High-speed unmanned mars rover with active suspension mode switching

Abstract

This invention relates to a high-speed unmanned Mars rover with active suspension mode switching, belonging to the field of deep space exploration technology. It includes a running frame, a suspension system, and a switching mechanism. The running frame comprises a chassis, a connecting beam, two swing arms, and two connecting rods. The suspension system includes an outer rigid plate and a lower shock absorber. The switching mechanism includes a pivot shaft, an outer moving plate, and an actuator. This invention first utilizes the lower shock absorber, connecting its two ends to the lower frame and the outer rigid plate respectively. Then, the pivot shaft, fixed to the upper frame, slides between curved holes, straight holes, and enlarged-diameter holes. This allows the rover to level itself when parked by sliding the pivot shaft in the curved holes; it also allows the rover to swing with the two swing arms when traveling at low speeds by sliding the pivot shaft in the straight holes; and it allows the rover to switch between flexible, passive, and rigid suspension modes when traveling at high speeds by sliding the pivot shaft in the enlarged-diameter holes, using the vibrations and shocks from the two swing arms to transmit to the chassis.

Description

Technical Field

[0001] This invention relates to the field of deep space exploration technology, and in particular to a high-speed unmanned Mars rover with active suspension mode switching. Background Technology

[0002] Unmanned Mars rovers are currently the primary mobile system for Mars exploration and a platform for carrying scientific payloads. Among them, low-speed wheeled unmanned Mars rovers with passive suspension are widely used in aerospace engineering due to their ability to adapt well to terrain undulations. However, potential missions in the new phase of deep space exploration place higher demands on the mobility of unmanned Mars rovers, such as multi-point sampling on the Martian surface and exploration of feasible base construction sites, all of which require high-speed unmanned Mars rovers.

[0003] Currently, most unmanned Mars rovers successfully applied to Mars exploration utilize passive suspension designed for low-speed movement. High-speed travel on the rugged Martian surface exposes the rover to high-frequency, high-amplitude vibrations and impacts on scientific payloads, affecting the rover's hardware structure and driving safety, and potentially damaging the scientific payloads. Therefore, researchers have largely focused on effectively mitigating the negative impacts of high-speed rover travel, such as high-frequency, high-amplitude vibrations and impacts on scientific payloads, while neglecting the engineering requirements of high-speed unmanned Mars rovers as platforms for carrying scientific payloads and the actual scenarios of exploration missions. For example, while the use of elastic elements in elastic suspensions reduces impacts at high speeds, it can still cause vehicle swaying during parking operations, affecting the normal operation of scientific payloads.

[0004] Therefore, how to design a high-speed unmanned Mars rover that can maintain good driving conditions at different speeds on the Martian surface and provide good operating conditions for onboard scientific payloads is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] This invention provides a high-speed unmanned Mars rover with active suspension mode switching, solving the technical problem that existing unmanned Mars rovers cannot switch suspension states according to vehicle speed and cause scientific payloads to sway during high-speed travel.

[0006] The technical solution of this invention to solve the above-mentioned technical problems is as follows: A high-speed unmanned Mars rover with active suspension mode switching includes: a running frame, a suspension, and a switching mechanism. The running frame includes a chassis, a connecting beam, two swing arms, and two connecting rods. The middle portions of the two swing arms rotate about the traveling direction of the chassis at both ends of the traveling direction, and wheels rotate at both ends of each swing arm. The connecting beam is arranged above one side of the chassis along the traveling direction of the chassis. The top ends of the two connecting rods are omnidirectionally rolled at both ends of the connecting beam via ball joints, and their bottom ends are omnidirectionally rolled at the opposite ends of the two swing arms via ball joints. The suspension includes an outer rigid plate and a lower shock absorber. The upper and lower ends of the connecting beam are respectively fixed with an upper frame and a lower frame. The outer rigid plate corresponds to... The upper and lower frames are fixed to the vehicle frame on their outer sides and have outer slots arranged along the height direction of the connecting beam. The top end of the lower shock absorber is connected to the lower frame and its bottom end is fixed to the outer plate. The switching mechanism includes a rotating shaft, an outer moving plate, and an actuator. The rotating shaft rotates vertically on the upper frame and moves through the outer slots. The fixed end of the actuator is fixed to the outer side of the outer plate and its actuating end moves back and forth along the length direction of the connecting beam. The outer moving plate is fixed to the actuating end of the actuator and has curved holes, straight holes, and enlarged holes arranged along the length direction of the connecting beam and connected in sequence, so that the rotating shaft can switch and roll within the curved holes, the straight holes, and the enlarged holes as the actuating end of the actuator moves.

[0007] The beneficial effects of this invention are: it improves the existing unmanned Mars rover suspension structure. First, the two ends of the lower shock absorber are connected to the lower frame and the outer mounting plate respectively. Then, the rotating shaft fixed on the upper frame can be switched to slide in curved holes, straight holes, and enlarged holes. This allows the frame to be leveled when the unmanned Mars rover is parked, or when it is traveling at low speed, by sliding the rotating shaft in the straight holes, allowing the frame to rigidly swing with the two swing arms. Furthermore, when the unmanned Mars rover is traveling at high speed, by sliding the rotating shaft in the enlarged holes, the large vibrations on the two swing arms are used to dampen the vibration transmitted to the frame, significantly reducing frame vibration and protecting scientific loads. This enables the suspension to switch between flexible suspension, passive suspension, and rigid suspension, meeting the different movement scenarios of parking, low-speed movement, and high-speed travel during Mars surface exploration.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, the suspension also includes an upper shock absorber. The upper frame has a shaft hole arranged opposite to the outer strip hole and an upper strip hole arranged along the height direction of the connecting beam. The lower frame has a lower strip hole arranged along the height direction of the connecting beam. The middle part of the rotating shaft rotates in the shaft hole, and one end of it passing through the outer strip hole alternately rolls in the curved hole, the straight hole, and the enlarged diameter hole. The top end of the lower shock absorber slides in the lower strip hole. The bottom end of the upper shock absorber slides in the upper strip hole, and its top end is fixed to the outer mounting plate.

[0010] The further beneficial effects of adopting the above are:

[0011] 1. Add an upper shock absorber. When the shaft rolls in the enlarged diameter hole, the upper and lower shock absorbers can be used simultaneously to reduce the vibration amplitude transmitted from the swing arm to the frame.

[0012] 2. First, slide the bottom of the upper shock absorber into the upper slot, and then slide the top of the lower shock absorber into the lower slot. This can adapt to the up and down movement of the shaft and fully demonstrate the shock absorption effect.

[0013] Furthermore, the switching mechanism also includes two outer slide rails and two outer sliders. The two outer slide rails are arranged along the length of the connecting beam and fixed at intervals along the height of the connecting beam on the outer side of the outer fixed plate. The outer slot is located between the two outer slide rails. The two outer sliders are fixed at intervals on the inner side of the outer moving plate and slide on the two outer slide rails respectively.

[0014] Furthermore, it also includes a locking mechanism, which comprises an inner fixed plate, an inner movable plate, and a clutch. The inner fixed plate is fixed to the vehicle frame on the inner side corresponding to the upper frame and the lower frame, and has an inner strip hole arranged along the height direction of the connecting beam. The inner movable plate is located parallel to the inner fixed plate and has a through hole arranged opposite to the inner strip hole. The clutch is fixed to the inner side of the inner movable plate. The other end of the rotating shaft passes through the inner strip hole and the through hole in sequence and is inserted into the clutch to lock the rotating shaft when the clutch is engaged, preventing the rotating shaft from continuing to rotate and restricting the rotating shaft from rolling in the curved hole, the straight hole, and the expanded diameter hole. The bottom end of the lower shock absorber is fixed to the inner fixed plate.

[0015] The further beneficial effect of the above is that by inserting the shaft into the clutch, the shaft can be locked when the clutch is engaged, preventing the shaft from continuing to rotate and restricting the shaft from rolling in the curved hole, straight hole and enlarged diameter hole, thereby achieving suspension mode locking.

[0016] Furthermore, the clutch includes a clutch fixing part, a clutch engaging part, and a clutch plate. The clutch fixing part is fixed to the inner side of the inner moving plate; the clutch engaging part can engage with the inner side of the clutch fixing part; the clutch plate is fixed to the inner side of the clutch engaging part; the other end of the rotating shaft passes through the clutch fixing part and the clutch engaging part in sequence and is fixed to the clutch plate, so that after the clutch engaging part engages with the clutch fixing part, the rotating shaft is prevented from continuing to rotate, and the rotating shaft is restricted to roll within the curved hole, the straight hole, and the enlarged diameter hole.

[0017] Furthermore, the locking mechanism also includes two inner slide rails and two inner sliders. The two inner slide rails are arranged along the height direction of the connecting beam and are spaced apart along the length direction of the connecting beam. The two slide rails are fixed to the inner side of the inner fixed plate. The two inner sliders are respectively fixed to the outer side of the inner moving plate and slide on the two inner slide rails respectively.

[0018] Furthermore, it also includes a dustproof plate, which is located outside the outer moving plate and has dustproof holes thereon; one end of the rotating shaft that passes through the curved hole, the straight hole or the enlarged diameter hole extends out of the dustproof hole.

[0019] The further beneficial effect of adopting the above is that by using the dustproof hole of the imitation sink plate to extend from one end of the rotating shaft, external dust can be prevented from settling on the upper or lower shock absorber through the curved hole, straight hole and enlarged diameter hole, thus affecting the service life of the upper and lower shock absorbers.

[0020] Furthermore, it also includes a steering and traveling mechanism, which comprises four steering motors, four steering wheel frames, and four traveling motors. The fixed ends of the four steering motors are respectively fixed to the two ends of the two swing arms, and their output shafts rotate about the height direction of the swing arms as an axis. The four steering wheel frames are respectively fixed on the output shafts of the four steering motors. The four traveling motors are respectively fixed on the four steering wheel frames, and their output shafts rotate about the length direction of the swing arms as an axis. The four wheels are respectively connected to the output shafts of the four traveling motors.

[0021] The further beneficial effect of adopting the above is that: firstly, the steering motor output shaft drives the steering wheel frame to rotate in the correct direction, and then the travel motor drives the wheels to rotate, which can realize the steering and travel of the fast travel frame.

[0022] Furthermore, it also includes a scientific payload, which is fixed to the frame.

[0023] Furthermore, it also includes a sensor fixed at the front end of the scientific payload in the direction of travel.

[0024] The further beneficial effect of adopting the above is that the sensor is a terrain detection sensor or a vibration sensor, which can detect the Martian surface features or sense the vibration amplitude of scientific payloads in advance. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of a high-speed unmanned Mars rover with active suspension mode switching according to the present invention.

[0026] Figure 2 This is a three-dimensional structural diagram of the walking frame and steering walking mechanism in a high-speed unmanned Mars rover with active suspension mode switching according to the present invention.

[0027] Figure 3 This is a right-view three-dimensional structural diagram of the suspension, switching mechanism and locking mechanism in a high-speed unmanned Mars rover with active suspension mode switching according to the present invention.

[0028] Figure 4 This is a left-side three-dimensional structural diagram of the suspension, switching mechanism, and locking mechanism in a high-speed unmanned Mars rover with active suspension mode switching according to the present invention.

[0029] Figure 5 This is a front view schematic diagram of the suspension, switching mechanism, and locking mechanism in a high-speed unmanned Mars rover with active suspension mode switching according to the present invention.

[0030] Figure 6 This is a schematic diagram showing the disassembled structure of the suspension, switching mechanism, and locking mechanism in a high-speed unmanned Mars rover with active suspension mode switching according to the present invention.

[0031] Figure 7 This is a schematic diagram of the assembly structure of the connecting beam, upper frame, inner solid plate, rotating shaft, upper shock absorber and lower shock absorber in a high-speed unmanned Mars rover with active suspension mode switching according to the present invention.

[0032] Figure 8 This is a three-dimensional structural diagram of the outer moving plate in a high-speed unmanned Mars rover with active suspension mode switching according to the present invention.

[0033] Figure 9 This is a logic control diagram for a high-speed unmanned Mars rover with active suspension mode switching according to the present invention.

[0034] The attached diagram lists the components represented by each number as follows:

[0035] 1. Running frame; 11. Chassis; 12. Connecting beam; 13. Swing arm; 14. Linkage rod; 15. Wheel; 2. Suspension; 21. Outer mounting plate; 211. Outer strip hole; 22. Lower shock absorber; 23. Upper frame; 231. Upper strip hole; 24. Lower frame; 241. Lower strip hole; 25. Upper shock absorber; 3. Switching mechanism; 31. Rotating shaft; 32. Outer moving plate; 321. Curved hole; 322. Straight hole; 323. Expanded diameter hole; 33. Actuator; 34. Outer slide rail; 35. Outer slider; 4. Locking mechanism; 41. Inner fixed plate; 411. Inner strip hole; 42. Inner moving plate; 421. Through hole; 43. Clutch; 431. Clutch fixing part; 432. Clutch engaging part; 433. Clutch plate; 44. Inner slide rail; 5. Dustproof plate; 51. Dustproof hole; 6. Steering and traveling mechanism; 61. Steering motor; 62. Steering wheel frame; 63. Travel motor; 7. Scientific load; 8. Sensor. Detailed Implementation

[0036] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0037] like Figure 1 and Figure 8 As shown, a high-speed unmanned Mars rover with active suspension mode switching includes: a running frame 1, a suspension 2, and a switching mechanism 3. The running frame 1 includes a frame 11, a connecting beam 12, two swing arms 13, and two connecting rods 14. The middle parts of the two swing arms 13 rotate about the traveling direction of the frame 11 at both ends of the traveling direction of the frame 11, and wheels 15 rotate at both ends of each swing arm 14. The connecting beam 12 is arranged above one side of the frame 11 along the traveling direction of the frame 11. The top ends of the two connecting rods 14 are omnidirectionally rolled at both ends of the connecting beam 12 via ball pins, and their bottom ends are omnidirectionally rolled at the opposite ends of the two swing arms 13 via ball pins. The suspension 2 includes an outer rigid plate 21 and a lower shock absorber 22. The upper end and lower end of the connecting beam 12 are respectively fixed with an upper frame 23 and a lower frame 24. The outer rigid plate 21 corresponds to the outer side of the upper frame 23 and the lower frame 24. The lower shock absorber 22 is fixed to the frame 11 and has an outer slot 211 arranged along the height direction of the connecting beam 12; the top of the lower shock absorber 22 is connected to the lower frame 24 and its bottom is fixed to the outer plate 21; the switching mechanism 3 includes a rotating shaft 31, an outer moving plate 32 and an actuator 33. The rotating shaft 31 rotates vertically on the upper frame 23 and one end of it moves through the outer slot 211; the fixed end of the actuator 33 is fixed to the outside of the outer plate 21 and its actuating end moves back and forth along the length direction of the connecting beam 12; the outer moving plate 32 is fixed to the actuating end of the actuator 33 and has a curved hole 321, a straight hole 322 and an enlarged hole 323 arranged along the length direction of the connecting beam 12 and connected in sequence, so that the rotating shaft 31 can switch and roll in the curved hole 321, the straight hole 322 and the enlarged hole 323 as the actuating end of the actuator 33 moves.

[0038] The specific working process of the high-speed unmanned Mars rover with active suspension mode switching is described as follows: ① When traveling at low speed, the outer moving plate 32 moves along the length of the connecting beam 12 under the drive of the actuator 33. When the rotating shaft 31 rolls on the straight hole 322, the clutch engagement part 432 engages on the clutch fixing part 431, locking the rotating shaft 31. At this time, the frame 11 swings synchronously with the two swing arms 13. ② When parking, since the surface of Mars is not horizontal, the frame 11 and the swing arms 13 are also not horizontal. At this time, the actuator 33 drives the outer moving plate 32 to move along the length of the connecting beam 12, and the rotating shaft 322... 1. Continuously rolls on the curved hole 321. After the frame 11 is leveled, the clutch engagement part 432 engages with the clutch fixing part 431, locking the rotating shaft 31, which facilitates the normal operation of the scientific load 7; ③ When driving at high speed, the outer moving plate 32 moves along the length direction of the connecting beam 12 under the drive of the actuator 33, so that the rotating shaft 31 moves in the enlarged diameter hole 323. At this time, since the rotating shaft 31 is fixed on the connecting beam 12 through the upper frame 23, and since the top of the lower shock absorber 22 is connected to the lower frame 24 and its bottom is fixed on the outer fixed plate 21, a smaller vibration force can be transmitted to the frame 11 when the swing arm 13 vibrates greatly.

[0039] like Figure 5 and Figure 6 As shown, in some specific embodiments, the suspension 2 may further include an upper shock absorber 25, an upper frame 23 having a shaft hole arranged opposite to the outer strip hole 211 and an upper strip hole 231 arranged along the height direction of the connecting beam 12; a lower frame 24 having a lower strip hole 241 arranged along the height direction of the connecting beam 12; a rotating shaft 31 rotating in the middle within the shaft hole and its end passing through the outer strip hole 211 switching between rolling within the curved hole 321, the straight hole 322, and the enlarged diameter hole 323; the top end of the lower shock absorber 22 sliding within the lower strip hole 241; and the bottom end of the upper shock absorber 25 sliding within the upper strip hole 231 and its top end fixed to the outer mounting plate 21.

[0040] like Figure 6 As shown, in some specific embodiments, the switching mechanism 3 may also include two outer slide rails 34 and two outer sliders 35. The two outer slide rails 34 are arranged along the length of the connecting beam 12 and are fixed at intervals on the outer side of the outer fixed plate 21 along the height of the connecting beam 12. The outer slot 211 is located between the two outer slide rails 34. The two outer sliders 35 are fixed at intervals on the inner side of the outer moving plate 32 and slide on the two outer slide rails 34 respectively.

[0041] like Figure 4 and Figure 6As shown, in some specific embodiments, a locking mechanism 4 may also be included. The locking mechanism 4 includes an inner fixed plate 41, an inner movable plate 42, and a clutch 43. The inner fixed plate 41 is fixed to the frame 11 on the inner side of the upper frame 23 and the lower frame 24, and has an inner strip hole 411 arranged along the height direction of the connecting beam 12. The inner movable plate 42 is located parallel to the inner side of the inner fixed plate 41 and has a through hole 421 arranged opposite to the inner strip hole 411. The clutch 43 is fixed to the inner side of the inner movable plate 42. The other end of the rotating shaft 31 passes through the inner strip hole 411 and the through hole 421 in sequence and is inserted into the clutch 43 to lock the rotating shaft 31 when the clutch 43 is engaged, preventing the rotating shaft 31 from continuing to rotate and restricting the rotating shaft 31 from rolling in the curved hole 321, the straight hole 322, and the expanded diameter hole 323. The bottom end of the lower shock absorber 22 is fixed to the inner fixed plate 41.

[0042] like Figure 4 and Figure 6 As shown, in some specific embodiments, the clutch 43 may include a clutch fixing part 431, a clutch engaging part 432, and a clutch plate 433. The clutch fixing part 431 is fixed to the inner side of the inner moving plate 42; the clutch engaging part 432 can engage with the inner side of the clutch fixing part 431; the clutch plate 433 is fixed to the inner side of the clutch engaging part 432; the other end of the rotating shaft 31 passes through the clutch fixing part 431 and the clutch engaging part 432 in sequence and is fixed on the clutch plate 433, so that after the clutch engaging part 432 engages with the clutch fixing part 431, the rotating shaft 31 is prevented from continuing to rotate, and the rotating shaft 31 is restricted to roll in the curved hole 321, the straight hole 322, and the expanded diameter hole 323.

[0043] like Figure 6 As shown, in some specific embodiments, the locking mechanism 4 may also include two inner slide rails 44 and two inner sliders. The two inner slide rails 44 are arranged along the height direction of the connecting beam 12 and are fixed at intervals along the length direction of the connecting beam 12 on the inner side of the inner fixed plate 41. The two inner sliders are respectively fixed on the outer side of the inner moving plate 42 and slide on the two inner slide rails 44 respectively.

[0044] like Figure 3 and Figure 6 As shown, in some specific embodiments, a dustproof plate 5 may also be included. The dustproof plate 5 is located outside the outer moving plate 32 and has a dustproof hole 51 thereon. One end of the rotating shaft 31 that passes through the curved hole 321, the straight hole 322 or the enlarged diameter hole 323 extends out of the dustproof hole 51.

[0045] like Figure 2As shown, in some specific embodiments, a steering and traveling mechanism 6 may also be included. The steering and traveling mechanism 6 includes four steering motors 61, four steering wheel frames 62, and four traveling motors 63. The fixed ends of the four steering motors 61 are respectively fixed to the two ends of the two swing arms 13, and their output shafts rotate about the height direction of the swing arms 13. The four steering wheel frames 62 are respectively fixed on the output shafts of the four steering motors 61. The four traveling motors 63 are respectively fixed on the four steering wheel frames 62, and their output shafts rotate about the length direction of the swing arms 13. The four wheels 15 are respectively connected to the output shafts of the four traveling motors 63.

[0046] like Figure 1 As shown, in some specific embodiments, a scientific payload 7 may also be included, which is fixed to the frame 11.

[0047] like Figure 1 As shown, in some specific embodiments, a sensor 8 may also be included, which is fixed at the front end of the scientific payload 7 in the direction of travel.

[0048] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A high-speed unmanned Mars rover with active suspension mode switching, characterized in that, The utility model relates to a walking frame (1) and a suspension (2) and a switching mechanism (3), the walking frame (1) includes frame (11), connecting beam (12), two swing arms (13) and two connecting rods (14), two swing arms (13) are rotated in the frame (11) direction of travel respectively with the frame (11) direction of travel as the axis in the both ends and rotate the wheel (15) in both ends, the connecting beam (12) is arranged on the frame (11) one side above in the frame (11) direction of travel, the top end of two connecting rods (14) is rolled in the connecting beam (12) both ends through the ball pin universal and the bottom end is rolled in the both ends of two swing arms (13) through the ball pin universal, the suspension (2) includes outer fixed plate (21) and lower shock absorber (22), the upper end and the lower end of connecting beam (12) are oppositely fixed with upper frame (23) and lower frame (24), the outer fixed plate (21) is fixed on the frame (11) with the upper frame (23) and the lower frame (24) outside and is equipped with the outer strip hole (211) along the height direction of connecting beam (12) on it, the top end of lower shock absorber (22) is connected on the lower frame (24) and the bottom end is fixed on the outer fixed plate (21), the switching mechanism (3) includes rotating shaft (31), outer moving plate (32) and executor (33), the rotating shaft (31) is vertically rotated on the upper frame (23) and one end is movably passed through the outer strip hole (211), the fixed end of executor (33) is fixed on the outer side of outer fixed plate (21) and the execution end is reciprocatingly movable along the length direction of connecting beam (12), the outer moving plate (32) is fixed on the execution end of executor (33) and is equipped with curve hole (321), straight hole (322) and expansion diameter hole (323) arranged along the length direction of connecting beam (12) and sequentially communicated on it, so that the rotating shaft (31) is switched to roll in the curve hole (321), the straight hole (322) and the expansion diameter hole (323) with the execution end of executor (33) activity, the suspension (2) further includes upper shock absorber (25), the upper frame (23) is equipped with the shaft hole arranged oppositely with the outer strip hole (211) and is further equipped with the upper strip hole (231) arranged along the height direction of connecting beam (12) on it, the lower frame (24) is equipped with the lower strip hole (241) arranged along the height direction of connecting beam (12) on it, the middle part of rotating shaft (31) is rotated in the shaft hole and one end passing through the outer strip hole (211) is switched to roll in the curve hole (321), the straight hole (322) and the expansion diameter hole (323), the top end of lower shock absorber (22) is slid in the lower strip hole (241), the bottom end of upper shock absorber (25) is slid in the upper strip hole (231) and the top end is fixed on the outer fixed plate (21). ​ ​ ​ 2. The high-speed unmanned Mars rover with active switching of suspension modes according to claim 1, characterized in that ​ 3. The high-speed unmanned Mars rover with active suspension mode switching according to claim 1, characterized in that, The switching mechanism (3) further comprises two outer sliding rails (34) and two outer sliding blocks (35), the two outer sliding rails (34) are arranged along the length direction of the connecting beam (12) and are fixed on the outer side of the outer fixed plate (21) in the height direction of the connecting beam (12); the outer strip hole (211) is located between the two outer sliding rails (34); the two outer sliding blocks (35) are fixed on the inner side of the outer movable plate (32) and slide on the two outer sliding rails (34) respectively.

4. The high-speed unmanned Mars rover with active suspension mode switching according to claim 1, characterized in that, Further comprising a locking mechanism (4), the locking mechanism (4) comprises an inner fixed plate (41), an inner movable plate (42) and a clutch (43), the inner fixed plate (41) is fixed on the vehicle frame (11) corresponding to the inner side of the upper frame (23) and the lower frame (24) and is provided with an inner strip hole (411) arranged in the height direction of the connecting beam (12); the inner movable plate (42) is located parallel to the inner side of the inner fixed plate (41) and is provided with a through hole (421) arranged opposite to the inner strip hole (411); the clutch (43) is fixed on the inner side of the inner movable plate (42); the other end of the rotating shaft (31) is inserted into the clutch (43) through the inner strip hole (411) and the through hole (421) in sequence, so as to lock the rotating shaft (31) with the clutch (43), prevent the rotating shaft (31) from continuing to rotate, and limit the rolling of the rotating shaft (31) in the curve hole (321), the straight line hole (322) and the expanding diameter hole (323); the bottom end of the lower shock absorber (22) is fixed on the inner fixed plate (41).

5. The high-speed unmanned Mars rover with active suspension mode switching according to claim 4, characterized in that, The clutch (43) comprises a clutch fixing part (431), a clutch suction part (432) and a clutch plate (433), the clutch fixing part (431) is fixed on the inner side of the inner movable plate (42); the clutch suction part (432) can be suctioned on the inner side of the clutch fixing part (431); the clutch plate (433) is fixed on the inner side of the clutch suction part (432); the other end of the rotating shaft (31) is fixed on the clutch plate (433) through the clutch fixing part (431) and the clutch suction part (432) in sequence, so as to prevent the rotating shaft (31) from continuing to rotate and limit the rolling of the rotating shaft (31) in the curve hole (321), the straight line hole (322) and the expanding diameter hole (323) after the clutch suction part (432) is suctioned on the clutch fixing part (431).

6. The high-speed unmanned Mars rover with active suspension mode switching according to claim 4, characterized in that, The locking mechanism (4) further comprises two inner sliding rails (44) and two inner sliding blocks, the two inner sliding rails (44) are arranged in the height direction of the connecting beam (12) and are fixed on the inner side of the inner fixed plate (41) in the length direction of the connecting beam (12); the two inner sliding blocks are fixed on the outer side of the inner movable plate (42) and slide on the two inner sliding rails (44) respectively.

7. The high-speed unmanned Mars rover with active suspension mode switching according to claim 1, characterized in that, It also includes a dustproof plate (5) located outside the outer moving plate (32) and provided with a dustproof hole (51) on it; one end of the rotating shaft (31) extends out of the dustproof hole (51) through the curved hole (321), the straight hole (322) or the expanded diameter hole (323).

8. The high-speed unmanned Mars rover with active suspension mode switching according to claim 1, characterized in that, It also includes a steering walking mechanism (6) comprising four steering motors (61), four steering wheel frames (62) and four walking motors (63), the fixed ends of the four steering motors (61) are fixed at the two ends of the two swing arms (13) respectively and the output shafts thereof rotate around the height direction of the swing arms (13) as the axis; the four steering wheel frames (62) are fixed on the output shafts of the four steering motors (61) respectively; the four walking motors (63) are fixed on the four steering wheel frames (62) respectively and the output shafts thereof rotate around the length direction of the swing arms (13) as the axis; the four wheels (15) are drivingly connected with the output shafts of the four walking motors (63) respectively.

9. The high-speed unmanned Mars rover with active suspension mode switching according to claim 1, characterized in that, It also includes a scientific load (7) fixed on the vehicle frame (11).

10. The high-speed unmanned Mars rover with active suspension mode switching according to claim 9, characterized in that, It also includes a sensor (8) fixed at the front end of the scientific load (7) in the traveling direction.

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