Six-wheel running system for interplanetary exploration patrol vehicle

Abstract

The invention relates to a six-wheel running system for an interplanetary exploration patrol vehicle. The system comprises three suspension units which are distributed around a bodywork main instrument cabinet with one transversal suspension unit and the other two longitudinal suspension units, wherein, the transversal suspension unit is arranged in the front part of the main instrument cabinet, and comprises a secondary instrument cabinet connected with the main instrument cabinet, and a wheel I and a wheel II which are connected with the left side and the right side of the secondary instrument cabinet respectively; the left longitudinal suspension unit is arranged at the left side of the main instrument cabinet, and comprises a main rocker, and a wheel III and a wheel IV which are connected with two ends of the main rocker respectively; the right longitudinal suspension unit is arranged at the right side of the main instrument cabinet, and comprises a main rocker connected with the main instrument cabinet, and a wheel V and a wheel IV which are connected with two ends of the main rocker respectively. The invention not only well solves the problem of stability of the bodywork to avoid using a differential mechanism and other devices, but also has good trafficability and load balancing capability, and is particularly suitable for various exploration vehicles.

Description

technical field [0001] The invention relates to a walking system for a wheeled vehicle, in particular to a six-wheel walking system for an interstellar detection patrol vehicle. Background technique [0002] The current wheeled interstellar exploration vehicles mostly use multi-wheel side-by-side rocker suspension mechanisms as the main configuration of the walking system. For example, the "lunar vehicle 1" launched by the Soviet Union adopted a parallel eight-wheel structure with unilateral double rocker suspension. The Mars rovers "Sojourney" and "Opportunity" launched by the United States adopted a three-wheel rocker suspension structure developed from a two-wheel rocker suspension on one side. Compared with the eight-wheel walking system, the six-wheel walking system has greatly improved the off-road performance of the vehicle without increasing the complexity of the mechanism too much. It is becoming the development trend of the walking system of interstellar explorati...

AI Technical Summary

Problems solved by technology

However, in order to ensure the stability of the carriage, a walking system with three wheels parallel to the suspension system on both sides of the carriage has to add a differential device in the carriage, which increases the complexity of the system, increases the weight of the walking system, and has the carriage running. During the process, the pitch clearance increases, and there are disadvantages such as the airtightness of the cabin

[0003] After searching the prior art documents, it is found that the Chinese patent publication number is CN 1769126A, the publication date is May 10, 2006, and the patent name is "six-wheel environmental detection vehicle suspension mechanism", which discloses a six-wheel The vehicle suspension system is only an improvement on the rocker suspension, but it still cannot get rid of the existence of the differential

The Chinese patent publication number is CN1718509A, and the publication date is January 11, 2006. The patent name is "Six-wheel Active Suspension Mechanism for Lunar Exploration Vehicle". The six-wheel active suspension mechanism of the probe car, the connection between the rocker suspension and the car body is realized through active control. Although the differential is cancelled, it brings great difficulty to the design of the control system, which is difficult in actual use. Realize real-time adaptation to the terrain

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