CN201553225U - Multifunctional lunar rover - Google Patents
Multifunctional lunar rover Download PDFInfo
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- CN201553225U CN201553225U CN2009202582745U CN200920258274U CN201553225U CN 201553225 U CN201553225 U CN 201553225U CN 2009202582745 U CN2009202582745 U CN 2009202582745U CN 200920258274 U CN200920258274 U CN 200920258274U CN 201553225 U CN201553225 U CN 201553225U
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Abstract
A multifunctional lunar rover comprises four rotary arms with the same configurations and a wheel mechanism, wherein the lower portion of a vehicle body (9) is provided with four rotary arms, an upper long rod and a lower long rod (4) of the rotary arms, bending rods (5) on two ends, an extension frame and a lifting worm-gear worm speed reducer (11) form a movable parallelogram hinge mechanism, a hook gun (17) is arranged in a hole on the upper portion of the vehicle body, the lower end of the hook gun (17) is connected with one end of a bracing wire (21), the other end of the bracing wire (21) is winded on a folding and unfolding pulley (18), the inside of a ring-shaped groove (20) arranged on the upper portion of the vehicle body is a magnified ring-shaped track (25), and the lower portions of two sides of an air bag (22) are respectively fixed on two bracing rods (23). The multifunctional lunar rover utilizes a drive profile modeling mechanism of a walking system to freely walk on a slope, and is provided with an emergency starting climbing mechanism for throwing over obstacles and is provided with a kite mechanism. The multifunctional lunar rover is led to fly with wind so as to save energy source and working length.
Description
[technical field]
The utility model relates to a kind of lunar rover vehicle, and especially a kind of have initiatively feeler mechanism, urgent climbing mechanism, the kite multi-functional lunar rover vehicle of capable mechanism that wafts with the wind under the infrabar state.
[background technology]
Because the moon has certain military purposes and exploitation is worth, moon exploration is very high to the travelling performance requirement of the lunar rover vehicle, is mainly reflected in ground adaptivity, riding comfort, obstacle detouring, stream time, autonomous driving functions aspect.Traditional four-wheeled is because the ground adaptive ability is poor, particularly can not well adapt to unpredictable ground condition, crossing over blockage is grown sloping poor-performing and is turned to defectives such as dumb with climbing, because these defectives all are in the desert or the emulation mode of physical features complexity and design according to the designer imagination, and the real unpredictable state person of being designed ignores.In the domestic lunar rover vehicle of developing, six take turns suspension fork mechanism still is the main flow of research at present, and all kinds of lunar rover vehicle have adopted different suspension frame structures, and these suspension systems respectively have characteristics, but also have various defectives or deficiency; Find that by technology retrieval " Shang Jianzhong etc. " mention in " lunar wheeled vehicle suspension scheme and virtual prototype simulation thereof " (Chinese mechanical engineering 2006 01 phase the 49th page): what the M icro5 of unit consolidations such as Japanese aerospace center, Mei Ji university development adopted is a kind of 5 contact overhung constructions; The planet obstacle detouring lunar wheeled vehicle obstacle detouring function that Deng ancestor congruence proposes is very strong, but this structure is bigger to the influence of riding comfort when crossing over big obstacle; Design-calculateds such as Liu Fanghu five are taken turns the radial type Lunar Robot and are had the identical characteristics with U.S. joint formula space exploration robot B lueRover, and the ground adaptive ability is fine, but riding comfort is gone up defectiveness with the anti-stability of turning over.Because research and development at present are subjected to the suspension fork mechanism Design Thinking pattern that the Gonna breakthrough tradition lunar rover vehicle is confined in design-calculated thinking formerly, make the four-wheel lunar rover vehicle possess superior performance to finish complicated detection mission, just must attempt the innovative design of new ideas.
[summary of the invention]
In order to overcome the defective that can not adapt to multiple walking road conditions of the existing lunar rover vehicle, the utility model discloses a kind of multi-functional lunar rover vehicle, the active feeler mechanism that the multi-functional lunar rover vehicle described in the utility model utilizes running gear by four arbitrarily conversion width, just, the wheel of direction connects the turning joint supporting mechanism, the control wheel is except walking smoothly greater than 500/1000ths ramp; And can emergency start climbing mechanism crossing over blockage when running into the obstacle that to cross; When meeting moon sportsmanship, can open kite mechanism, make the multi-functional lunar rover vehicle described in the utility model row that racks, so that energy savings and work duration.
In order to realize the purpose of foregoing invention, the utility model adopts following technical scheme;
A kind of multi-functional lunar rover vehicle comprises the active feeler mechanism that is used to walk; Be used to cross the urgent climbing mechanism of huge obstacle; Be used to utilize the kite of moon sportsmanship capable mechanism of wafing; The described active feeler mechanism that is used to walk comprises wheel arm, the wheel mechanism of four identical configurations, the bottom of described car body is provided with four wheel arms, the wheel arm comprises following stock, goes up stock, last stock one end of wheel arm is provided with Extension support, Extension support is connected with tumbler motor by linkwork, the following stock of wheel arm is connected on the lifting motor of lifting worm type of reduction gearing bottom, the top of described lifting worm type of reduction gearing is provided with tumbler motor and pivoted arm worm type of reduction gearing, and the upper end of pivoted arm worm type of reduction gearing is connected and bearing fit with the antifriction-bearing box of bottom in the car body; Described last stock of taking turns arm, the other end of following stock is connected with the top and the bottom of knee respectively, by last stock, the knee at following stock and two ends, Extension support and lifting worm type of reduction gearing form described movably parallelogram linkage, steer motor and knee bottom are hinged by linkwork, bearing in the steer motor bottom connects the steering gear worm worm reducer, be provided with the wheel fork of downward extension in steering gear worm worm reducer both sides, the wheel fork lower end connects the wheel shaft of wheel, described drive motor be socketed on the wheel shaft and with the wheel tooth with form one and take turns arm, wheel mechanism is by quadruplet wheel arm, wheel mechanism constitutes the complete active feeler mechanism that is used to walk.
The described multi-functional lunar rover vehicle, car body is the octagon setting.
The described multi-functional lunar rover vehicle, quadruplet wheel arm, wheel mechanism in the car body bottom are positive four jiaos of distributions.
The described multi-functional lunar rover vehicle, be used to cross the urgent climbing mechanism of huge obstacle, be provided with a hole in the vehicle body upper portion center, be provided with in the hole and collude rifle, the described rifle that colludes is inserted in the muzzle, the lower end of colluding rifle connects an end of backguy, and the other end of backguy is wrapped in and forms the urgent climbing mechanism of crossing huge obstacle on the folding and unfolding pulley.
The described multi-functional lunar rover vehicle, the described kite that the utilizes month sportsmanship capable mechanism of wafing, upper side at car body is provided with a circular groove, described circular groove inside is the circular orbit of amplification, be provided with the slide mass that constitutes by the connecting panel that is provided with between two bearings and two strut bars and two bearings in the described circular orbit, wherein the bottom of wind sleeve is fixed on the connecting panel, and bottom, wind sleeve both sides is separately fixed on two strut bars and forms the kite that the utilizes month sportsmanship capable mechanism of wafing.
The described multi-functional lunar rover vehicle, the oral area edge of wind sleeve is provided with thickening layer.
Owing to adopted technique scheme, the utlity model has following preceence:
The multi-functional lunar rover vehicle described in the utility model is the initiatively feeler mechanism setting of four-wheel running gear, because the wheel active feeler mechanism that arm, jacking system and steering hardware constituted, under the complicated ground environment, not to produce passive pitching or reverse with landform, but actv. copies relief feature to travel, and has improved the stationarity and the landform comformability of the lunar rover vehicle; The utility model four-wheel lunar rover vehicle running gear initiatively feeler mechanism adopts initiatively feeler mechanism, not only make full use of the efficient travelling performance of running gear system, also realize the function of creeping of sufficient formula running gear, formed the wheel foot formula lunar rover vehicle that possesses dual walking function.
Lunar rover vehicle running gear described in the utility model initiatively feeler mechanism adopts positive eight prismatic car bodies, the strict symmetry of each device distribution, and simple in structure, the wheel arm can be realized folding, thereby has improved the reliability and stability of running gear; Lunar rover vehicle running gear described in the utility model is four pivoted arms of feeler mechanism initiatively, but have realized that each takes turns all independent steerings of arm, thereby the span that can regulate the corresponding wheel of the lunar rover vehicle has improved the through performance of running gear.
Lunar rover vehicle running gear described in the utility model is four jacking systems of feeler mechanism initiatively, can adjust the center-of-gravity position of the lunar rover vehicle by the height of lift adjustment car body, have strengthened the anti-performance of overturning of the lunar rover vehicle; Lunar rover vehicle running gear described in the utility model is four steering hardwares of feeler mechanism initiatively, but make all independent steerings of each wheel, have realized that the no-radius of the lunar rover vehicle is turned, and have improved the steering flexibility of the lunar rover vehicle.
The multi-functional lunar rover vehicle described in the utility model is when running into the obstacle that dependence self such as the megalith that can not cross, meteorite crater, crack are difficult to cross, can the emergency start climbing mechanism, catch on and borrow the force arbitrarily by described the returning of rifle of colluding of launching, to realize the purpose of crossing over blockage thereby pull back by the backguy of folding and unfolding pulley.
Strong wind appears on the known moon sometimes, so the utility model has provided and has used the moon and be in fashion into scheme, at described vehicle body upper portion wind sleeve is set, and utilize the infrabar of the moon, drive advancing of the described lunar rover vehicle easily, the loss of the described lunar rover vehicle self-energy of maximized minimizing has prolonged pot life of energy effectively.
[description of drawings]
Fig. 1 is a structural representation of the present utility model;
Fig. 2 is a pivoted arm structural representation of the present utility model;
Fig. 3 is a car body schematic top plan view of the present utility model;
Fig. 4 is that vehicle body upper portion kite of the present utility model launches scheme drawing;
Fig. 5 is one of them wheel crossing over blockage scheme drawing of the present utility model;
Fig. 6 is the sudden change descending scheme drawing of meeting of the present utility model;
Fig. 7 is the utility model scheme drawing of walking or drive slowly in the ramp;
Fig. 8 is that the utility model is transformed to than narrow row and walks scheme drawing;
Fig. 9 is that the utility model is transformed to broad walking scheme drawing;
In the drawings: 1, tumbler motor; 2, pivoted arm worm type of reduction gearing; 3, lifting motor; 4, following stock; 5, knee; 6, linkwork; 7, steer motor; 8, bearing cap shim; 9, car body; 10, Extension support; 11, lifting worm type of reduction gearing; 12, go up stock; 13, drive motor; 14, steering gear worm worm reducer; 15, wheel; 16, antifriction-bearing box; 17, collude rifle; 18, folding and unfolding pulley; 19, muzzle; 20, circular groove; 21, backguy; 22, wind sleeve; 23, strut bar; 24, bearing; 25, circular orbit; 26, obstacle; 27, ramp; 28, waveform ramp; 29, ejection mechanism; 30, wheel fork.
[specific embodiment]
Can explain the utility model in more detail by the following examples;
1～9 described multi-functional lunar rover vehicle comprises the active feeler mechanism that is used to walk in conjunction with the accompanying drawings; Be used to cross the urgent climbing mechanism of huge obstacle; Be used to utilize the kite of moon sportsmanship capable mechanism of wafing; The described active feeler mechanism that is used to walk comprises the wheel arm of four identical configurations, wheel 15 mechanisms, the bottom of described car body 9 is provided with four wheel arms, the wheel arm comprises stock 4 down, last stock 12, last stock 12 1 ends of wheel arm are provided with Extension support 10, Extension support 10 is connected with tumbler motor 1 by linkwork 6, the following stock 4 of wheel arm is connected on the lifting motor 3 of lifting worm type of reduction gearing 11 bottoms, the top of described lifting worm type of reduction gearing 11 is provided with tumbler motor 1 and pivoted arm worm type of reduction gearing 2, and the upper end of pivoted arm worm type of reduction gearing 2 is connected also bearing fit with the antifriction-bearing box 16 of bottom in the car body 9; Described last stock 12 of taking turns arm, the other end of following stock 4 is connected with the top and the bottom of knee 5 respectively, by last stock 12, the knee 5 at following stock 4 and two ends, Extension support 10 and lifting worm type of reduction gearing 11 form described movably parallelogram linkage, steer motor 7 is hinged by linkwork 6 with knee 5 bottoms, bearing 8 in steer motor 7 bottoms connects steering gear worm worm reducer 14, be provided with the wheel fork 30 of downward extension in steering gear worm worm reducer 14 both sides, wheel fork 30 lower ends connect the wheel shaft of wheel 15, described drive motor 13 be socketed on the wheel shaft and with wheel 15 teeth with form one and take turns arm, wheel 15 mechanisms are by quadruplet wheel arm, wheel 15 mechanisms constitute the complete active feeler mechanism that is used to walk; The car body 9 of the described multi-functional lunar rover vehicle is the octagon setting; Quadruplet wheel arm, wheel 15 mechanisms in car body 9 bottoms are positive four jiaos of distributions.
The described multi-functional lunar rover vehicle, be used to cross the urgent climbing mechanism of huge obstacle, be provided with a hole in the vehicle body upper portion center, be provided with in the hole and collude rifle 17, describedly collude ejection mechanism 29 tops that rifle 17 is inserted in muzzle 19, the lower end of colluding rifle 17 connects an end of backguy 21, and the other end of backguy 21 is wrapped in and forms the urgent climbing mechanism of crossing huge obstacle on the folding and unfolding pulley 18.
The described multi-functional lunar rover vehicle, the described kite that the utilizes month sportsmanship capable mechanism of wafing, upper side at car body is provided with a circular groove 20, described circular groove 20 inside are the circular orbit 25 of amplification, be provided with the slide mass that constitutes by the connecting panel that is provided with between two bearings 24 and two strut bars 23 and two bearings 24 in the described circular orbit 25, wherein the bottom of wind sleeve 22 is fixed on the connecting panel, and bottom, wind sleeve 22 both sides is separately fixed on two strut bars 23 and forms the kite that the utilizes month sportsmanship capable mechanism of wafing; In order to prevent the damage of wind sleeve 22 oral area positions, be set to the double-deck thickening layer of inflection at the oral area edge of wind sleeve 22.
Implement the multi-functional lunar rover vehicle described in the utility model, in conjunction with Fig. 1 and Fig. 2, four active feeler mechanisms of the present utility model have the wheel of independent driving system, four pivoted arm devices, four jacking systems and four steering hardwares.On uniform any four summits with car body bottom octagon of wherein said four pivoted arm devices, utilize linkwork 6 and car body 9 hinged, the knee 5 of jacking system is affixed with the steering gear worm worm screw accelerator 14 of steering hardware, and wheel 15 wheel shafts and wheel fork 30 with independent driving system are hinged.Described pivoted arm device comprises tumbler motor 1, pivoted arm worm type of reduction gearing 2, antifriction-bearing box 16, car body 9, bearing, and the output shaft of described tumbler motor 1 is in transmission connection by pivoted arm worm type of reduction gearing 2 and tumbler motor 1 bottom.Tumbler motor 1 lower end and lifting worm type of reduction gearing upper end are affixed, and the pivoted arm worm type of reduction gearing is fixed on the car body, and the car body of tumbler motor 1 upper end is equipped with antifriction-bearing box, and affixed with car body by bearing cap shim sealing back.Described jacking system comprises lifting motor 3, lifting worm type of reduction gearing 11, Extension support 10, last stock 12, following stock 4 and knee 5, and the output shaft of described lifting motor 3 is in transmission connection by lifting worm type of reduction gearing 11 and following stock 4.Described steering hardware comprises steer motor, steering gear worm worm reducer, antifriction-bearing box, bearing cap shim and wheel fork 30, and the output shaft of described steer motor is in transmission connection by steering gear worm worm reducer and wheel fork 30.Steer motor and steering gear worm worm reducer are affixed, and the steering gear worm worm reducer and the knee that are built in the knee lower end are affixed, between knee and the wheel fork 30 antifriction-bearing box are housed, and bearing cap shim and knee lower surface are affixed, and wheel fork 30 is hinged with wheel hub.
In conjunction with Fig. 3,4 the utility model when running into the obstacle that dependence self such as the megalith that can not cross, meteorite crater, crack are difficult to cross, can the emergency start climbing mechanism, catch on arbitrarily by means of the force by described the returning of rifle 17 of colluding of launching, backguy 21 by folding and unfolding pulley 18 pulls back crossing over blockage, this is that the utility model has been used the stage property that uses in the climbing stunt in the film, realizes emission through improving.Strong wind appears on the known moon sometimes, start wind sleeve 22 by control, so the utility model has provided and has used the moon and be in fashion into scheme, on described car body 9 tops wind sleeve 22 is set, be contracted at ordinary times in the circular groove 20, seek wind direction and location by control mechanism when needing, start two strut bars 23 then and prop up wind sleeve 22 and just can; And utilize the infrabar of the moon, and driving advancing of the described lunar rover vehicle easily, the loss of the described lunar rover vehicle self-energy of maximized minimizing has prolonged pot life of energy effectively.
In conjunction with Fig. 5, when moon car test measures the front when obstacle 26 is arranged, realize that by control initiatively feeler mechanism is carried out corresponding instruction, can adjust each wheel height in real time, the lunar rover vehicle is travelled along obstacle surface pulsation-free.
Detailed process is: because multi-functional lunar rover vehicle running gear speed is extremely slow, when moon car test measures the front when obstacle 26 is arranged, by sensor institute acquired information " is not shown among the figure; need to prove that control mechanism is not a protection domain of the present utility model; therefore for giving and detailed explanation " through being wirelessly transmitted to the master control PC, the master control PC uses image recognition and analytical technology to obtain the shape and the location information of target object, behind the bright object of finger prosthesis, the master control PC calculates through artificial intelligence (pattern-recognition, path planning, track collision prevention etc.); With control command by radioing to car body embedded Control computing machine, control each lifting motor and carry out corresponding instruction, drive the lifting worm type of reduction gearing and drive the parallelogram hinge movement, the height of each wheel of real-time regulated and speed, make it to contact with the obstacle surface all the time, keep the level relatively of the lunar rover vehicle.Because worm type of reduction gearing has the reversal of stroke auto-lock function, when motor did not drive, it is stable that various mechanisms will keep, and so just improved the stability of the lunar rover vehicle.
Designed the parallelogram linkage that Extension support and knee constitute in the utility model jacking system dexterously, purpose is in order to fully play the collimation that parallelogram linkage opposite side moves, the maximum vertical height that increases wheel is poor, vertical drop is big more, and off-road capability is just good more.
In conjunction with Fig. 6 Fig. 7, when the multi-functional lunar rover vehicle is ascended ramp 27 or waveform ramp 28, for making the lunar rover vehicle keep level relatively, raise by control one of them wheel 15 four wheels 15, simultaneously other wheel 15 reduces, make the center of gravity of the lunar rover vehicle remain at the car body center, so just improved the riding comfort and the anti-performance of overturning of lunar rover vehicle running gear.
Described in conjunction with Fig. 8, by control one of them being taken turns arm and another takes turns arm and changes 45 ° respectively in a clockwise direction and will corresponding other take turns arm and change 45 degree with anticlockwise direction respectively, so just reduced the span of the corresponding wheel 15 of the lunar rover vehicle, in conjunction with Fig. 9, simultaneously four wheels are changeed 90 ° to identical direction, so just increase the span of corresponding wheel, therefore improved the through performance of the lunar rover vehicle.
Claims (6)
1. a multi-functional lunar rover vehicle comprises the active feeler mechanism that is used to walk; Be used to cross the urgent climbing mechanism of huge obstacle; Be used to utilize the kite of moon sportsmanship capable mechanism of wafing, it is characterized in that: the described active feeler mechanism that is used to walk comprises the wheel arm of four identical configurations, wheel mechanism, the bottom of described car body (9) is provided with four wheel arms, the wheel arm comprises stock (4) down, last stock (12), last stock (12) one ends of wheel arm are provided with Extension support (10), Extension support (10) is connected with tumbler motor (1) by linkwork (6), the following stock (4) of wheel arm is connected on the lifting motor (3) of lifting worm type of reduction gearing (11) bottom, the top of described lifting worm type of reduction gearing (11) is provided with tumbler motor (1) and pivoted arm worm type of reduction gearing (2), and the upper end of pivoted arm worm type of reduction gearing (2) is connected with the antifriction-bearing box (16) of the interior bottom of car body (9) and bearing fit; Described last stock (12) of taking turns arm, the other end of following stock (4) is connected with the top and the bottom of knee (5) respectively, by last stock (12), the knee (5) at following stock (4) and two ends, Extension support (10) and lifting worm type of reduction gearing (11) form described movably parallelogram linkage, steer motor (7) is hinged by linkwork (6) with knee (5) bottom, bearing (8) in steer motor (7) bottom connects steering gear worm worm reducer (14), be provided with the wheel fork (30) of downward extension in steering gear worm worm reducer (14) both sides, wheel fork (30) lower end connects the wheel shaft of wheel (15), described drive motor (13) is socketed on the wheel shaft and (15 engagements form one and take turns arm with wheel, wheel (15) mechanism is by quadruplet wheel arm, wheel (15) mechanism constitutes the complete active feeler mechanism that is used to walk.
2. the multi-functional lunar rover vehicle according to claim 1 is characterized in that: car body (9) is the octagon setting.
3. the multi-functional lunar rover vehicle according to claim 1 and 2 is characterized in that: quadruplet wheel arm, wheel (15) mechanism in car body (9) bottom are positive four jiaos of distributions.
4. the multi-functional lunar rover vehicle according to claim 1, it is characterized in that: the described urgent climbing mechanism that is used to cross huge obstacle, be provided with a hole in the vehicle body upper portion center, be provided with in the hole and collude rifle (17), the described rifle (17) that colludes is inserted in the muzzle (19), the lower end of colluding rifle (17) connects an end of backguy (21), and the other end of backguy (21) is wrapped in folding and unfolding pulley (18) and goes up the urgent climbing mechanism that huge obstacle is crossed in formation.
5. the multi-functional lunar rover vehicle according to claim 1, it is characterized in that: the described kite that the utilizes month sportsmanship capable mechanism of wafing, upper side at car body is provided with a circular groove (20), described circular groove (20) inside is the circular orbit (25) of amplification, be provided with the slide mass that constitutes by the connecting panel that is provided with between two bearings (24) and two strut bars (23) and two bearings (24) in the described circular orbit (25), wherein the bottom of wind sleeve (22) is fixed on the connecting panel, and wind sleeve (22) bottom, both sides is separately fixed at two strut bars (23) and go up to form utilizes the kite of month sportsmanship capable mechanism of wafing.
6. the multi-functional lunar rover vehicle according to claim 5 is characterized in that: the oral area edge of wind sleeve (22) is provided with thickening layer.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2009202582745U CN201553225U (en) | 2009-11-20 | 2009-11-20 | Multifunctional lunar rover |
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| CN2009202582745U CN201553225U (en) | 2009-11-20 | 2009-11-20 | Multifunctional lunar rover |
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Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102310952A (en) * | 2011-06-30 | 2012-01-11 | 邱世军 | Serial connection type lunar vehicle |
| CN102490911A (en) * | 2011-12-16 | 2012-06-13 | 大连理工大学 | Lunar surface walking device for lunar rover |
| CN102771259A (en) * | 2011-05-13 | 2012-11-14 | 苏州宝时得电动工具有限公司 | Automatic mower |
| CN101704416B (en) * | 2009-11-20 | 2013-06-05 | 河南科技大学 | Lunar vehicle |
| CN103318423A (en) * | 2013-06-07 | 2013-09-25 | 南京航空航天大学 | Manned lunar rover |
| CN104354878A (en) * | 2014-11-03 | 2015-02-18 | 哈尔滨工业大学 | Transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler |
| CN106114631A (en) * | 2016-07-01 | 2016-11-16 | 重庆大学 | Manned lunar rover folding mechanism for vehicle frame |
| CN106218681A (en) * | 2016-07-22 | 2016-12-14 | 中国航空工业集团公司西安飞机设计研究所 | A kind of horizontal obstacle carriage |
| CN106976496A (en) * | 2017-05-05 | 2017-07-25 | 山东大学 | A kind of balance telescoping mechanism and the balance car comprising it |
| CN108045481A (en) * | 2017-12-14 | 2018-05-18 | 定远县中林机械技术有限公司 | A kind of electrodynamic balance vehicle automatic balancing arrangement |
| CN108638023A (en) * | 2018-07-25 | 2018-10-12 | 泉州摩科索达科技有限公司 | Mobile grabbing robot |
| CN108910088A (en) * | 2018-07-10 | 2018-11-30 | 上海交通大学 | Land walking integrated robot |
| CN109093647A (en) * | 2018-08-24 | 2018-12-28 | 安徽信息工程学院 | The robot chassis of wireless control |
| CN109399513A (en) * | 2017-11-01 | 2019-03-01 | 崔侃 | Self-stabilizing walking chassis lifting mechanism |
| CN111806177A (en) * | 2020-06-03 | 2020-10-23 | 中国北方车辆研究所 | Obstacle crossing control method for four-wheel vehicle with telescopic rocker arm suspension |
| CN112441257A (en) * | 2020-11-30 | 2021-03-05 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
| CN117775313A (en) * | 2023-12-01 | 2024-03-29 | 中国科学院空间应用工程与技术中心 | Four-wheel direct-drive planet car |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101704416B (en) * | 2009-11-20 | 2013-06-05 | 河南科技大学 | Lunar vehicle |
| CN102771259A (en) * | 2011-05-13 | 2012-11-14 | 苏州宝时得电动工具有限公司 | Automatic mower |
| CN102310952A (en) * | 2011-06-30 | 2012-01-11 | 邱世军 | Serial connection type lunar vehicle |
| CN102310952B (en) * | 2011-06-30 | 2016-04-13 | 邱世军 | Serial connection type lunar vehicle |
| CN102490911A (en) * | 2011-12-16 | 2012-06-13 | 大连理工大学 | Lunar surface walking device for lunar rover |
| CN103318423A (en) * | 2013-06-07 | 2013-09-25 | 南京航空航天大学 | Manned lunar rover |
| CN103318423B (en) * | 2013-06-07 | 2016-06-15 | 南京航空航天大学 | A kind of manned lunar rover |
| CN104354878A (en) * | 2014-11-03 | 2015-02-18 | 哈尔滨工业大学 | Transverse annular shock absorption and longitudinal spring shock absorption mixed four-wheeler |
| CN106114631B (en) * | 2016-07-01 | 2018-07-20 | 重庆大学 | Manned lunar rover folding mechanism for vehicle frame |
| CN106114631A (en) * | 2016-07-01 | 2016-11-16 | 重庆大学 | Manned lunar rover folding mechanism for vehicle frame |
| CN106218681A (en) * | 2016-07-22 | 2016-12-14 | 中国航空工业集团公司西安飞机设计研究所 | A kind of horizontal obstacle carriage |
| CN106976496A (en) * | 2017-05-05 | 2017-07-25 | 山东大学 | A kind of balance telescoping mechanism and the balance car comprising it |
| CN106976496B (en) * | 2017-05-05 | 2022-12-13 | 山东大学 | Balanced telescopic machanism and contain its balance car |
| CN109399513B (en) * | 2017-11-01 | 2020-07-24 | 崔侃 | Self-stabilizing walking chassis lifting mechanism |
| CN109399513A (en) * | 2017-11-01 | 2019-03-01 | 崔侃 | Self-stabilizing walking chassis lifting mechanism |
| CN108045481B (en) * | 2017-12-14 | 2020-04-03 | 定远县中林机械技术有限公司 | Automatic balancing device of electric balance car |
| CN108045481A (en) * | 2017-12-14 | 2018-05-18 | 定远县中林机械技术有限公司 | A kind of electrodynamic balance vehicle automatic balancing arrangement |
| CN108910088B (en) * | 2018-07-10 | 2022-06-21 | 上海交通大学 | Landing and walking integrated robot |
| CN108910088A (en) * | 2018-07-10 | 2018-11-30 | 上海交通大学 | Land walking integrated robot |
| CN108638023A (en) * | 2018-07-25 | 2018-10-12 | 泉州摩科索达科技有限公司 | Mobile grabbing robot |
| CN109093647A (en) * | 2018-08-24 | 2018-12-28 | 安徽信息工程学院 | The robot chassis of wireless control |
| CN111806177A (en) * | 2020-06-03 | 2020-10-23 | 中国北方车辆研究所 | Obstacle crossing control method for four-wheel vehicle with telescopic rocker arm suspension |
| CN112441257A (en) * | 2020-11-30 | 2021-03-05 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
| CN112441257B (en) * | 2020-11-30 | 2022-08-23 | 哈尔滨工业大学 | Star detection vehicle |
| CN117775313A (en) * | 2023-12-01 | 2024-03-29 | 中国科学院空间应用工程与技术中心 | Four-wheel direct-drive planet car |
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