Independent drive steering system of six-wheel rocker arm unmanned lunar rover and design method

Abstract

The invention discloses an independent drive steering system of a six-wheel rocker arm unmanned lunar rover, which mainly comprises a steering mechanism, a driving mechanism and wheels. A walking system of a middle wheel does not comprise a steering system. The steering mechanism comprises an upper steering motor sleeve, a lower steering motor sleeve, a steering motor, a steering planetary gear accelerator, a bidirectional thrust ball bearing sleeve and a sealing ring. The driving mechanism comprises left and right motor sleeves, a driving motor, a driving planetary gear accelerator, an angular contact ball bearing and a clamping ring. The wheels are matched with the wheel baffle rings. The design process comprises the following steps of 1, designing parameters of a driving system motor and a planetary gear accelerator reducer, 2, designing parameters of a steering system motor and the planetary gear accelerator reducer, 3, determining the size and assembly relationship of the motor sleeve, 4, designing the structure of the wheel, 5, realizing structural design of a steering system, 6, conducting structural design of a driving system and wheels, and 7, conducting system sealing design.

Description

technical field [0001] The invention relates to the design of a driving and steering system of a vehicle, in particular to an independent driving and steering system and a design method of a six-wheel rocker-arm unmanned lunar rover, belonging to the field of mechanical design. Background technique [0002] The unmanned lunar rover is an indispensable tool for scientific exploration activities. It can not only overcome the unknown and dangerous geographical environment of the moon, but also carry a large number of scientific instruments and research samples. To perform exploration missions in the unpredictable and complex geographical environment of the moon, the unmanned lunar rover must have a mobile system with strong adaptability and superior performance, which is a key factor affecting the overall performance, safety and reliability of the lunar rover. [0003] The surface of the moon is only protected by a thin atmosphere and is exposed to the cosmic environment. The r...

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Problems solved by technology

[0010] 6. Crisis self-rescue or function degradation technology: In the case of unmanned operation, the walking system must ensure safe, stable and reliable operation

The most common driving method is that the driving motors are arranged in a centralized manner, and the power is distributed to each wheel by the transmission device, but the transmission system and suspension structure of this method are complex

The common steering system is differential steering, which uses the speed difference of each wheel to steer, but such a steering method has a very limited steering radius and is not flexible enough

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