Pavement self-adaptive rhombic moonmobile moving system having middle two-wheeled active swinging arm

Abstract

Disclosed is a road surface self-adapting rhombus lunar rover moving system which is provided with two wheels in the middle, wherein the two wheels can swing arms actively. The invention comprises a rotational lunar rover frame, a front wheel, a rear wheel, a left wheel and a right wheel, wherein the front wheel, the rear wheel, the left wheel and the right wheel are installed on the lunar rover frame and are in rhombus arrangement. The front wheel and the rear wheel are respectively fixed on the lunar rover frame via a front suspension system and a rear suspension system, the left wheel and the right wheel are respectively fixed on the lunar rover frame via a left suspension system and a right suspension system, the front suspension system and the rear suspension system are formed by a connection mechanism and a steering mechanism, the left suspension system and the right suspension system are formed by the connection mechanism and a swing arm motor, the lunar rover frame comprises a front lunar rover frame which is equipped with the front wheel and a rear lunar rover frame which is equipped with the rear wheel, one end of the rear lunar rover is equipped with a rotation shaft, the rear lunar rover frame is in hinge joint with the front lunar rover via the rotation shaft, and the rotation shaft is connected with a electromagnetic brake. The lunar rover moving system utilizes a novel structure of a rhombus chassis with four wheels and three shafts, which is compact in structure, high in light weight degree, convenient in posture adjusting, fine in off-road performance, strong in terrain adaptive capacity and high in reliability.

Description

technical field [0001] The invention mainly relates to the design field of walking devices, in particular to a road surface self-adaptive diamond-shaped lunar rover moving system with two active swing arms in the middle, which can be applied to the field 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 ad...

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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 exerted.

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

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