Active suspension type Mars rover moving mechanism

A mobile mechanism, suspension-type technology, applied in the direction of suspension, elastic suspension, extraterrestrial vehicle, etc., can solve the problems of inability to realize multiple deployments, large size of driving mechanism, complex suspension structure, etc., to achieve applicability Strong, easy to operate, simple structure effect

Active Publication Date: 2016-01-13
HARBIN INST OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The present invention aims to solve the problems of the existing Mars rover moving mechanism with complex suspension structure, extra deployment mechanism, complicat

Method used

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  • Active suspension type Mars rover moving mechanism
  • Active suspension type Mars rover moving mechanism
  • Active suspension type Mars rover moving mechanism

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Experimental program
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specific Embodiment approach 1

[0025] Specific implementation mode one: as Figure 1-5 As shown, the active suspension type Mars rover moving mechanism of this embodiment includes a carriage 1, a differential 2, a first angle adjuster 3, a second angle adjuster 4, a first main rocker arm long arm 5, a second Second main rocker arm long arm 6, first main rocker arm short arm 7, second main rocker arm short arm 8, first main and auxiliary rocker arm clutch 9, second main and auxiliary rocker arm clutch 10, first auxiliary rocker arm 11 , the second auxiliary rocker arm 12 and six wheels;

[0026] The differential 2 is fixed on the center of the upper end surface of the bottom plate 1-1 of the compartment 1, the output shaft 2-1 at one end of the differential 2 is connected with the first angle adjuster 3, and the output shaft at the other end of the differential 2 2-2 is connected with the second sheet angle adjuster 4, and the two output shafts of the differential 2 are coaxial with the first sheet angle ad...

specific Embodiment approach 2

[0029] Specific implementation mode two: as image 3 As shown, the active suspension type Mars rover moving mechanism described in this embodiment also includes a first support 3-3 and a second support 3-4, and the first opening angle adjuster 3 passes through the first support 3-3 and the second support 3-4. The second support 3 - 4 is installed on the upper end surface of the floor 1 - 1 of the carriage 1 . In this way, the first angle adjuster 3 is reliably fixed on the bottom plate 1-1 of the compartment 1, so that the positions of the components in the first angle adjuster 3 are fixed, and the two supports limit the position of the first angle adjuster 3. With respect to the degree of freedom of the carriage 1, the coaxiality of the axis of the rotating part of the first angle adjuster 3 and the output shaft 2-1 of the differential 2 is guaranteed. Other components and connections are the same as those in the first embodiment.

specific Embodiment approach 3

[0030] Specific implementation mode three: as image 3 As shown, the active suspension type Mars rover moving mechanism in this embodiment also includes a third support 4-3 and a fourth support 4-4, and the second opening angle adjuster 4 passes through the third support 4-3 and the fourth support 4-4. The fourth support 4-4 is installed on the upper end surface of the bottom plate 1-1 of the carriage 1. In this way, the second angle adjuster 4 is reliably fixed on the bottom plate 1-1 of the compartment 1, so that the positions of the components in the second angle adjuster 4 are fixed, and the two supports limit the second angle adjuster 4. With respect to the degree of freedom of the compartment 1, the coaxiality of the axis of the rotating part of the second angle adjuster 4 and the output shaft 2-2 of the differential 2 is guaranteed.

[0031] Other compositions and connections are the same as those in Embodiment 1 or 2.

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Abstract

The invention relates to a Mars rover moving mechanism, in particular to an active suspension type Mars rover moving mechanism. The active suspension type Mars rover moving mechanism solves the problems that in existing Mars rover moving mechanisms, the suspension structure is complex, unfolding mechanisms are additionally arranged, the mechanism movement is complex, repeated unfolding cannot be achieved and the size of driving mechanisms is excessively large. An output shaft at one end of a differentiator is connected to a first field angle regulator, an output shaft at the other end of the differentiator is connected to a second field angle regulator, the two output shafts of the differentiator are coaxial with the first field angle regulator and the second field angle regulator respectively, and the first field angle regulator and the second field angle regulator are installed on the upper end surface of a rover compartment floor in a bilateral symmetry mode. One end of a first main long rocker arm is fixedly arranged on an external output shaft of the first field angle regulator in a sleeving mode, one end of a first main short rocker arm is fixedly arranged on an internal output shaft of the first field angle regulator in a sleeving mode, and the other end of the first main long rocker arm is connected to the upper part of a first auxiliary rocker arm through a first main and auxiliary rocker arm clutch. The active suspension type Mars rover moving mechanism is used for Mars exploration.

Description

technical field [0001] The invention relates to an active suspension type Mars rover moving mechanism. Background technique [0002] During the implementation of the Mars exploration mission and early ground verification, the Mars rover needs to complete the tasks of transportation, landing, release and driving. Since the original main and auxiliary rocker arm type passive suspension type Mars rover moving mechanism itself does not have the ability to change the envelope size of the Mars rover. ability, it is necessary to develop an active suspension type Mars rover moving mechanism for on-orbit and ground use, which can reliably reduce the size of the Mars rover during the transportation phase, and make the Mars rover have strong landing stability and autonomous release capabilities. On the basis of wheeled driving, the wheeled walking function is added. [0003] The existing Mars rover moving mechanism has the problems of complex suspension structure, additional deploymen...

Claims

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Application Information

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IPC IPC(8): B60G17/00B64G1/16
Inventor 高海波刘振郑军强邓宗全丁亮李楠于海涛
Owner HARBIN INST OF TECH
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