CN113022890B - A wheel-leg compound planetary rover based on swing suspension - Google Patents

Abstract

The invention provides a wheel-leg compound planetary exploration vehicle based on a swing suspension, which relates to the technical field of planetary detection. The planetary exploration vehicle of the present invention includes a vehicle body and a plurality of wheel leg assemblies, wherein the wheel leg assemblies include a wheel body, a first swing arm, a second swing arm, a suspension arm and a locking mechanism; the suspension arm It is rotatably connected with the vehicle body around the first axis, the second swing arm is rotatably connected with the first swing arm and the suspension arm, respectively, and the wheel body and the first swing arm are far away from the first swing arm. One end of the two swing arms is rotatably connected; the locking mechanism is adapted to act according to the swing position of the second swing arm relative to the suspension arm to at least partially lock or unlock the suspension arm. The invention can realize leg-type walking through the cooperative swing of the second swing arm and the first swing arm, and obtain a larger swing range. Adaptability and stability of down walking.

Description

A wheel-leg compound planetary rover based on swing suspension

technical field

The invention relates to the technical field of planetary detection, in particular to a wheel-leg compound planetary detection vehicle based on a swing suspension.

Background technique

In star exploration such as Mars exploration, the planetary rover needs to pass through complex and changeable terrain during use, and its internal precision components are easily affected by bumps and other impacts, and the damage of spare parts is generally irreparable. Therefore, it is necessary to develop adaptability and stability. High sex planetary rover.

SUMMARY OF THE INVENTION

The present invention aims to solve the problem of how to improve the adaptability and stability of the planetary rover in the related art to a certain extent.

In order to solve at least one aspect of the above problems at least to a certain extent, the present invention provides a wheel-leg compound planetary rover based on a swing suspension, comprising a vehicle body and a plurality of wheel-leg assemblies, wherein the wheel-leg assemblies include a wheel body, a first swing arm, a second swing arm, a suspension arm and a locking mechanism; the suspension arm and the vehicle body are rotatably connected around a first axis, and the second swing arm is respectively connected to the first swing arm and The suspension arm is rotatably connected, and the wheel body is rotatably connected with the end of the first swing arm away from the second swing arm; the locking mechanism is adapted to be relative to the suspension according to the second swing arm The swing position of the boom arm is actuated to at least partially lock or unlock the suspension arm.

Optionally, the wheel leg assembly further includes a first connection structure, and the locking mechanism includes a limit hole structure disposed on the vehicle body and a limit block adapted to move relative to the limit hole structure structure;

The first connection structure is connected with the second swing arm, and the swing position of the second swing arm relative to the first swing arm includes a first preset area, a second preset area, and a second preset area sequentially distributed along the first direction. set area and a third preset area; when the second swing arm swings in the first preset area, the first connection structure drives the limit block structure to keep the position inserted into the limit hole structure state; 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 to insert or disengage 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 maintain the state of being separated from the limiting hole structure.

Optionally, the limit block structure includes a limit block body and an elastic member, the limit block body is slidably connected to the suspension arm, and the sliding direction of the limit block body is the same as the first axis. Set to the first preset angle;

When the limiting block body is moved and inserted into the limiting hole structure driven by the first connection structure, the elastic potential energy of the elastic member increases, and when the limiting block body comes out of the limiting hole structure , the elastic potential energy of the elastic member is reduced.

Optionally, the first axis is parallel to the second axis, and the second axis is the rotation axis of the rotational connection between the second swing arm and the suspension arm, and the first connection structure and the limit At least one of the block bodies is provided with a guide surface structure, and the swing of the first connection structure is converted into the sliding of the limit block body through the guide surface structure.

Optionally, the wheel leg assembly includes a connecting rod group, and the connecting rod group includes at least two connecting rod structures connected in sequence, wherein the two connecting rod structures located at both ends of all the connecting rod structures are respectively the first connection structure and the second connection structure, the first connection structure is rotatably connected with the second swing arm around the fifth axis, the second connection structure is rotatably connected with the suspension arm around the sixth axis, The sixth axis and the fifth axis are respectively parallel to the first axis.

Optionally, at least two of the wheel leg assemblies are respectively provided on the left side and/or the right side of the vehicle body, and the two suspension arms of the two wheel leg assemblies located on the same side are fixedly connected, The first axes of the two wheel leg assemblies on the same side coincide.

Optionally, the second connection structures of the two wheel leg assemblies on the same side respectively include first gear structures, and the axes of the two first gear structures are respectively connected with the first gear structures of the two wheel leg assemblies. The six axes are coincident, and the two first gear structures are both driven by the fourth driving device.

Optionally, the first connection structure includes a rotating shaft and a cam disc fixedly connected to the rotating shaft; the second swing arm is rotatably connected to the suspension arm through the rotating shaft around an eighth axis, the eighth axis The axis is perpendicular to the first axis; the cam plate is provided with a cam surface structure suitable for contacting the end of the limit block body away from the limit hole structure, and the cam plate rotates through the The cam surface structure drives the limiting block structure to move relative to the limiting hole structure.

Optionally, the suspension arms of at least two of the wheel leg assemblies are extended along the left and right directions of the vehicle body and are fixedly connected, and the first axes of the suspension arms of the two wheel leg assemblies are Coincidence; the wheel bodies of the two wheel leg assemblies are arranged opposite to each other in the left-right direction; the rotating shafts of the two wheel leg assemblies are both driven by a fifth driving device.

Optionally, the first swing arms of at least two of the wheel leg assemblies located on the front side of all the wheel leg assemblies include a first swing arm body and a connecting seat, and the first swing arm body and the The second swing arm is rotatably connected around the fourth axis, the connection seat is connected in rotation with the end of the first swing arm body away from the second swing arm around the ninth axis, and the wheel body and the connection seat are connected around the ninth axis. The third axis is rotationally connected; the fourth axis and the third axis are both perpendicular to the ninth axis.

Compared with the related prior art, the present invention has the following advantages:

Legged walking can be realized through the cooperative swing of the second swing arm and the first swing arm, compared with a single swing arm, the wheel leg assembly can obtain a larger swing range, and wheeled walking can be realized through the rotation of the wheel body; and , at least partially lock or unlock the suspension arm according to the swing position of the second swing arm, can quickly switch the walking mode of the wheel leg assembly, and switch the passive suspension mode (wheeled mode) as needed, which can improve the performance of the planetary rover in various terrains. The adaptability and stability of downward walking can improve the service life of the planetary rover to a certain extent, with high reliability and strong practicability.

Description of drawings

1 is a schematic structural diagram of a wheel-leg compound planetary rover based on a swing suspension in an embodiment of the present invention;

Fig. 2 is the partial enlarged view of A place in Fig. 1 of the present invention;

Fig. 3 is the partial enlarged view of place B in Fig. 1 of the present invention;

4 is another schematic structural diagram of a wheel-leg compound planetary rover based on a swing suspension in an embodiment of the present invention;

Fig. 5 is the partial enlarged view of C place in Fig. 4 of the present invention;

6 is a schematic structural diagram of a wheel-leg compound planetary rover based on a swing suspension in an embodiment of the present invention after the vehicle body is removed;

FIG. 7 is a partial enlarged view of D in FIG. 6 of the present invention.

Description of reference numbers:

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-Guiding surface structure, 16-First connecting structure, 17-Second connecting structure, 171-First Gear structure, 18-fourth drive device, 2-car body, 3-first wheel leg assembly, 4-second wheel leg assembly, 41-rotating shaft, 42-cam disc, 421-cam surface structure, 4211-transition arc Surface structure, 43-second gear structure, 44-fifth drive device, 51-first drive device, 52-second drive device, 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 ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection connected, or integrally connected; either directly or indirectly through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In the description of this specification, references to the terms "an example," "one example," "some implementations," "exemplarily," and "one implementation" and the like are intended to be described in conjunction with the example or implementation. The specific features, structures, materials or characteristics of the present invention are included in at least one embodiment or implementation of the present invention. In this specification, schematic representations of the above terms 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 one or more of the embodiments or implementations.

The terms "first", "second", "ninth", etc. are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. As such, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature.

In the drawing, the Z axis represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis (that is, the arrow of the Z axis points to) represents the up, and the negative direction of the Z axis (that is, the direction opposite to the positive direction of the Z axis) Indicated below; the X-axis in the figure represents the horizontal direction and is designated as the left and right positions, and the positive direction of the X-axis (that is, the arrow of the X-axis points to) represents the right side, and the negative direction of the X-axis (that is, the positive direction of the X-axis (that is, the positive direction of the X-axis) In the opposite direction), it represents the left side; in the figure, the Y-axis represents the front and rear position, and the positive direction of the Y-axis (that is, the arrow of the Y-axis points to) represents the front side, and the negative direction of the Y-axis (that is, the positive direction of the Y-axis is opposite to that of the Y-axis). It should be noted that the meanings of the aforementioned Z-axis, Y-axis and X-axis are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must be It has a specific orientation, is constructed and operates in a specific orientation, and therefore should not be construed as a limitation of the present invention.

As shown in FIGS. 1 to 5 , an embodiment of the present invention provides a wheel-leg compound planetary rover based on a swing suspension, including a vehicle body 2 and a plurality of wheel-leg assemblies 1 , and the wheel-leg assembly 1 includes a wheel body 11. The first swing arm 12, the second swing arm 13, the suspension arm 14 and the locking mechanism 15; the suspension arm 14 and the vehicle body 2 are rotatably connected around the first axis L1, and the second swing arm 13 is respectively connected to the first swing arm 13. The arm 12 and the suspension arm 14 are rotatably connected, and the wheel body 11 is rotatably connected with the end of the first swing arm 12 away from the second swing arm 13;

The locking mechanism 15 is adapted to act according to the swinging position of the second swing arm 13 relative to the suspension arm 14 to at least partially lock or unlock the suspension arm 14 .

As shown in FIG. 2, exemplarily, the lower end of the first swing arm 12 is rotatably connected to the wheel body 11 around the third axis L3, the axis of the wheel body 11 coincides with the third axis L3, and the upper end of the first swing arm 12 is connected to the third axis L3. The lower ends of the two swing arms 13 are rotatably connected around a fourth axis L4, and the third axis L3 is parallel to the fourth axis L4. Wherein, the wheel body 11 is driven by a first driving device 51 (such as a motor) fixedly connected to the first swing arm 12 , and the first swing arm 12 is driven by a second driving device 52 (such as a motor) fixedly connected to the second swing arm 13 For driving, of course, the wheel body 11 and the first swing arm 12 can also adopt other driving methods, which are not limited.

The specific structure of the suspension arm 14 is not limited, as long as it can support the vehicle body 2 . A buffering and shock absorbing structure may be arranged between the suspension arm 14 and the vehicle body 2 to improve the stability of the planetary rover, which will not be described in detail here.

It should be noted that the triggering of the locking mechanism 15 may be electronically controlled triggering, for example, detecting the swing position of the second swing arm 13 through detection devices such as sensors and encoders, so as to determine whether to lock or unlock the suspension arm 14 . The triggering of the locking mechanism 15 may be triggered by a mechanical structure, which will be described in detail later.

Exemplarily, 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 (for example, locks the rotation of the suspension arm 14 around the first axis L1 ), At this time, the position of the second axis L2 of the second swing arm 13 relative to the swing of the suspension arm 14 in the height direction of the planetary rover (ie, the Z axis direction in the drawing) remains basically unchanged, which is convenient for the legs of the wheel leg assembly 1 When the second swing arm 13 swings out of the preset range, the locking mechanism 15 unlocks the rotating joint (the rotation axis of which is the first axis L1) that is rotatably connected between the suspension arm 14 and the vehicle body 2, and can be rotated at a certain To some extent, the bumps formed on the vehicle body 2 when the wheel leg assembly 1 is wheeled can be avoided, the stability and reliability of the instruments on the vehicle body 2 can be improved, and the practicability is high.

Therefore, legged walking can be realized through the cooperative swing of the second swing arm 13 and the first swing arm 12 . Compared with a single swing arm, the wheel leg assembly 1 can obtain a larger swing range. Through the rotation of the wheel body 11 Wheeled walking can be achieved; and, according to the swing position of the second swing arm 13 at least partially locking or unlocking the suspension arm 14, the walking mode of the wheel leg assembly can be quickly switched, and the passive suspension mode (wheeled mode) can be switched as required, It can improve the adaptability and stability of the planetary rover walking under various terrains, and can improve the service life of the planetary rover to a certain extent, with high reliability and strong practicability.

As shown in FIG. 2 , in the embodiment of the present invention, the wheel leg assembly 1 further includes a first connection structure 16 , and the locking mechanism 15 includes a limit hole structure 151 disposed on the vehicle body 2 and adapted to be relative to the limit hole structure 151 . The limit block structure 152 for the movement of the hole structure 151; the first connection structure 16 is connected with the second swing arm 13, and the first connection structure 16 is suitable for driving the limit block structure 152 to move relative to the limit hole structure 151 to insert or The limiting hole structure 151 is removed.

Exemplarily, the swing position of the second swing arm 13 relative to the first swing arm 12 includes a first preset area, a second preset area and a third preset area (not shown in the figure) that are sequentially distributed along the first direction. , the first direction can be understood as the counterclockwise swing direction of the second swing arm 13 in FIG. 2 , for example, the swing position of the second swing arm 13 relative to the suspension arm 14 shown in FIG. 2 is located in the first preset area When the second swing arm 13 swings in the first preset area, the first connection structure 16 drives the limit block structure 152 to keep the state of being inserted into the limit hole structure 151, at this time, the wheel leg assembly 1 can Leg-type walking is adopted; when the second swing arm 13 swings in the second preset area, the first connecting structure 16 drives the limit block structure 152 to move relative to the limit hole structure 151 to realize insertion or removal from the limit hole structure 151. During this 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 preset area, the first connection structure 16 drives the limit block structure 152 to keep the escape limit The state of the hole structure 151, at this time, the wheel leg assembly 1 can be used for wheeled walking, and the suspension arm 14 is practical as a passive suspension. Of course, along the first direction, before the swing position of the second swing arm 13 relative to the first swing arm 12 reaches the first preset area, another third preset area and another second area can be passed in sequence, and then An explanation will also be given.

The movement of the limit block structure 152 relative to the limit hole structure 151 may be linear motion or swing, which can be driven into or out of the limit hole structure 151 directly or indirectly by the first connection structure 16 . For example, the rotation of the second swing arm 13 is converted into the movement of the limit block structure 152 through a structure with a cam surface, a lever structure, etc., which will be described by way of example later.

Therefore, the mechanical structure is used to realize the linkage between the swing of the second swing arm 13 and the locking or unlocking of the suspension arm 14, so that the suspension arm 14 can be locked when the wheel leg assembly 1 is walking in a legged manner, and the wheel leg assembly 1 can be locked or unlocked when the wheel leg assembly 1 is running When the suspension arm 14 is unlocked during wheeled walking, the vibration of the planetary rover will be reduced, and it has high reliability in places without accessories such as Mars, which can improve the service life and stability of the planetary rover to a certain extent. sex.

As shown in FIG. 2 , in some embodiments, the limiting block structure 152 includes a limiting block body 1521 and an elastic member 1522 , the suspension arm 14 is slidably connected to the limiting block body 1521 , and the sliding direction of the limiting block body 1521 It is arranged at a first preset angle with the first axis L1; when the limiting block body 1521 is moved and inserted into the limiting hole structure 151 under the driving of the first connecting structure 16, the elastic potential energy of the elastic member 1522 increases. When the body 1521 comes out of the limiting hole structure 151 , the elastic potential energy of the elastic member 1522 is reduced.

Exemplarily, the elastic member 1522 is a compression spring, the compression spring is sleeved on the limit block body 1521, the limit block body 1521 can slide relative to the suspension arm 14 within a certain stroke, and the compression spring is located away from the suspension arm 14. One side of the center of the vehicle body 2 .

The first preset angle setting can be 0°, 90°, etc., the relative position and connection relationship between the first connection structure 16 and the second swing arm 13 under different first preset angles, and the drive of the first connection structure 16 The manner of the limiting block body 1521 may be different, which will be described in detail later.

Therefore, the limit block body 1521 has a reliable movement guide, the first connection structure 16 drives the limit block body 1521 to insert into the limit hole structure 151, and the elastic member 1522 makes the limit block body 1521 reset and come out of the limit hole structure 151, which has a simple structure, high specific controllability, convenient structural design of the first connection structure 16, high reliability and strong practicability.

As shown in FIG. 2, in some embodiments, at least one wheel leg assembly 1 is configured as a first wheel leg assembly 3, and for each first wheel leg assembly 3, the first axis is parallel to the second axis, and the second axis is The rotation axis of the second swing arm 13 and the suspension arm 14 is rotatably connected. At least one of the first connection structure 16 and the limit block body 1521 is provided with a guide surface structure 1523 , and the first connection structure 16 is connected to the first connection structure 16 by the guide surface structure 1523. The swing is converted into the sliding of the limit block body 1521 .

Exemplarily, a guide surface structure 1523 (such as a spherical surface structure) is provided on the end of the limiting block body 1521 away from the center of the vehicle body 2, and the first connecting structure 16 is a plate-like structure fixedly connected to the second swing arm 13 (at this time, , the second swing arm 13 can be driven by the third drive device fixedly mounted on the suspension arm 14 to rotate around the second axis L2 (not shown in the figure), when the second swing arm 13 swings along the first direction to the first When the side of the first connecting structure 16 close to the center of the vehicle body 2 starts to contact the guide surface structure 1523 (for example, the spherical structure) of the limiting block body 1521 at a position, the first connecting structure 16 is first connected to the spherical structure. An end close to the limiting hole structure 151 is in contact, and in the first direction, the first position corresponds to the connection position (junction position) of the third preset area and the second preset area before the first preset area; the second The swing arm 13 continues to swing along the first direction to the second position, so that the first connecting structure 16 contacts the end point of the spherical structure that is far from the limit hole structure 151 . During this process, the guide surface structure 1523 and the first connecting structure 16 are The contact surface works to convert the swing of the first connecting structure 16 into the movement of the limiting block body 1521 being inserted into the limiting hole structure 151, and at the second position, the first connecting structure 16 is inserted into the limiting hole structure 151 to limit the suspension The rotation of the arm 14 around the first axis L1, in the first direction, the second position corresponds to the connection position (junction position) of the second preset area located before the first preset area and the first preset area; The two swing arms 13 continue to swing along the first direction to the third position, so that the contact point between the first connection structure 16 and the spherical structure starts to move from the end point on the spherical structure away from the limit hole structure 151 to the side close to the limit hole structure 151 , in the first direction, the third position corresponds to the connection position (junction position) between the second preset area after the first preset area and the first preset area; when the second swing arm 13 continues to move along the first When the direction swings to the fourth position, the first connecting structure 16 is in contact with the point on the spherical structure close to the limiting hole structure 151 . In the first direction, the fourth position corresponds to the second preset area after the first preset area. The connection position (junction position) between the region and the third preset region, at this time, the limit block structure 152 is disengaged from the limit hole structure 151 to release the locking of the suspension arm 14, and the suspension arm 14 can play a suspension role.

In this embodiment, the swing position of the second swing arm 13 along the first direction is located before the first position (corresponding to the third preset area before the first preset area) or after the fourth position (corresponding to the (the third preset area after the first preset area), the suspension arm 14 can rotate around the first axis L1 in a relatively large range to realize the passive suspension function, which is suitable for the buffering of the wheel leg assembly 1 during wheeled walking. shock absorption; when the swing position of the second swing arm 13 in the first direction is between the first position and the second position (corresponding to the second preset area before the first preset area), the limit block body 1521 moves toward the The side close to the limit hole structure 151 moves until the limit hole structure 151 is inserted, and the elastic potential energy of the compression spring increases; the swing position of the second swing arm 13 along the first direction is located between the second position and the third position (corresponding to the When it is located in the first preset area), the limit block body 1521 remains inserted into the limit hole structure 151, and the position of the suspension arm 14 remains basically unchanged (or rotates around the first axis L1 in a small range). , the wheel-leg assembly 1 can adopt the leg-type walking mode. In the leg-type walking mode, the first swing arm 12 and the second swing arm 13 cooperate to adjust the landing position of the wheel body 11, so as to avoid the bumps of the planetary rover; the second swing arm 13. When the swinging position along the first direction is between the third position and the fourth position (corresponding to the second preset area after the first preset area), the limiting block body 1521 moves away from the limiting hole structure 151. When the lateral movement is removed from the limiting hole structure 151 , the elastic potential energy of the compression spring is reduced; the situation in which the second swing arm 13 swings in a direction opposite to the first direction is similar, and will not be described in detail here.

In addition, a guide surface structure 1523 may also be provided on the first connecting structure 16, and a groove-like structure (not shown in the figure) may be provided on the side of the first connecting structure 16 near the center of the vehicle body 2. The side of the position block body 1521 away from the center of the vehicle body 2 is in contact. The groove structure can be set as a cam groove. The movement of the limit block body 1521 is driven by the groove bottom surface of the cam groove. The guide surface structure 1523 includes the groove bottom surface of the cam groove. The inclined part will not be described in detail here.

Therefore, the first axis L1 is parallel to the second axis L2, so that the structural arrangement of the first connection structure 16, the second swing arm 13 and the suspension arm 14 is compact, which facilitates the swing of the first connection structure 16 according to the second swing arm 13 The position drives the action of the limit block structure 152 to insert or disengage the limit hole structure 151, thereby switching the locking state of the suspension arm 14, adapting to the requirements of the wheeled and legged walking of the first wheel leg assembly 3, and reducing the It can improve the service life and stability of the planetary rover without accessories such as Mars to a certain extent.

As shown in FIG. 2 , in this embodiment, the first wheel leg assembly 3 includes a connecting rod group, and the connecting rod group includes at least two connecting rod structures connected in sequence, wherein two connecting rod structures located at both ends of all the connecting rod structures They are a first connection structure 16 and a second connection structure 17 respectively. The first connection structure 16 and the second swing arm 13 are rotatably connected around the fifth axis L5, and the second connection structure 17 is rotatably connected with the suspension arm 14 around the sixth axis L6. , the sixth axis L6 and the fifth axis L5 are respectively parallel to the first axis L1.

Exemplarily, the number of connecting rod structures is set to two, the first connecting structure 16 and the second connecting structure 17 are rotatably connected around 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, is driven 17. When the first connection structure 16 and the second swing arm 13 are linked together, and the second swing arm 13 swings back and forth (specifically, it swings in the front-rear direction in FIG. 2 ), the movement of the first connection structure 16 drives the limit block body 1521 Similar to the situation in which the first connection structure 16 is fixedly connected to the second swing arm 13 , the detailed description is omitted here.

Therefore, the second swing arm 13 and the suspension arm 14 are respectively part of the closed-loop multi-link structure, the connection structure of the second swing arm 13 and the suspension arm 14 is more reliable, and during the swing process of the second swing arm 13 In the middle, the first connecting structure 16 drives the action of the locking mechanism 15 to unlock or lock the suspension arm 14. When the wheel leg assembly 1 is wheeled, the suspension arm 14 acts as a passive suspension. High and practical.

In the above embodiment, the distance between the fifth axis L5 and the second axis L2 is 1/5-4/5 and 1/3-2/3 of the distance between the second axis L2 and the fourth axis L4, For example 1/2. Exemplarily, the fifth axis L5, the second axis L2 and the fourth axis L4 are arranged coplanar. In this way, the spatial position interference of the fourth axis L4, the fifth axis L5 and the second axis L2 can be avoided to a certain extent, and a certain swing of the second swing arm 13 can be ensured to a certain extent.

As shown in FIGS. 1 and 2 , in this embodiment, at least four wheel leg assemblies 1 are provided as first wheel leg assemblies 3 , and at least two first wheel leg assemblies 3 are respectively provided on the left side and/or the right side of the vehicle body 2 In the wheel leg assembly 3, the two suspension arms 14 of the two first wheel leg assemblies 3 on the same side are fixedly connected, and the first axes L1 of the two first wheel leg assemblies 3 on the same side coincide.

Exemplarily, 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 with the vehicle body 2 around the first axis L1 at the central position.

Therefore, the center of gravity of the suspension arms 14 of the two first wheel leg assemblies 3 located on the same side is adjacent to the position of the first axis L1, the balance is better, and it is convenient to realize the pairing of the two first wheel leg assemblies 3 The support of the vehicle body 2.

In this 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 .

Specifically, the second connection structures 17 of the two first wheel leg assemblies 3 located on the same side respectively include first gear structures 171 , and the axes of the two first gear structures 171 are respectively connected with the second connection structures of the two first wheel leg assemblies 3 . The six axes L6 coincide, and the two first gear structures 171 are both driven by the fourth driving device 18 .

It should be noted that the connecting rod structure is a structure having the function of a connecting rod, and the specific structure of each connecting rod structure may be different. For example, the second connecting structure 17 may be configured as a gear structure.

Exemplarily, the fourth driving device 18 includes a third gear structure (not shown in the figure), the third gear structure is located between the two first gear structures 171 and meshes with the two first gear structures 171 respectively. Of course, the fourth driving device 18 can also use other driving methods to drive the swinging of the second swing arm 13 , which will not be described in detail here.

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 . Exemplarily, the suspension arm 14 is rotatably mounted on the vehicle body 2 through a sleeve, the drive motor of the fourth driving device 18 is fixedly installed inside the vehicle body 2, and its output shaft passes through the sleeve and the suspension arm 14 and is connected with the vehicle body 2. The third gear structure is fixedly connected by a key connection or the like.

Therefore, one drive motor can be saved to a certain extent, and the linkage between the second swing arms 13 of the two first wheel leg assemblies 3 located on the same side is high, and the second swing arms 13 of the two first wheel leg assemblies 3 The swinging direction of the arm 13 can be reversed, which is convenient for implementing legged walking and has strong practicability.

As shown in FIGS. 1 , 3 to 6 , different from the above-mentioned arrangement in which the first axis L1 and the second axis L2 are parallel, at least one wheel leg assembly 1 is configured as a second wheel leg assembly 4 , and for each second wheel In the leg assembly 4, the first connection structure 16 includes a rotating shaft 41 and a cam disc 42 fixedly connected to the rotating shaft 41; , 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 one end of the limiting block body 1521 away from the limiting hole structure 151 .

As shown in FIG. 5 , for example, the cam surface structure 421 includes a first circular arc surface structure, a second circular arc surface structure, and a transition arc surface connected between the first circular arc surface structure and the second circular arc surface structure Structure 4211, the radius corresponding to the first arc surface structure is larger than the radius corresponding to the second arc surface structure. The end of the limiting block body 1521 away from the limiting hole structure 151 is set as a spherical structure. When the first arc surface structure is in contact with the spherical surface structure, the limiting block body 1521 is at least partially located in the limiting hole structure 151, and the second wheel leg The swing of the suspension arm 14 of the 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 the leg That is to say, the area corresponding to the first arc surface structure is the first preset area; when the second arc surface structure is in contact with the spherical surface 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 realizes functions such as suspension and shock absorption. The second wheel leg assembly 4 can adopt the wheeled walking mode. The area corresponding to the structure is the third preset area; when the transition arc structure 4211 is in contact with the spherical structure, the limiting block body 1521 moves to insert or pull out of the limiting hole structure 151 , and the area corresponding to the transition arc structure 4211 is the second Preset area. In some embodiments, at least two transition arc structures are included, and the central angle corresponding to the first arc structure is less than or equal to 150°, for example, less than or equal to 120°, 90°, etc., when the second swing arm 13 When the length direction is consistent with the up-down direction, the spherical structure is in contact with the center position of the first arc structure. For example, when the central angle corresponding to the first arc structure is 90°, the contact position between the spherical structure and the first arc structure is at The position where the central angle of the first circular arc 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 limit block body 1521 through the rotating shaft 41 and the cam plate 42, and its direction can be changed, so that the suspension of the second wheel leg assembly 4 The arm 14 can be installed at the bottom, front or rear of the vehicle body 2, and the suspension arm 14 extends along the left-right direction of the vehicle body 2 but does not affect the running of the wheel body 11 of the second wheel leg assembly 4 in the front-rear direction. To a certain extent, the size of the planetary rover in the left-right direction (width direction) is reduced, which is highly practical.

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 needs, such as the structures of the first swing arm 12 and the second swing arm 13, etc., which will not be described in detail here. .

In this embodiment, at least two wheel leg assemblies 1 of the planetary rover are set as second wheel leg assemblies 4 , and the suspension arms 14 of the two second wheel leg assemblies 4 are extended along the left and right directions of the vehicle body 2 and Fixed connection, 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 The rotating shafts 41 are all driven by the fifth driving device 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, and the two Adjacent ends of the two rotating shafts 41 of the two-wheel leg assembly 4 are spaced apart and provided with a second gear structure 43 respectively. The fifth driving device 44 is fixedly mounted on the suspension arm 14 and drives the fourth gear structure through a driving motor , the fourth gear structure meshes with the two second gear structures 43 respectively, and the second gear structure 43 and the fourth gear structure may be bevel gear structures, which will not be described in detail here.

Therefore, the center of gravity of the suspension arms 14 of the two second wheel leg assemblies 4 is adjacent to the position of the first axis L1 , and the balance is better, which facilitates the realization of the two second wheel leg assemblies 4 to the vehicle body 2 . In addition, the number of driving devices such as motors is reduced, which can improve the service life and stability of the planetary rover without accessories such as Mars to a certain extent.

As shown in FIGS. 6 and 7 , the first swing arms 12 of at least two wheel leg assemblies 1 located on the front side of all wheel leg assemblies 1 include a first swing arm body 121 and a connecting seat 122 . The first swing arm body 121 It is rotatably connected with the second swing arm 13 around the fourth axis L4, the connecting seat 122 is rotatably connected with the end of the first swing arm body 121 away from the second swing arm 13 around the ninth axis L9, and the wheel body 11 and the connecting seat 122 are connected around the ninth axis L9. The three axes L3 are connected in rotation; the fourth axis L4 and the third axis L3 are both perpendicular to the ninth axis L9.

Exemplarily, the first swing arm body 121 and the connecting seat 122 are both L-shaped structures, and when the real posture is converted, the first swing arm body 121 and the connecting seat 122 are driven by a drive motor (not shown in the figure), when the second swing arm body 121 and the connecting seat 122 are driven by a driving motor (not shown in the figure) When the longitudinal direction of the swing arm 13 coincides with the up-down direction, the ninth axis L9 is parallel to the up-down direction. Of course, all the first swing arms 12 of the wheel leg assemblies 1 may include a first swing arm body 121 and a connecting seat 122, which will not be described in detail here.

Therefore, the planetary exploration rover can flexibly realize steering, has a simple structure, and is highly practical.

As shown in FIG. 6 , two first wheel leg assemblies 3 are respectively provided on the left and right sides of the vehicle body 2 of the planetary exploration rover, and two second wheel leg assemblies 4 are arranged at the rear end of the vehicle body 2 as an example to illustrate planetary detection. How the car travels:

During wheeled walking, the overall height of the planetary rover can be adjusted through the first swing arm 12 and the second swing arm 13 .

During legged walking, the four first wheel leg assemblies 3 are respectively located on the four vertices of the quadrilateral, and the two first wheel leg assemblies 3 located on the first diagonal line move together and are located on the second diagonal line. The two first wheel leg assemblies 3 are kept on the ground; and then switched, the two first wheel leg assemblies 3 located on the second diagonal line move together, and the two first wheel leg assemblies 3 located on the first diagonal line move together. The assembly 3 remains on the ground; during this process, the two second wheel leg assemblies 4 cooperate with the four first wheel leg assemblies 3 to move and take steps alternately.

In some subsidence terrains such as sand, when neither leg type nor wheel type is suitable, the first swing arm 12 and the second swing arm 13 can be raised as much as possible, so that the bottom of the vehicle body 2 is in contact with the sand surface to avoid subsidence. The planetary rover is made to creep through the 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 is disclosed above, the scope of protection 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 into the protection 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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