Active-passive combined swinging arm type rhombic lunar rover moving system

Abstract

The invention discloses an active and passive combined rock arm type diamond lunar rover moving system, which comprises a chassis which can rotate as well as a front wheel, a rear wheel, a left wheel and a right wheel which are arranged on the chassis in a diamond manner, wherein the front wheel and the rear wheel are respectively fixed on the chassis through a front suspension system and a rear suspension system; the left and the right wheels are respectively fixed on the chassis through a left suspension system and a right suspension system; the front suspension system and the rear suspension system respectively consist of a connecting mechanism and a swing arm motor; the chassis comprises a front chassis provided with the front wheel and the rear chassis provided with the rear wheel; an end of the rear chassis is provided with a shaft; the rear chassis is hinged with the front chassis through the shaft; the left suspension system and the right suspension system respectively consist of a connecting mechanism and a swing arm motor which are arranged on the left and the right ends of the front chassis; an output shaft is fixedly connected with the left suspension or the right suspension. By adopting the four-wheel triaxial diamond chassis, the active and passive combined rock arm type diamond lunar rover moving system has the advantages of compact structure, high lightweight, good cross-country performance, strong topography adapting ability, steady bodywork attitude and high reliability.

Description

technical field [0001] The invention mainly relates to the design field of walking devices, in particular to a rocker-type rhombic lunar rover moving system combining active and passive, which is applicable to the fields of unmanned detection and ore collection in harsh environments. Background technique [0002] For the lunar surface environment, the lunar rover needs to adapt to the unique lunar surface driving environment such as unfamiliar landforms, dusty layers, and microgravity, and realize the transfer between the earth and the moon, which has special requirements for the vehicle's lightweight and driving performance. Judging from the current domestic research on the lunar rover, it is believed that the traditional two-axis four-wheel mechanism has the advantages of compact structure, low energy consumption, large load capacity, and convenient attitude adjustment. The obstacle ability is not strong; the six-wheel mechanism has the advantages of three-axis characteris...

AI Technical Summary

Problems solved by technology

Judging from the current domestic research on the lunar rover, it is believed that the traditional two-axis four-wheel mechanism has the advantages of compact structure, low energy consumption, large load capacity, and convenient attitude adjustment. The obstacle ability is not strong; the six-wheel mechanism has the advantages of three-axis characteristics, strong off-road performance and stability, but the disadvantage is that it is difficult to achieve light weight, and the distribution of gravity on each wheel is uneven, and the efficiency of the motor cannot be fully utilized.

Considering the special working conditions on the moon, it is generally believed that the six-wheeled lunar rover is the best. Although the traditional four-wheeled vehicle is simpler and more reliable than the six-wheeled vehicle, it is not in the selection range because it does not have good off-road performance. within

Images