The four-wheel direct-drive planet vehicle comprises a vehicle body, a mounting frame and four suspension sub-systems, and the four corners of a bottom plate of the mounting frame are each provided with an independent suspension sub-system; the suspension sub-system comprises a rocker arm, a wheel autorotation joint assembly, a wheel assembly, a steering arm, a wheel steering joint assembly and a wheel folding and unfolding assembly, the wheel folding and unfolding assembly adopts an independent driving mode and is installed on the vehicle body through an installation frame, and an output shaft of the wheel folding and unfolding assembly is connected with the rocker arm and can independently drive the rocker arm to swing. A worm and gear self-locking device is adopted on a wheel folding and unfolding joint assembly, a pitching motor is not powered on during walking, and energy consumption is low; the rocker arm is connected with the wheel steering joint assembly, and the wheel steering joint assembly is provided with a spring device, can passively adapt to the terrain and is connected with the wheel autorotation joint assembly through a steering arm. The wheel autorotation joint assembly is connected with the wheel assembly and can drive wheels to rotate.
本发明涉及一种四轮直驱星球车,包括车体、安装架和四个悬架子系统,所述安装架的底板四个角处各设有一个独立的悬架子系统;所述悬架子系统包括摇臂、车轮自转关节组件、车轮组件、转向臂、车轮转向关节组件、车轮收放组件,所述车轮收放组件采用独立驱动方式,通过安装架安装在所述车体上,所述车轮收放组件的输出轴与摇臂连接,能够独立驱动摇臂摆动,增大了控制覆盖范围,车轮收放关节组件上采用蜗轮蜗杆自锁装置,在行走时俯仰电机不通电,耗能低;所述摇臂与车轮转向关节组件连接,所述车轮转向关节组件上具备弹簧装置,可被动适应地形,通过转向臂与车轮自转关节组件连接;所述车轮自转关节组件与车轮组件连接并能够驱动车轮转动。
Four-wheel direct-drive planet vehicle
一种四轮直驱星球车
2024-03-29
Patent
Electronic Resource
Chinese
European Patent Office | 2018
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