 34.

[0042] In this embodiment, one end of the connecting rod 35 is provided with a first bushing 351, and the first bushing 351 is sleeved on the end of the rotating shaft 34 outside the vehicle body 1, so that when the rotating shaft 34 rotates, it can drive the first bushing 351 to rotate, and then drive the connecting rod 35 to rotate.

[0043] Optionally, as Figure 1 shown, the end of the rotating shaft 34 facing the wheel 2 is provided with a turntable 341, the diameter of the turntable 341 is larger than the diameter of the rotating shaft 34, and the first bushing 351 is sleeved on the turntable 341.

[0044] In this embodiment, the end of the rotating shaft 34 facing the wheel 2 is provided with a turntable 341, the diameter of the turntable 341 is larger than the diameter of the rotating shaft 34, and the turntable 341 is located outside the vehicle body 1, which is convenient for the first bushing 351 to be sleeved on the turntable 341.

[0045] Optionally, as Figure 1 shown, the four-wheel planet rover further includes an extension rod 37. One end of the extension rod 37 is hinged to the connecting plate 33, and the other end of the extension rod 37 is hinged to the end of the first connecting rod 31 or the second connecting rod 32.

[0046] In this embodiment, by providing the extension rod 37, when the vehicle body 1 is too long and the first connecting rod 31 and the second connecting rod 32 are not convenient to approach the connecting plate 33, the extension rod 37 is used to connect the first connecting rod 31 or the second connecting rod 32 to the connecting plate 33, which is convenient for the first connecting rod 31 or the second connecting rod 32 to drive the connecting plate 33 to rotate.

[0047] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. 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 will all fall within the protection scope of the present invention.

Claims

1. A four-wheel planetary rover, characterized in that, it includes a vehicle body (1), wheels (2), a power mechanism (4) and a transmission mechanism. The transmission mechanism includes a first connecting rod (31), a second connecting rod (32), a connecting plate (33), a rotating shaft (34) and a connecting rod (35). There are four of the connecting plate (33), the rotating shaft (34) and the connecting rod (35). A through hole is provided on the vehicle body (1), and the rotating shaft (34) passes through the through hole and is rotatably connected to the vehicle body (1). The first connecting rod (31), the second connecting rod (32) and the connecting plate (33) are arranged inside the vehicle body (1). The middle of the first connecting rod (31) is rotatably connected to the middle of the second connecting rod (32). Both ends of the first connecting rod (31) and both ends of the second connecting rod (32) are hinged to one end of the connecting plate (33). The other end of the connecting plate (33) is connected to one end of the rotating shaft (34). The other end of the rotating shaft (34) is connected to one end of the connecting rod (35). The other end of the connecting rod (35) is connected to the wheel (2). The power mechanism (4) is arranged inside the vehicle body (1) and is used to drive the first connecting rod (31) and the second connecting rod (32) to rotate in the horizontal direction.

2. The four-wheel planetary rover according to claim 1, characterized in that, the connecting plates (33) connected to both ends of the first connecting rod (31) are on the front and rear sides of the first connecting rod (31) in the horizontal plane, and the connecting plates (33) connected to both ends of the second connecting rod (32) are on the front and rear sides of the second connecting rod (32) in the horizontal plane.

3. The four-wheel planetary rover according to claim 1, characterized in that, both ends of the power mechanism (4) are respectively connected to the middle of the first connecting rod (31) and the middle of the second connecting rod (32).

4. The four-wheel planetary rover according to claim 1, characterized in that, both ends of the power mechanism (4) are respectively drivingly connected to one end of the first connecting rod (31) and the second connecting rod (32) facing the same direction.

5. The four-wheel planetary rover according to claim 4, characterized in that, the power mechanism (4) includes a motor (41), a first motor connecting rod (42) and a second motor connecting rod (43). One end of the first motor connecting rod (42) is connected to the motor (41), one end of the second motor connecting rod (43) is connected to the motor (41), the other end of the first motor connecting rod (42) and the other end of the second motor connecting rod (43) are respectively hinged to one end of the first connecting rod (31) and the second connecting rod (32) facing the same direction, and the motor (41) is used to drive the first motor connecting rod (42) and the second motor connecting rod (43) to rotate in the horizontal direction.

6. The four-wheel planetary rover according to claim 4, characterized in that, It further includes a connecting shaft (36). Connecting holes are respectively formed in the middle parts of the first connecting rod (31) and the second connecting rod (32). The rotating shaft (34) passes through the connecting holes of the first connecting rod (31) and the second connecting rod (32) and is rotatably connected to the first connecting rod (31) and the second connecting rod (32).

7. The four-wheel lunar rover according to claim 1, characterized in that, a hinge hole and a shaft hole (331) are formed in the connecting plate (33). The hinge hole is hinged to the end of the first connecting rod (31) or the second connecting rod (32). The rotating shaft (34) passes through the shaft hole (331) and is connected to the connecting plate (33).

8. The four-wheel lunar rover according to claim 1, characterized in that, a first bushing (351) is provided at one end of the connecting rod (35). The first bushing (351) is sleeved on the rotating shaft (34).

9. The four-wheel lunar rover according to claim 8, characterized in that, a turntable (341) is provided at one end of the rotating shaft (34) facing the wheel (2). The diameter of the turntable (341) is larger than the diameter of the rotating shaft (34). The first bushing (351) is sleeved on the turntable (341).

10. The four-wheel lunar rover according to claim 1, characterized in that, it further includes an extension rod (37). One end of the extension rod (37) is hinged to the connecting plate (33), and the other end of the extension rod (37) is hinged to the end of the first connecting rod (31) or the second connecting rod (32).

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