CN110002007A - A kind of adjustable suspension of manned lunar rover of four-wheel - Google Patents

Abstract

A four-wheeled manned lunar rover adjustable suspension, comprising a suspension left rocker arm, a suspension right rocker arm, a wheel mechanism, a lunar rover chassis, a left spring, a right spring and a telescopic rod; the front end and the rear of the lunar rover chassis are distributed There are suspension left rocker arm and suspension right rocker arm; the suspension left rocker arm is hinged with the lunar rover chassis through the first hinge axis; the suspension right rocker arm is hinged with the lunar rover chassis through the second hinge axis; the adjacent suspension The left rocker arm and the suspension right rocker arm are connected by a left spring, a telescopic rod and a right spring. The left rocker arm of the suspension, the right rocker arm of the suspension, and the wheel mechanism constitute the figure-eight suspension mechanism for walking; the left spring and the right spring constitute the spring mechanism for shock absorption; the telescopic rod constitutes the telescopic rod mechanism for adjusting the wheel base . The invention uses springs to dampen the driving of the lunar rover, and uses the expansion and contraction of the telescopic rod to adjust the distance of the lunar rover, thereby reducing the height of the lunar rover, improving its driving stability, increasing the wheelbase and passing some larger obstacles .

Description

A four-wheel manned lunar rover adjustable suspension

technical field

The invention designs a manned lunar rover suspension, in particular to a wheel spacing adjustable suspension.

Background technique

The goal of the lunar exploration project in the 21st century is to establish a lunar base and begin to develop and utilize the resources of the moon. Manned lunar landing and exploration are the main directions of my country's deep space exploration. The suspension design of the lunar rover is an important part of the manned lunar rover. The suspension design directly affects the lunar rover's ability to walk and overcome obstacles and adapt to various complex terrains. Since the lunar ground is uneven, good shock absorption is important. Because of the craters on the lunar ground, crossing obstacles is also an essential function. The traditional moon and car walking systems do not have these functions, so a multi-functional suspension design that adapts to the ground is particularly important. At this stage, the manned lunar rover adopts a traditional automobile suspension device. Although it has a very stable walking performance, its ability to cross obstacles and shock absorption is not very good. Therefore, the lunar rover suspension of the present invention has strong adaptive terrain capability, can absorb shock, can overcome obstacles, and is more suitable for driving on the lunar surface.

SUMMARY OF THE INVENTION

In order to overcome the defect that the existing lunar rover cannot adapt to various walking conditions, the present invention provides an adjustable suspension for a four-wheeled manned lunar rover. Adjust the relative position of the wheels to the ground, and then control the wheels to drive on rough ground. And when encountering a larger obstacle, the length of the telescopic rod can be adjusted so that the vehicle can cross the obstacle.

A four-wheeled manned lunar rover adjustable suspension, comprising a suspension left rocker arm, a suspension right rocker arm, a wheel mechanism, a lunar rover chassis, a left spring, a right spring and a telescopic rod; the front end and the rear of the lunar rover chassis are distributed There are suspension left rocker arm and suspension right rocker arm; the suspension left rocker arm is hinged with the lunar rover chassis through the first hinge axis; the suspension right rocker arm is hinged with the lunar rover chassis through the second hinge axis; the adjacent suspension The left rocker arm and the suspension right rocker arm are connected by a left spring, a telescopic rod and a right spring.

The left spring and the right spring are located at the longitudinal center of the adjacent suspension left rocker arm and the suspension right rocker arm, and the left spring, the telescopic rod and the right spring are on the same horizontal line.

The left spring, the telescopic rod and the right spring are in a figure-eight shape, and the angle between the adjacent left rocker arm and the suspension right rocker arm is 60°-100°.

The head end of each suspension left rocker arm and suspension right rocker arm is provided with a suspension end short rod, each suspension end short rod is installed with a wheel mechanism, and each suspension end short rod is installed with a drive motor , the outer side of the drive motor is connected with the wheel mechanism, the drive motor can drive the wheel mechanism to travel, and the wheel mechanism is a Mecanum wheel. Thus, the wheel mechanism can retract the swing arm and have the running function.

The left rocker arm of the suspension, the right rocker arm of the suspension, and the wheel mechanism constitute the figure-eight suspension mechanism for walking; the left spring and the right spring constitute the spring mechanism for shock absorption; the telescopic rod constitutes the telescopic rod mechanism for adjusting the wheel base .

The left spring and the right spring are composed of a spring mechanism for shock absorption and a telescopic rod mechanism for adjusting the wheel base. When the rover is driving on a road with small obstacles, the telescopic rod is in a locked state, and the vehicle is used to reduce the distance. Vibrating spring mechanism to achieve smooth driving.

Working process and principle of the present invention:

When the lunar rover is driving on a road with large obstacles, the telescopic rod is in an extended state, and the vehicle adjusts the distance between the two Mecanum wheels through the extension and compression of the telescopic rod, so that the lunar rover can cross the obstacle.

In the normal state of the present invention, the left and right springs are in an extended state, and the telescopic rod is in a locked state. At this time, the weight of the vehicle body is borne by the left and right springs at the end of the lunar rover chassis. There is a figure-eight structure between it and the right rocker arm of the suspension, so the stability of the car body will be maintained.

When encountering a small obstacle, when the vehicle is running on the obstacle, through the extension and compression of the left spring and the right spring, the vehicle body can be adjusted to change in the vertical direction, so as to achieve the effect of shock absorption

When encountering a large obstacle, the lunar rover adjusts the telescopic rod through the hydraulic device. The specific situation is divided into the following two types. When encountering a high obstacle, the telescopic rod can be retracted. Since the wheel mechanism adopts Mecanum wheels, there is no influence of resistance on driving. Because the wheel spacing is shortened, the chassis of the lunar rover has been raised. You can easily get over tall obstacles. When the obstacle is wider, the telescopic rod can be stretched. Since the wheel mechanism adopts the Mecanum wheel, it can drive in the direction of 360°, so there will be no influence of resistance when driving. During this process , because of the enlarged wheel spacing, the rover can easily cross wide obstacles.

The beneficial effects of the present invention;

The invention adopts the eight-character swing arm suspension mechanism. Since the two swing arms are connected with the vehicle body through hinges, and the two swing arms are connected by a spring, when passing through different road conditions, the wheels will transmit the force to the spring through the suspension. , the spring can adapt to different degrees of obstacles by adjusting its own length. The spring structure of the four-wheeled manned lunar rover of the present invention generates passive tension or compression with different terrains, thereby improving the running stability of the lunar rover and the adaptability of the ground.

The invention adopts a telescopic rod structure, and both ends of the telescopic rod are connected with springs. When crossing a small obstacle, the telescopic rod is locked and is in its original position. When it needs to cross a large obstacle, the telescopic rod passes through the hydraulic pressure inside the vehicle body. The device can be stretched out so as to change the inter-vehicle distance, it can pass over obstacles, and at the same time, the chassis of the vehicle is lowered, thereby improving the driving stability of the vehicle.

The wheel mechanism of the present invention adopts Mecanum wheels, and the four wheels are Mecanum wheels. When the inter-vehicle distance needs to be adjusted, there is no need to adjust the direction of the wheels. sports. The wheel of the present invention can simplify the assembly at the wheel, thereby reducing the weight of the vehicle, making it more convenient for people to operate, and greatly reducing the failure rate due to facilities.

Description of drawings

FIG. 1 is a schematic perspective view of the present invention.

FIG. 2 is a schematic diagram of the suspension mechanism of the present invention.

Fig. 3 is a state diagram of the present invention when a single wheel is over an obstacle.

Fig. 4 is the working diagram of the present invention in the state of double-wheel extension.

In the figure: 1—the short rod at the end of the suspension; 2—the wheel mechanism; 3—the lunar rover chassis; 4—the left rocker arm of the suspension; 5—the right rocker arm of the suspension; 6—the first hinge shaft; 7—the second hinge Axle; 8 - telescopic rod; 9 - left spring; 10 - right spring.

Detailed ways

As shown in Figure 1, Figure 2, Figure 3 and Figure 4, a four-wheeled manned lunar rover adjustable suspension, including suspension left rocker arm 4, suspension right rocker arm 5, wheel mechanism 2, lunar rover chassis 3 , left spring 9, right spring 10 and telescopic rod 8; front and rear of lunar rover chassis 3 are distributed with left suspension rocker arm 4 and suspension right rocker arm 5; The lunar rover chassis 3 is hinged; the suspension right rocker arm 5 is hinged with the lunar rover chassis 3 by the second hinge shaft 7; 8 is connected to the right spring 10.

The left spring 9 and the right spring 10 are located at the longitudinal center of the adjacent suspension left rocker arm 4 and the suspension right rocker arm 5, and the left spring 9, the telescopic rod 8 and the right spring 10 are on the same horizontal line.

The left spring 9, the telescopic rod 8 and the right spring 10 are in a figure-eight shape, and the angle between the adjacent left rocker arm 4 and the suspension right rocker arm 5 is 60°-100°.

The head ends of each suspension left rocker arm 4 and suspension right rocker arm 5 are provided with a suspension end short rod 1 , each suspension end short rod 1 is equipped with a wheel mechanism 2 , and each suspension end short rod 1 are installed with a drive motor, the outer side of the drive motor is connected with the wheel mechanism 2, the drive motor can drive the wheel mechanism 2 to travel, and the wheel mechanism 2 is a Mecanum wheel. Further, the wheel mechanism 2 can retract the swing arm and have a running function.

The left rocker arm 4 of the suspension, the right rocker arm 5 of the suspension, and the wheel mechanism 2 constitute a figure-eight suspension mechanism for walking; the left spring 9 and the right spring 10 constitute a spring mechanism for shock absorption; the telescopic rod 8 constitutes a spring mechanism for adjusting Telescopic rod mechanism for wheelbase.

The left spring 9 and the right spring 10 constitute a spring mechanism for shock absorption and a telescopic rod mechanism for adjusting the wheel base. When the lunar rover travels on a road with small obstacles, the telescopic rod 8 is in a locked state, and the vehicle passes through. Spring mechanism for shock absorption to achieve smooth ride.

When the lunar rover travels on a road with large obstacles, the telescopic rod 8 is in an extended state, and the vehicle adjusts the distance between the two Mecanum wheels through the stretching and compression of the telescopic rod 8, so that the lunar rover can cross the obstacle. thing.

1, under the normal state of the present invention, the left spring 9 and the right spring 10 are in an extended state, and the telescopic rod 8 is in a locked state. At this time, the weight of the vehicle body passes through the left spring 9 and the left spring 9 and The right spring 10 is used to bear, and the stability of the vehicle body is maintained due to the figure-eight structure between the suspension left rocker arm 4 and the suspension right rocker arm 5.

With reference to FIG. 3 , when encountering a small obstacle, when the vehicle is running on the obstacle, through the extension and compression of the left spring 9 and the right spring 10, the vehicle body can be adjusted to change in the vertical direction. , so as to achieve the effect of shock absorption

As shown in FIG. 4 , when encountering a large obstacle, the lunar rover adjusts the telescopic rod 8 through the hydraulic device, and the specific situation is divided into the following two types. When encountering a high obstacle, the telescopic rod 8 can be retracted. Since the wheel mechanism 2 adopts the Mecanum wheel, there is no influence of resistance on driving. Due to the shortened wheel spacing, the lunar rover chassis 3 has been improved. High, you can easily pass tall obstacles at this time. When the obstacle is wider, the telescopic rod 8 can be stretched. Since the wheel mechanism 2 adopts the Mecanum wheel, it can drive in the direction of 360°, so there will be no influence of resistance when driving. During this process, due to the enlarged wheel spacing, the rover can easily cross wide obstacles.

Claims (2)

1. a four-wheeled manned lunar rover adjustable suspension is characterized in that: comprise suspension left rocker arm (4), suspension right rocker arm (5), wheel mechanism (2), lunar rover chassis (3) , left spring (9), right spring (10) and telescopic rod (8); suspension left rocker arm (4) and suspension right rocker arm (5) are distributed at the front and rear of the lunar rover chassis (3); The frame left rocker arm (4) is hinged with the lunar rover chassis (3) by a first hinge shaft (6); the suspension right rocker arm (5) is hinged with the lunar rover chassis (3) by a second hinge shaft (7); The adjacent suspension left rocker arm (4) and the suspension right rocker arm (5) are connected through a left spring (9), a telescopic rod (8) and a right spring (10); The left spring (9) and the right spring (10) are located at the longitudinal center of the adjacent suspension left rocker arm (4) and the suspension right rocker arm (5), the left spring (9), the telescopic rod (8) ) and the right spring (10) are on the same horizontal line; The head end of each suspension left rocker arm (4) and suspension right rocker arm (5) is provided with a suspension end short rod (1), and each suspension end short rod (1) is provided with a wheel mechanism ( 2), each short rod (1) at the end of the suspension is equipped with a drive motor, the outer side of the drive motor is connected with the wheel mechanism (2), and the drive motor can drive the wheel mechanism (2) to travel, and the wheel mechanism (2) is: Mecanum Wheel. Then, the wheel mechanism (2) can shrink the swing arm and have the running function; The suspension left rocker arm (4), the suspension right rocker arm (5), and the wheel mechanism (2) constitute a figure-eight suspension mechanism for walking; the left spring (9) and the right spring (10) constitute a shock absorption mechanism. The spring mechanism; the telescopic rod (8) constitutes a telescopic rod mechanism for adjusting the wheel base. 2. a kind of four-wheeled manned lunar rover adjustable suspension according to claim 1 is characterized in that: described left spring (9), telescopic rod (8) and right spring (10) are in the shape of a figure of eight, The angle between the adjacent left rocker arm (4) and the suspension right rocker arm (5) is 60°˜100°.