CN113022890B - Wheel-leg composite planetary detection vehicle based on swing suspension - Google Patents
Wheel-leg composite planetary detection vehicle based on swing suspension Download PDFInfo
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- CN113022890B CN113022890B CN202110376377.7A CN202110376377A CN113022890B CN 113022890 B CN113022890 B CN 113022890B CN 202110376377 A CN202110376377 A CN 202110376377A CN 113022890 B CN113022890 B CN 113022890B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
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Abstract
The invention provides a wheel leg composite planet detection vehicle based on a swing suspension, and relates to the technical field of planet detection. The planet detection vehicle comprises a vehicle body and a plurality of wheel leg assemblies, wherein each wheel leg assembly comprises a wheel body, a first swing arm, a second swing arm, a suspension arm and a locking mechanism; the suspension arm is rotatably connected with the vehicle body around a first axis, the second swing arm is respectively rotatably connected with the first swing arm and the suspension arm, and the wheel body is rotatably connected with one end, far away from the second swing arm, of the first swing arm; the locking mechanism is adapted to act to at least partially lock or unlock the suspension arm depending on the swing position of the second swing arm relative to the suspension arm. The leg-type walking mechanism can realize leg-type walking through the matched swinging of the second swing arm and the first swing arm to obtain a larger swinging range, and meanwhile, the wheel-type walking can be realized through the rotation of the wheel body, so that the adaptability and the stability of the planet detection vehicle in walking under various terrains can be improved.
Description
Technical Field
The invention relates to the technical field of planet detection, in particular to a wheel leg composite planet detection vehicle based on a swing suspension.
Background
In star body detection such as mars detection, in the use process, a planet detection vehicle needs to pass through a complex and variable terrain, internal precision devices are easily affected by jolts and the like, and spare parts are generally not repaired when damaged, so that the planet detection vehicle with high adaptability and stability needs to be researched and developed.
Disclosure of Invention
The invention aims to solve the problem of how to improve the adaptability and stability of the planet probe vehicle in the related technology to a certain extent.
To address at least one of the above issues to at least some extent, the present invention provides a swing suspension-based wheel-leg compound planetary probe vehicle, comprising a vehicle body and a plurality of wheel-leg assemblies, wherein the wheel-leg assemblies comprise a wheel body, a first swing arm, a second swing arm, a suspension arm and a locking mechanism; the suspension arm is rotationally connected with the vehicle body around a first axis, the second swing arm is rotationally connected with the first swing arm and the suspension arm respectively, and the wheel body is rotationally connected with one end, far away from the second swing arm, of the first swing arm; the locking mechanism is adapted to act to at least partially lock or unlock the suspension arm depending on the swing position of the second swing arm relative to the suspension arm.
Optionally, the wheel leg assembly further comprises a first connecting structure, and the locking mechanism comprises a limiting hole structure arranged on the vehicle body and a limiting block structure adapted to move relative to the limiting hole structure;
the first connecting structure is connected with the second swing arm, and the swing position of the second swing arm relative to the first swing arm comprises a first preset area, a second preset area and a third preset area which are sequentially distributed along a first direction; when the second swing arm swings in the first preset area, the first connecting structure drives the limiting block structure to keep a state of being inserted into the limiting hole structure; when the second swing arm swings in the second preset area, the first connecting structure drives the limiting block structure to move relative to the limiting hole structure so as to insert into or separate from the limiting hole structure; when the second swing arm swings in the third preset area, the first connecting structure drives the limiting block structure to keep a state of being separated from the limiting hole structure.
Optionally, the stopper structure includes a stopper body and an elastic member, the stopper body is slidably connected to the suspension arm, and a sliding direction of the stopper body and the first axis form a first preset included angle;
when the limiting block body moves under the driving of the first connecting structure and is inserted into the limiting hole structure, the elastic potential energy of the elastic piece is increased, and when the limiting block body is separated from the limiting hole structure, the elastic potential energy of the elastic piece is reduced.
Optionally, the first axis is parallel to a second axis, the second axis is a rotation axis of the second swing arm rotatably connected to the suspension arm, at least one of the first connecting structure and the stopper body is provided with a guide surface structure, and the guide surface structure converts the swing of the first connecting structure into the sliding of the stopper body.
Optionally, the wheel leg assembly includes a linkage, the linkage includes at least two link structures connected in sequence, where two link structures located at two ends of all the link structures are the first connection structure and the second connection structure respectively, the first connection structure is connected with the second swing arm around a fifth axis in a rotating manner, the second connection structure is connected with the suspension arm around a sixth axis in a rotating manner, and the sixth axis and the fifth axis are parallel to the first axis respectively.
Optionally, at least two wheel leg assemblies are respectively arranged on the left side and/or the right side of the vehicle body, the two suspension arms of the two wheel leg assemblies located on the same side are fixedly connected, and the first axes of the two wheel leg assemblies located on the same side are overlapped.
Optionally, the second connecting structures of the two wheel leg assemblies located on the same side respectively include first gear structures, axes of the two first gear structures respectively coincide with sixth axes of the two wheel leg assemblies, and the two first gear structures are both driven by a fourth driving device.
Optionally, the first connecting structure includes a rotating shaft and a cam disc fixedly connected to the rotating shaft; the second swing arm is rotatably connected with the suspension arm around an eighth axis through the rotating shaft, and the eighth axis is perpendicular to the first axis; the cam disc is provided with a cam surface structure which is suitable for contacting with one end, far away from the limiting block body, of the limiting hole structure, and the cam disc drives the limiting block structure to move relative to the limiting hole structure through the cam surface structure when rotating.
Optionally, the suspension arms of at least two wheel leg assemblies extend along the left-right direction of the vehicle body and are fixedly connected, and the first axes of the suspension arms of the two wheel leg assemblies are overlapped; the wheel bodies of the two wheel leg assemblies are oppositely arranged along the left-right direction; and the rotating shafts of the two wheel leg assemblies are driven by a fifth driving device.
Optionally, the first swing arm of at least two of the wheel leg assemblies located on the front side includes a first swing arm body and a connecting seat, the first swing arm body and the second swing arm are rotatably connected around a fourth axis, the connecting seat is rotatably connected around a ninth axis with one end of the first swing arm body, which is far away from the second swing arm, and the wheel body is rotatably connected with the connecting seat around a third axis; the fourth axis and the third axis are both perpendicular to the ninth axis.
Compared with the related prior art, the invention has the following advantages:
leg type walking can be achieved through the matched swinging of the second swing arm and the first swing arm, the wheel leg assembly can obtain a larger swinging range relative to a single swing arm, and wheel type walking can be achieved through the rotation of the wheel body; in addition, the suspension arm is at least partially locked or unlocked according to the swing position of the second swing arm, the walking mode of the wheel leg assembly can be rapidly switched, the passive suspension mode (wheel mode) can be switched according to needs, the adaptability and stability of the planet detection vehicle in walking under various terrains can be improved, the service life of the planet detection vehicle can be prolonged to a certain extent, the reliability is high, and the practicability is high.
Drawings
Fig. 1 is a schematic structural diagram of a wheel-leg composite planetary probe vehicle based on a swing suspension in an embodiment of the invention;
FIG. 2 is an enlarged view of a portion of the invention at A in FIG. 1;
FIG. 3 is an enlarged partial view of the invention at B of FIG. 1;
FIG. 4 is another schematic structural diagram of a wheel-leg compound planet probe vehicle based on a swing suspension in an embodiment of the invention;
FIG. 5 is an enlarged partial view at C of FIG. 4 of the present invention;
FIG. 6 is a schematic structural diagram of a swing suspension based wheel-leg compound planetary probe vehicle with the vehicle body removed in the embodiment of the invention;
fig. 7 is an enlarged view of a portion of the invention at D in fig. 6.
Description of reference numerals:
1-wheel leg assembly, 11-wheel body, 12-first swing arm, 121-first swing arm body, 122-connecting seat, 13-second swing arm, 14-suspension arm, 15-locking mechanism, 151-limiting hole structure, 152-limiting block structure, 1521-limiting block body, 1522-elastic piece, 1523-guide surface structure, 16-first connecting structure, 17-second connecting structure, 171-first gear structure, 18-fourth driving device, 2-vehicle body, 3-first wheel leg assembly, 4-second wheel leg assembly, 41-rotating shaft, 42-cam plate, 421-cam surface structure, 4211-transition arc surface structure, 43-second gear structure, 44-fifth driving device, 51-first driving device, 52-second drive, L1-first axis, L2-second axis, L3-third axis, L4-fourth axis, L5-fifth axis, L6-sixth axis, L7-seventh axis, L8-eighth axis, L9-ninth axis.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description herein, references to the terms "an embodiment," "one embodiment," "some embodiments," "exemplary" and "one embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or embodiment of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or implementations.
The terms "first", "second", "ninth", and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.
In the drawings, the Z-axis represents the vertical, i.e., up-down, position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents the horizontal direction and is designated as the left-right position, and the positive direction of the X-axis (i.e., the arrow direction of the X-axis) represents the right side, and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) represents the left side; in the drawings, the Y-axis indicates the front-rear position, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) indicates the front side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) indicates the rear side; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.
As shown in fig. 1 to 5, in an embodiment of the present invention, a swing suspension-based wheel leg composite planet probe vehicle is provided, which includes a vehicle body 2 and a plurality of wheel leg assemblies 1, where each wheel leg assembly 1 includes a wheel body 11, a first swing arm 12, a second swing arm 13, a suspension arm 14, and a locking mechanism 15; the suspension arm 14 is rotatably connected with the vehicle body 2 around a first axis L1, the second swing arm 13 is respectively rotatably connected with the first swing arm 12 and the suspension arm 14, and the wheel body 11 is rotatably connected with one end of the first swing arm 12 far away from the second swing arm 13;
the locking mechanism 15 is adapted to act to at least partially lock or unlock the suspension arm 14 depending on the swing position of the second swing arm 13 relative to the suspension arm 14.
As shown in fig. 2, for example, the lower end of the first swing arm 12 is rotatably connected to the wheel body 11 about a third axis L3, the axis of the wheel body 11 coincides with the third axis L3, the upper end of the first swing arm 12 is rotatably connected to the lower end of the second swing arm 13 about a fourth axis L4, and the third axis L3 is parallel to the fourth axis L4. The wheel body 11 is driven by a first driving device 51 (e.g. a motor) fixedly connected to the first swing arm 12, and the first swing arm 12 is driven by a second driving device 52 (e.g. a motor) fixedly connected to the second swing arm 13, however, the wheel body 11 and the first swing arm 12 may also adopt other driving manners, which is not limited.
The specific structure of the suspension arm 14 is not limited, and it is sufficient if it can support the vehicle body 2. A shock absorbing structure may be provided between the suspension arm 14 and the vehicle body 2 to improve stability of the planetary probe vehicle, and will not be described in detail herein.
It should be noted that the triggering of the locking mechanism 15 may be an electronic control triggering, for example, a detection device such as a sensor and an encoder detects the swing position of the second swing arm 13, so as to determine whether to lock or unlock the suspension arm 14. Activation of the locking mechanism 15 may be by mechanical means, as will be described in more detail below.
Illustratively, when the second swing arm 13 swings within a preset range, the locking mechanism 15 locks the relative position of the suspension arm 14 and the vehicle body 2 (e.g., locks the rotation of the suspension arm 14 about the first axis L1), and at this time, the position of the second axis L2 of the second swing arm 13 swinging relative to the suspension arm 14 in the planetary probe vehicle height direction (i.e., the Z-axis direction in the drawings) is kept substantially unchanged, facilitating leg walking of the wheel-leg assembly 1; when the second swing arm 13 swings to the outside of the preset range, the locking mechanism 15 unlocks the rotating joint (the rotating axis of which is the first axis L1) of the suspension arm 14 and the vehicle body 2, jolts formed on the vehicle body 2 when the wheel leg assembly 1 is wheeled to travel can be avoided to a certain extent, stability and reliability of instruments on the vehicle body 2 can be improved, and the practicability is high.
Therefore, leg walking can be realized through the matched swinging of the second swing arm 13 and the first swing arm 12, the wheel leg assembly 1 can obtain a larger swinging range relative to a single swing arm, and wheel walking can be realized through the rotation of the wheel body 11; in addition, the suspension arm 14 is at least partially locked or unlocked according to the swing position of the second swing arm 13, the traveling mode of the wheel leg assembly can be rapidly switched, the passive suspension mode (wheel mode) can be switched as required, the adaptability and stability of the planetary probe vehicle traveling under various terrains can be improved, the service life of the planetary probe vehicle can be prolonged to a certain extent, the reliability is high, and the practicability is high.
As shown in fig. 2, in the embodiment of the present invention, the wheel leg assembly 1 further includes a first connecting structure 16, and the locking mechanism 15 includes a limiting hole structure 151 disposed on the vehicle body 2 and a limiting block structure 152 adapted to move relative to the limiting hole structure 151; the first connecting structure 16 is connected to the second swing arm 13, and the first connecting structure 16 is adapted to drive the limiting block structure 152 to move relative to the limiting hole structure 151 so as to insert into or remove from the limiting hole structure 151.
Exemplarily, the swing position of the second swing arm 13 relative to the first swing arm 12 includes a first preset region, a second preset region, and a third preset region, which are sequentially distributed along a first direction (not shown in the drawings, the first direction may be understood as a counterclockwise swing direction of the second swing arm 13 in fig. 2, and exemplarily, the swing position of the second swing arm 13 relative to the suspension arm 14 shown in fig. 2 is located at a center position of the first preset region); when the second swing arm 13 swings in the first preset area, the first connecting structure 16 drives the limiting block structure 152 to keep the state of being inserted into the limiting hole structure 151, and at this time, the wheel leg assembly 1 can walk in a leg type; when the second swing arm 13 swings in the second preset area, the first connecting structure 16 drives the limiting block structure 152 to move relative to the limiting hole structure 151 so as to realize insertion or removal of the limiting hole structure 151, and in the process, the suspension arm 14 of the wheel leg assembly 1 is locked or unlocked; when the second swing arm 13 swings in the third predetermined area, the first connecting structure 16 drives the stopper structure 152 to keep the state of being disengaged from the stopper hole structure 151, and at this time, the wheel-leg assembly 1 can travel in a wheel type, and the suspension arm 14 is practical as a passive suspension. Of course, before the swing position of the second swing arm 13 relative to the first swing arm 12 reaches the first preset region in the first direction, another third preset region and another second preset region may be sequentially passed through, which will be described later.
The motion of the limiting block structure 152 relative to the limiting hole structure 151 may be along a straight line, or may be a swinging motion, which can be driven by the first connecting structure 16 directly or indirectly to move into or out of the limiting hole structure 151, for example, by a structure with a cam surface, a lever structure, etc., to convert the rotation of the second swing arm 13 into the motion of the limiting block structure 152, which will be described later by way of example.
Therefore, the linkage of the swing of the second swing arm 13 and the locking or unlocking of the suspension arm 14 is realized by adopting a mechanical structure, the locking of the suspension arm 14 when the wheel leg assembly 1 travels in a leg type manner and the unlocking of the suspension arm 14 when the wheel leg assembly 1 travels in a wheel type manner can be realized, the vibration of the planet probe vehicle can be reduced, the reliability is high in occasions without accessories such as mars, and the service life and the stability of the planet probe vehicle can be improved to a certain extent.
As shown in fig. 2, in some embodiments, the stopper structure 152 includes a stopper body 1521 and an elastic member 1522, the suspension arm 14 is slidably connected to the stopper body 1521, and a sliding direction of the stopper body 1521 and the first axis L1 form a first preset included angle; when the stopper body 1521 is driven by the first connecting structure 16 to move and be inserted into the limiting hole structure 151, the elastic potential energy of the elastic member 1522 is increased, and when the stopper body 1521 is disengaged from the limiting hole structure 151, the elastic potential energy of the elastic member 1522 is decreased.
Illustratively, the elastic member 1522 is a compression spring, the compression spring is sleeved on the stopper body 1521, the stopper body 1521 can slide relative to the suspension arm 14 within a certain stroke, and the compression spring is located on a side of the suspension arm 14 away from the center of the vehicle body 2.
The first preset included angle may be set to be 0 degree or 90 degrees, the relative position and connection relationship between the first connecting structure 16 and the second swing arm 13 under different first preset included angles, and the manner in which the first connecting structure 16 drives the stopper body 1521 may be different, which will be described in detail later.
From this, stopper body 1521 has reliable motion direction, inserts spacing pore structure 151 through 16 drive stopper bodies 1521 of first connection structure, makes stopper body 1521 reset and deviate from spacing pore structure 151 through elastic component 1522, and its simple structure, specific higher controllability, the structural design of the first connection structure 16 of being convenient for, the reliability is high, and the practicality is strong.
As shown in fig. 2, in some embodiments, at least one wheel leg assembly 1 is provided as a first wheel leg assembly 3, and for each first wheel leg assembly 3, a first axis is parallel to a second axis, the second axis is a rotation axis of the second swing arm 13 rotatably connected to the suspension arm 14, and at least one of the first connecting structure 16 and the stopper body 1521 is provided with a guide surface structure 1523, and the guide surface structure 1523 converts the swing of the first connecting structure 16 into the sliding of the stopper body 1521.
Illustratively, a guide surface structure 1523 (e.g., a spherical structure) is disposed on an end of the stopper body 1521 away from the center of the vehicle body 2, the first connecting structure 16 is a plate-shaped structure fixedly connected to the second swing arm 13 (in this case, the second swing arm 13 can be driven by a third driving device fixedly mounted on the suspension arm 14 to rotate around the second axis L2, which is not shown in the figure), when the second swing arm 13 swings to the first position along the first direction so that the side surface of the first connecting structure 16 near the center of the vehicle body 2 comes into contact with the guiding surface structure 1523 (e.g. a spherical structure) of the stopper body 1521, at this time, the first connecting structure 16 first contacts with one end of the spherical structure near the limiting hole structure 151, in the first direction, the first position corresponds to a connection position (boundary position) of a third preset region and a second preset region which are positioned before the first preset region; the second swing arm 13 continues to swing in the first direction to a second position so that the first connecting structure 16 contacts with an end point of the spherical structure far from the end of the limiting hole structure 151, in the process, the guide surface structure 1523 works with a contact surface of the first connecting structure 16, the swing of the first connecting structure 16 is converted into the movement of inserting the limiting block body 1521 into the limiting hole structure 151, in the second position, the first connecting structure 16 is inserted into the limiting hole structure 151 to limit the rotation of the suspension arm 14 around the first axis L1, and in the first direction, the second position corresponds to a connection position (junction position) of a second preset region before the first preset region and the first preset region; the second swing arm 13 continues to swing to a third position along the first direction, so that the contact point of the first connecting structure 16 and the spherical structure starts to move from the end point of the spherical structure far away from one end of the limiting hole structure 151 to the side close to the limiting hole structure 151, and in the first direction, the third position corresponds to the connecting position (boundary position) of a second preset area behind the first preset area and the first preset area; when the second swing arm 13 continues to swing in the first direction to the fourth position, the first connecting structure 16 makes point contact with a point on the spherical structure, which is close to the limiting hole structure 151, and in the first direction, the fourth position corresponds to a connection position (boundary position) of the second preset region and the third preset region, which are located behind the first preset region, at this time, the limiting block structure 152 is disengaged from the limiting hole structure 151, the locking of the suspension arm 14 is released, and the suspension arm 14 can perform a suspension function.
In the present embodiment, when the swing position of the second swing arm 13 in the first direction is located before the first position (corresponding to the third preset region located before the first preset region) or after the fourth position (corresponding to the third preset region located after the first preset region), the suspension arm 14 can rotate around the first axis L1 by a relatively large amplitude, so as to realize a passive suspension function, which is suitable for the shock absorption of the wheel-leg assembly 1 during wheel walking; when the swing position of the second swing arm 13 along the first direction is located between the first position and the second position (corresponding to a second preset region located before the first preset region), the stopper body 1521 moves toward the side close to the stopper hole structure 151 until the stopper hole structure 151 is inserted, and the elastic potential energy of the compression spring increases; when the swing position of the second swing arm 13 in the first direction is located between the second position and the third position (corresponding to being located in the first preset region), the stopper body 1521 keeps the state of being inserted into the stopper hole structure 151, and the position of the suspension arm 14 remains substantially unchanged (or rotates around the first axis L1 in a smaller range), at this time, the wheel-leg assembly 1 may adopt a leg walking mode, and the landing position of the wheel body 11 is adjusted by the first swing arm 12 and the second swing arm 13 in cooperation in the leg walking mode, so as to avoid the bumping of the planetary probe vehicle; when the swing position of the second swing arm 13 along the first direction is located between the third position and the fourth position (corresponding to a second preset region located behind the first preset region), the stopper body 1521 moves to a side away from the limiting hole structure 151 until the stopper body 1521 is separated from the limiting hole structure 151, and the elastic potential energy of the compression spring is reduced; the second swing arm 13 swings in the direction opposite to the first direction similarly, and will not be described in detail here.
In addition, a guide surface structure 1523 may also be arranged on the first connecting structure 16, a groove-shaped structure (not shown in the figure) may be arranged on one side of the first connecting structure 16, which is close to the center of the car body 2, the groove-shaped structure is adapted to contact one side of the stopper body 1521, which is far from the center of the car body 2, the groove-shaped structure may be arranged as a cam groove, the movement of the stopper body 1521 is driven by a groove bottom surface of the cam groove, and the guide surface structure 1523 includes a portion inclined in the groove bottom surface of the cam groove, which will not be described in detail herein.
Therefore, the first axis L1 is parallel to the second axis L2, so that the structural arrangement of the first connecting structure 16, the second swing arm 13 and the suspension arm 14 is compact, the first connecting structure 16 drives the motion of the limiting block structure 152 according to the swing position of the second swing arm 13 to be inserted into or pulled out of the limiting hole structure 151, the locking state of the suspension arm 14 is switched, the requirements of wheel type walking and leg type walking of the first wheel-leg assembly 3 are met, the number of driving devices such as motors is reduced, and the service life and the stability of the planet detection vehicle under the condition of no accessories such as mars and the like can be improved to a certain extent.
As shown in fig. 2, in the present embodiment, the first wheel leg assembly 3 includes a linkage group, the linkage group includes at least two link structures connected in sequence, wherein two link structures at two ends of all the link structures are a first connecting structure 16 and a second connecting structure 17, respectively, the first connecting structure 16 is rotatably connected with the second swing arm 13 around a fifth axis L5, the second connecting structure 17 is rotatably connected with the suspension arm 14 around a sixth axis L6, and the sixth axis L6 and the fifth axis L5 are parallel to the first axis L1, respectively.
Illustratively, the number of the link structures is two, the first connecting structure 16 is rotatably connected with the second connecting structure 17 about the seventh axis L7, the position of the sixth axis L6 is adjacent to the position of the first axis L1, at this time, the suspension arm 14, the second swing arm 13, the first connecting structure 16 and the second connecting structure 17 form a four-link structure, such as a parallel four-link structure, when one of the link structures, such as the second connecting structure 17, is driven, the first connecting structure 16 is linked with the second swing arm 13, and the second swing arm 13 swings back and forth (specifically, swings in the front-back direction in fig. 2), the situation that the first connecting structure 16 drives the stopper body 1521 in a moving manner is similar to the situation that the first connecting structure 16 is fixedly connected with the second swing arm 13, and will not be described in detail here.
Therefore, the second swing arm 13 and the suspension arm 14 are respectively part of a closed-loop multi-link structure, the connection structure of the second swing arm 13 and the suspension arm 14 is more reliable, in the swing process of the second swing arm 13, the first connection structure 16 drives the locking mechanism 15 to move in a linkage mode to unlock or lock the suspension arm 14, when the wheel leg assembly 1 performs wheel type walking, the suspension arm 14 plays a role of a passive suspension, stability is high, and practicability is high.
In the above embodiment, the distance between the fifth axis L5 and the second axis L2 is 1/5-4/5, 1/3-2/3, such as 1/2, which is the distance between the second axis L2 and the fourth axis L4. Illustratively, the fifth axis L5, the second axis L2, and the fourth axis L4 are disposed coplanar. In this way, the mutual interference of the fourth axis L4, the fifth axis L5 and the second axis L2 in the spatial position can be avoided to some extent, and a certain swing of the second swing arm 13 can be ensured to some extent.
As shown in fig. 1 and 2, in the present embodiment, at least four wheel-leg assemblies 1 are provided as the first wheel-leg assemblies 3, at least two first wheel-leg assemblies 3 are provided on the left side and/or the right side of the vehicle body 2, the two suspension arms 14 of the two first wheel-leg assemblies 3 located on the same side are fixedly connected, and the first axes L1 of the two first wheel-leg assemblies 3 located on the same side are overlapped.
Illustratively, for the two first wheel-leg assemblies 3 located on the same side, the two suspension arms 14 are integrally connected and are rotatably connected to the vehicle body 2 at a central position about the first axis L1.
Therefore, the centers of gravity of the suspension arms 14 of the two first wheel-leg assemblies 3 located on the same side are adjacent to the position of the first axis L1, so that the balance is better, and the two first wheel-leg assemblies 3 can support the vehicle body 2 conveniently.
In the present embodiment, the second swing arms 13 of the two first wheel leg assemblies 3 located on the same side are both driven by the fourth driving device 18.
In particular, the second connecting structures 17 of the two first wheel leg assemblies 3 located on the same side respectively comprise first gear structures 171, the axes of the two first gear structures 171 respectively coincide with the sixth axes L6 of the two first wheel leg assemblies 3, and both first gear structures 171 are driven by the fourth driving device 18.
It should be noted that the link structure is a structure having a function of a link, and a specific structure of each link structure may be different, and exemplarily, the second connecting structure 17 may be provided as a gear structure.
The fourth driving device 18 exemplarily comprises a third gear structure (not shown) located between the two first gear structures 171 and engaged with the two first gear structures 171, respectively. Of course, the fourth driving device 18 can also drive the swing of the second swing arm 13 by other driving methods, which will not be described in detail herein.
The drive motor of the fourth drive device 18 may be mounted on the suspension arm 14 or may be mounted inside the vehicle body 2. Illustratively, the suspension arm 14 is rotatably mounted on the vehicle body 2 through a sleeve, the driving motor of the fourth driving device 18 is fixedly mounted inside the vehicle body 2, and the output shaft thereof passes through the sleeve and the suspension arm 14 and is fixedly connected with the third gear structure through a key connection or the like.
Therefore, one driving motor can be saved to a certain extent, the linkage of the second swing arms 13 of the two first wheel leg assemblies 3 positioned on the same side is high, the swing directions of the second swing arms 13 of the two first wheel leg assemblies 3 can be opposite, leg walking is facilitated, and the practicability is high.
As shown in fig. 1 and 3 to 6, in distinction from the arrangement of the first axis L1 parallel to the second axis L2, at least one wheel leg assembly 1 is provided as a second wheel leg assembly 4, and for each second wheel leg assembly 4, the first connecting structure 16 includes a rotating shaft 41 and a cam plate 42 fixedly connected to the rotating shaft 41; the second swing arm 13 of the second wheel-leg assembly 4 is rotatably connected to the suspension arm 14 via the rotating shaft 41 around an eighth axis L8, and the eighth axis L8 is perpendicular to the first axis L1; the cam plate 42 is provided with a cam surface structure 421 suitable for contacting with one end of the limiting block body 1521 far away from the limiting hole structure 151.
As shown in fig. 5, the cam surface structure 421 exemplarily includes a first arc surface structure, a second arc surface structure, and a transition arc surface structure 4211 connected between the first arc surface structure and the second arc surface structure, and a radius corresponding to the first arc surface structure is greater than a radius corresponding to the second arc surface structure. One end of the stopper body 1521, which is away from the limiting hole structure 151, is set to be a spherical structure, when the first arc surface structure contacts the spherical structure, at least part of the stopper body 1521 is located in the limiting hole structure 151, the swing of the suspension arm 14 of the second wheel leg assembly 4 around the first axis L1 is in a locked state, at this time, the second swing arm 13 of the second wheel leg assembly 4 can swing around the eighth axis L8, and the second wheel leg assembly 4 can realize leg walking, that is, the area corresponding to the first arc surface structure is a first preset area; when the second arc surface structure is in contact with the spherical structure, the limiting block body 1521 is located outside the limiting hole structure 151, the suspension arm 14 of the second wheel leg assembly 4 rotates around the first axis L1, at this time, the suspension arm 14 achieves functions such as suspension shock absorption, the second wheel leg assembly 4 can adopt a wheel type walking mode, and an area corresponding to the second arc surface structure is a third preset area; when the transition arc structure 4211 contacts with the spherical structure, the stopper body 1521 moves to be inserted into or pulled out of the stopper hole structure 151, and the region corresponding to the transition arc structure 4211 is a second preset region. In some embodiments, the at least two transition arc-shaped structures are included, the first arc-shaped structure corresponds to a central angle of less than or equal to 150 °, for example, less than or equal to 120 °, 90 °, and the like, when the length direction of the second swing arm 13 is consistent with the up-down direction, the spherical structure contacts with the central position of the first arc-shaped structure, for example, when the central angle corresponding to the first arc-shaped structure is 90 °, the contact position of the spherical structure with the first arc-shaped structure is located at a position where the central angle of the first arc-shaped structure is 45 °.
Therefore, the swing of the second swing arm 13 of the second wheel leg assembly 4 can be converted into the movement of the stopper body 1521 through the rotating shaft 41 and the cam plate 42, and the direction thereof can be changed, so that the suspension arm 14 of the second wheel leg assembly 4 can be installed below, in front of, or behind the vehicle body 2, and the suspension arm 14 extends in the left-right direction of the vehicle body 2 without affecting the traveling of the wheel body 11 of the second wheel leg assembly 4 in the front-rear direction, and the size of the planetary probe vehicle in the left-right direction (width direction) can be reduced to a certain extent, and the practicability is strong.
In the above embodiment, the partial structures of the first wheel leg assembly 3 and the second wheel leg assembly 4 can be determined according to actual requirements, such as the structures of the first swing arm 12 and the second swing arm 13, and will not be described in detail here.
In the present embodiment, at least two wheel-leg assemblies 1 of the planetary probe vehicle are provided as second wheel-leg assemblies 4, the suspension arms 14 of the two second wheel-leg assemblies 4 extend in the left-right direction of the vehicle body 2 and are fixedly connected, and the first axes L1 of the suspension arms 14 of the two second wheel-leg assemblies 4 coincide; the wheel bodies 11 of the two second wheel leg assemblies 4 are oppositely arranged along the left-right direction; the shafts 41 of both second wheel leg assemblies 4 are driven by a fifth drive means 44.
As shown in fig. 3, exemplarily, the suspension arms 14 of the two second wheel leg assemblies 4 are located at the rear end of the vehicle body 2, and the first axis L1 is located at the center of the vehicle body 2 in the left-right direction, the adjacent ends of the two rotating shafts 41 of the two second wheel leg assemblies 4 are spaced apart and are respectively provided with one second gear structure 43, the fifth driving device 44 is fixedly mounted on the suspension arms 14 and drives a fourth gear structure through a driving motor, the fourth gear structure is meshed with the two second gear structures 43, and the second gear structure 43 and the fourth gear structure may be bevel gear structures, which will not be described in detail herein.
Therefore, the centers of gravity of the suspension arms 14 of the two second wheel-leg assemblies 4 are close to the position of the first axis L1, so that the balance is better, and the two second wheel-leg assemblies 4 can support the vehicle body 2 conveniently; in addition, the using number of driving devices such as motors is reduced, and the service life and the stability of the planet detection vehicle under the condition of no accessories such as mars can be prolonged to a certain extent.
As shown in fig. 6 and 7, the first swing arms 12 of at least two wheel leg assemblies 1 located on the front side of all the wheel leg assemblies 1 include a first swing arm body 121 and a connecting seat 122, the first swing arm body 121 is rotatably connected with the second swing arm 13 around a fourth axis L4, the connecting seat 122 is rotatably connected with one end of the first swing arm body 121 far away from the second swing arm 13 around a ninth axis L9, and the wheel body 11 is rotatably connected with the connecting seat 122 around a third axis L3; the fourth axis L4 and the third axis L3 are both perpendicular to the ninth axis L9.
Illustratively, the first swing arm body 121 and the connecting base 122 are both L-shaped structures, so as to switch the real posture, the first swing arm body 121 and the connecting base 122 are driven by a driving motor (not shown), and when the length direction of the second swing arm 13 is consistent with the up-down direction, the ninth axis L9 is parallel to the up-down direction. Of course, the first swing arms 12 of all the wheel leg assemblies 1 may include the first swing arm body 121 and the connecting seat 122, which will not be described in detail herein.
Therefore, the planet detection vehicle can flexibly realize steering, and is simple in structure and high in practicability.
As shown in fig. 6, two first wheel leg assemblies 3 are respectively disposed on the left and right sides of a vehicle body 2 of the planetary probe vehicle, and two second wheel leg assemblies 4 are disposed at the rear end of the vehicle body 2 to exemplify the traveling mode of the planetary probe vehicle:
when the vehicle travels in a wheel type, the overall height of the planetary probe vehicle can be adjusted by the first swing arm 12 and the second swing arm 13.
When leg walking is carried out, the four first wheel leg assemblies 3 are respectively positioned on four vertexes of a quadrangle, the two first wheel leg assemblies 3 positioned on a first diagonal act together to walk, and the two first wheel leg assemblies 3 positioned on a second diagonal keep landing; then switching is carried out, the two first wheel leg assemblies 3 positioned on the second diagonal act together to walk, and the two first wheel leg assemblies 3 positioned on the first diagonal keep touching the ground; in the process, the two second wheel-leg assemblies 4 act in cooperation with the four first wheel-leg assemblies 3 and alternately take steps.
In some subsidence terrains such as sand, when the legs and wheels are not suitable, the first swing arm 12 and the second swing arm 13 can be lifted as much as possible, so that the bottom of the vehicle body 2 is in contact with the sand surface to avoid subsidence, and the planetary probe vehicle can crawl through small movements of the first swing arm 12, the second swing arm 13 and the wheel body 11, which will not be described in detail here.
Although the present disclosure has been described above, the 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 such changes and modifications will fall within the scope of the present invention.
Claims (10)
1. The wheel leg composite planet detection vehicle based on the swing suspension is characterized by comprising a vehicle body (2) and a plurality of wheel leg assemblies (1), wherein each wheel leg assembly (1) comprises a wheel body (11), a first swing arm (12), a second swing arm (13), a suspension arm (14) and a locking mechanism (15); the suspension arm (14) is rotatably connected with the vehicle body (2) around a first axis, the second swing arm (13) is respectively rotatably connected with the first swing arm (12) and the suspension arm (14), and the wheel body (11) is rotatably connected with one end, far away from the second swing arm (13), of the first swing arm (12);
-said locking mechanism (15) is adapted to act according to the oscillating position of said second oscillating arm (13) with respect to said suspension arm (14) to at least partially lock or unlock said suspension arm (14);
the wheel leg assembly (1) further comprises a first connecting structure (16), and the locking mechanism (15) comprises a limiting hole structure (151) arranged on the vehicle body (2) and a limiting block structure (152) suitable for moving relative to the limiting hole structure (151);
the first connecting structure (16) is connected with the second swing arm (13), and the swing position of the second swing arm (13) relative to the first swing arm (12) comprises a first preset area, a second preset area and a third preset area which are sequentially distributed along a first direction; when the second swing arm (13) swings in the first preset area, the first connecting structure (16) drives the limiting block structure (152) to keep a state of being inserted into the limiting hole structure (151); when the second swing arm (13) swings in the second preset area, the first connecting structure (16) drives the limiting block structure (152) to move relative to the limiting hole structure (151) so as to be inserted into or pulled out of the limiting hole structure (151); when the second swing arm (13) swings in the third preset area, the first connecting structure (16) drives the limiting block structure (152) to keep a state of being separated from the limiting hole structure (151).
2. The swing suspension based wheel-leg composite planet probe vehicle as claimed in claim 1, wherein the stopper structure (152) comprises a stopper body (1521) and an elastic member (1522), the stopper body (1521) is slidably connected to the suspension arm (14), and a sliding direction of the stopper body (1521) is arranged at a first preset included angle with the first axis;
when the limiting block body (1521) is driven by the first connecting structure (16) to move and be inserted into the limiting hole structure (151), the elastic potential energy of the elastic piece (1522) is increased, and when the limiting block body (1521) is separated from the limiting hole structure (151), the elastic potential energy of the elastic piece (1522) is reduced.
3. The swing suspension based wheel-leg compound planet probe vehicle as claimed in claim 2, wherein the first axis is parallel to a second axis, the second axis is a rotation axis of the second swing arm (13) rotatably connected with the suspension arm (14), at least one of the first connecting structure (16) and the stopper body (1521) is provided with a guide surface structure (1523), and the guide surface structure (1523) converts the swing of the first connecting structure (16) into the sliding of the stopper body (1521).
4. A swing suspension based wheel leg compound planet probe vehicle according to claim 3, characterised in that the wheel leg assembly (1) comprises a linkage comprising at least two link structures connected in series, wherein the two link structures at both ends of all the link structures are the first connecting structure (16) and the second connecting structure (17), respectively, the first connecting structure (16) is in rotational connection with the second swing arm (13) around a fifth axis, the second connecting structure (17) is in rotational connection with the suspension arm (14) around a sixth axis, and the sixth axis and the fifth axis are parallel to the first axis, respectively.
5. A swing suspension based wheel leg compound planet probe vehicle according to claim 4, characterized in that at least two wheel leg assemblies (1) are respectively arranged on the left side and/or the right side of the vehicle body (2), the two suspension arms (14) of the two wheel leg assemblies (1) on the same side are fixedly connected, and the first axes of the two wheel leg assemblies (1) on the same side are coincident.
6. A swing suspension based wheel-leg compound planet probe vehicle according to claim 5, characterised in that the second connection structures (17) of the two wheel-leg assemblies (1) located on the same side each comprise a first gear structure (171), the axes of the two first gear structures (171) coincide with the sixth axes of the two wheel-leg assemblies (1), respectively, and both first gear structures (171) are driven by a fourth drive means (18).
7. A swing suspension based wheel leg compound planet probe vehicle according to claim 2, characterized in that the first connection structure (16) comprises a rotating shaft (41) and a cam disc (42) fixedly connected with the rotating shaft (41); the second swing arm (13) is rotatably connected with the suspension arm (14) through the rotating shaft (41) around an eighth axis, and the eighth axis is perpendicular to the first axis; the cam disc (42) is provided with a cam surface structure (421) which is suitable for being in contact with one end, far away from the limiting hole structure (151), of the limiting block body (1521), and the cam disc (42) drives the limiting block structure (152) to move relative to the limiting hole structure (151) through the cam surface structure (421) when rotating.
8. A swing suspension based wheel leg compound planet probe vehicle according to claim 7, characterized in that the suspension arms (14) of at least two wheel leg assemblies (1) are arranged and fixedly connected extending in the left-right direction of the vehicle body (2), and the first axes of the suspension arms (14) of two wheel leg assemblies (1) are coincident; the wheel bodies (11) of the two wheel leg assemblies (1) are oppositely arranged along the left-right direction; the rotating shafts (41) of the two wheel leg assemblies (1) are driven by a fifth driving device (44).
9. The swing suspension based wheel leg compound planet probe vehicle according to any one of claims 1 to 8, wherein the first swing arm (12) of at least two wheel leg assemblies (1) located at the front side of all the wheel leg assemblies (1) comprises a first swing arm body (121) and a connecting seat (122), the first swing arm body (121) and the second swing arm (13) are rotatably connected around a fourth axis, the connecting seat (122) is rotatably connected with one end of the first swing arm body (121) far away from the second swing arm (13) around a ninth axis, and the wheel body (11) is rotatably connected with the connecting seat (122) around a third axis; the fourth axis and the third axis are both perpendicular to the ninth axis.
10. A swing suspension based wheel leg compound planet probe vehicle according to claim 6, characterised in that the fourth driving means (18) comprises a third gear structure located between two of said first gear structures (171) and meshing with two of said first gear structures (171), respectively.
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| CN202110376377.7A CN113022890B (en) | 2021-04-06 | 2021-04-06 | Wheel-leg composite planetary detection vehicle based on swing suspension |
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| CN113879420B (en) * | 2021-08-30 | 2023-12-05 | 中国北方车辆研究所 | Passively switched anti-skid foot |
| CN113928440B (en) * | 2021-10-28 | 2023-03-31 | 李金波 | Robot capable of freely switching motion modes |
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