Active suspension mechanism and control method

Abstract

The invention discloses an active suspension mechanism and a control method. According to the active suspension mechanism, a conventional main rocking arm is divided into a front half arm and a rear half arm which are connected together through an opening-angle regulating mechanism; besides, the height change of a suspension is realized through the opening-angle regulating mechanism; a vehicle body is lowered, so that the reduction of a carrying space occupied by the vehicle body, pressing and fixing the vehicle body and a carrying platform, and improving the static and moving stability of the vehicle body are facilitated; besides, the lifting of the vehicle body facilitates avoiding the contact between the vehicle body and convex barriers on the ground; besides, the active suspension mechanism cooperates with the opening/closing of a brake and the coordinative motion of wheels, so that the vehicle body can be lifted or lowered, the wheels can be lifted, or a whole vehicle can advance or retreat in a wriggling manner; when the wheels sink, the wheels can be lifted away the ground by controlling the opening-angle regulating mechanism and the brake, so that the wheels can be relieved from sinking; when a patroller vehicle body is clamped by a stone, the vehicle body can be lifted by controlling the opening-angle regulating mechanism.

Description

technical field [0001] The invention relates to the technical field of spacecraft control, in particular to an active suspension mechanism and a control method. Background technique [0002] The driving environment of the patrol device is relatively harsh, and it needs to have a high passing capacity. The existing rover suspension mechanism is mainly based on the rocker suspension of the American Mars rover of Spirit. The suspension is hinged by a main rocker arm A and an auxiliary rocker arm B, and its suspension structure is as follows: figure 1 shown. The main rocker arm A of the suspension is connected with the front wheel D, the auxiliary rocker arm B is connected with the middle wheel E and the rear wheel F, and the left and right suspensions are respectively connected with the differential mechanism C on the car body. The Mars rover successfully landed on Mars on January 3, 2004. During its work on Mars, it lost its ability to move due to the sinking of its wheels ...

AI Technical Summary

Problems solved by technology

[0003] There are many stones on the surface of Mars, and the coverage rate of stones larger than 0.2m to 0.5m is 1%, which is twice that of the moon, which is easy to cause the patrol to be stuck. At the same time, the soil on the surface of Mars is hard, The soft inner layer may cause the wheels of the rover to sink (such as the Mars rover of Spirit). These special environments pose a challenge to the traditional passive rover suspension mechanism. It is necessary to develop an active rover suspension mechanism. When stones appear After the bottom of the car body is stuck, the wheel sinks and other dangerous situations, the deformation of the suspension can be used to improve the ability to get out of trouble

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