Active Swing Arm Lunar Rover

Abstract

The present invention provides an active swing arm type planetary car, which relates to the field of planetary car technology. The active swing arm type planetary car includes a car body, on which a differential, two half-axles, four swing arm assemblies, four wheels and two first motors are arranged. The differential is respectively connected to the two half-axles in a transmission manner, and the four wheels are distributed on the periphery of the car body. The four swing arm assemblies are arranged in a one-to-one correspondence with the four wheels, and one end of the swing arm assembly is connected to the corresponding wheel. The two half-axles extend from the car body and are respectively connected to two of the four swing arm assemblies in a transmission manner. The two first motors are respectively connected to the other two of the four swing arm assemblies in a driving manner to drive the swing arm assembly to rotate around the axis of the hinge between the swing arm assembly and the car body. The arrangement of the four wheels can reduce the number of wheels of the active swing arm type planetary car; the differential and the two first motors can combine the active control of the car body posture with the passive control, thereby improving the control efficiency of the body posture of the active swing arm type planetary car.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary vehicles, and in particular to an active swing arm type planetary vehicle. Background Art

[0002] The terrain structure of the planet surface is complex and rugged, and there are many obstacles on the planet surface, which requires the planetary car to patrol stably and reliably. The existing planetary car suspension structure is a six-wheel rocker arm connected by a differential, which results in a large number of wheels that need to be coordinated and controlled by the planetary car, and the coordinated movement is cumbersome. In addition, since the six-wheel rocker arm solution adopts passive attachment suspension, it is impossible to actively control the body posture of the planetary car, and the control efficiency is low. Summary of the invention

[0003] The problem solved by the invention is: how to improve the control efficiency of the body posture of the planetary rover.

[0004] To solve the above problems, the present invention provides an active swing arm type planetary car, including a car body, on which a differential, two half-axles, four swing arm assemblies, four wheels and two first motors are arranged, the differential is respectively connected to the two half-axles in driving connection, the four wheels are distributed on the circumference of the car body, the four swing arm assemblies are arranged in a one-to-one correspondence with the four wheels, one end of the swing arm assembly is connected to the corresponding wheel, and the other end is hinged to the car body, the two half-axles extend from the car body and are respectively connected to two of the four swing arm assemblies in driving connection, the two first motors are respectively connected to the other two of the four swing arm assemblies in driving connection to drive the swing arm assembly to rotate around the axis of the hinge between the swing arm assembly and the car body.

[0005] Optionally, the two half-axles are respectively drivingly connected to the two swing arm assemblies corresponding to the two wheels on the front side of the vehicle body, and the two first motors are respectively drivingly connected to the two swing arm assemblies corresponding to the two wheels on the rear side of the vehicle body.

[0006] Optionally, the differential includes two first bevel gears and one second bevel gear, the two first bevel gears are arranged opposite to each other and are both drivingly connected to the second bevel gear, and the two first bevel gears are respectively drivingly connected to the two half-shafts.

[0007] Optionally, the active swing arm type planetary car also includes a second motor, the differential also includes a housing, the second bevel gear is arranged on the housing, the second motor is drivingly connected to the housing, and the second motor drives the second bevel gear and the two first bevel gears to rotate around the half-shaft axis through the housing.

[0008] Optionally, the active swing-arm type lunar rover further includes a driven gear and a driving gear. The driven gear is arranged on the housing, and the driving gear is arranged on the second motor. The driving gear and the driven gear are in transmission connection.

[0009] Optionally, the four-wheel lunar rover further includes four suspensions. The four suspensions are respectively connected to the four swing-arm assemblies in one-to-one correspondence. One end of each suspension is connected to a wheel, and the other end extends above the wheel and is connected to the swing-arm assembly.

[0010] Optionally, the suspension includes a first rod, a second rod, and a third rod. The first rod is located above the wheel and is arranged parallel to the third rod. The second rod is respectively connected to the first rod and the third rod. The first rod is connected to the swing-arm assembly, and the third rod is connected to the wheel.

[0011] Optionally, the first rod, the second rod, and the third rod are integrally formed.

[0012] Optionally, the swing-arm assembly includes a connecting rod and two connecting pieces respectively arranged at both ends of the connecting rod. One of the swing-arm assemblies connected to the half shaft is sleeved on the half shaft, and the other connecting piece is connected to the first rod.

[0013] Optionally, the axes of the two connecting pieces are perpendicular to each other.

[0014] Compared with the prior art, the active swing-arm type lunar rover of the present invention reduces the number of wheels of the active swing-arm type lunar rover through the arrangement of four wheels. After the differential is respectively connected to the two half shafts, the two half shafts are connected to two of the four wheels through two of the four swing-arm assemblies. The setting of the differential enables the swing-arm assemblies connected to the two half shafts to rotate synchronously and reversely relative to the carriage. Then, two first motors are respectively drivingly connected to the other two of the four swing-arm assemblies and respectively drive the swing-arm assemblies to rotate around the axis of the hinge joint between the swing-arm assembly and the carriage. The two first motors respectively adjust the positions of the two swing-arm assemblies connected to the two first motors, so that the two swing-arm assemblies connected to the two first motors can respectively actively adjust the positions of the wheels under the drive of the two first motors. In this way, the differential and the two first motors respectively realize the passive regulation and active regulation of the positions of the four swing-arm assemblies. Compared with the prior art, while reducing the number of wheels of the lunar rover, it can also combine the active regulation and passive regulation of the carriage attitude, thereby simplifying the adjustment process of the carriage and further improving the body attitude regulation efficiency of the active swing-arm type lunar rover. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of the active swing-arm type lunar rover in an embodiment of the present invention;

[0016] Figure 2 This is the top view of the active swing arm type lunar rover in the embodiment of the present invention;

[0017] Figure 3 This is the structural schematic diagram of the swing arm assembly in the embodiment of the present invention;

[0018] Figure 4 This is the schematic diagram of the regulation principle of the active swing arm type lunar rover in the embodiment of the present invention.

[0019] Explanation of the reference numerals:

[0020] 1 - carriage; 2 - second motor; 3 - differential; 31 - housing; 32 - first bevel gear; 33 - second bevel gear; 4 - half shaft; 5 - swing arm assembly; 51 - connecting member; 52 - connecting rod; 6 - suspension; 61 - first rod; 62 - second rod; 63 - third rod; 7 - wheel; 8 - first motor. Detailed implementation manners

[0021] To make the above - mentioned objects, features and advantages of the present invention more obvious and understandable, the following describes the specific embodiments of the present invention in detail with reference to the drawings.

[0022] In the description of the present invention, it should be noted that, unless otherwise clearly defined and limited, the terms "mounted", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0023] In the description of this specification, the descriptions referring to terms such as "embodiment", "one embodiment", "some embodiments", "exemplarily" and "one embodiment" etc. mean that the specific features, structures, materials or characteristics described in connection with the embodiment or embodiment are included in at least one embodiment or embodiment of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or embodiment. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or embodiments in a suitable manner.

[0024] The terms "first", "second" etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one of such features.

[0025] In the accompanying drawings, the Z axis represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis (that is, the direction of the arrow of the Z axis) represents the top, and the negative direction of the Z axis (that is, the direction opposite to the positive direction of the Z axis) represents the bottom; the X axis in the accompanying drawings represents the horizontal direction and is designated as the front and back position, and the positive direction of the X axis (that is, the direction of the arrow of the X axis) represents the back side, and the negative direction of the X axis (that is, the direction opposite to the positive direction of the X axis) represents the front side; the Y axis in the accompanying drawings represents the left and right position, and the positive direction of the Y axis (that is, the direction of the arrow of the Y axis) represents the left, and the negative direction of the Y axis (that is, the direction opposite to the positive direction of the Y axis) represents the back side; it should be noted that the aforementioned Z axis, Y axis and X axis are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to the present invention.

[0026] Combination Figures 1 to 4 As shown, an embodiment of the present invention provides an active swing arm type planetary car, including a car body 1, on which a differential 3, two half shafts 4, four swing arm assemblies 5, four wheels 7 and two first motors 8 are arranged, the four wheels 7 are distributed on the peripheral side of the car body 1, the four swing arm assemblies 5 are arranged in a one-to-one correspondence with the four wheels 7, one end of the swing arm assembly 5 is connected to the corresponding wheel 7, and the other end is hinged to the car body 1, the two half shafts 4 extend from the car body 1, and are respectively connected to two of the four swing arm assemblies 5 in a transmission connection, and the two first motors 8 are respectively connected to the other two of the four swing arm assemblies 5 in a driving connection to drive the swing arm assembly 5 to rotate around the axis of the hinge between the swing arm assembly 5 and the car body 1.

[0027] Specifically, the side of the carriage 1 facing the positive X-axis is the front side of the carriage, the side of the carriage 1 facing the positive Y-axis is the left side of the carriage, the length direction of the carriage 1 is consistent with the X-axis, and the width direction of the carriage 1 is consistent with the Y-axis. The four wheels 7 are symmetrically arranged in pairs on the periphery of the carriage 1. The four swing arm assemblies 5 are located between the four wheels 7 and the carriage 1. The carriage 1 includes a lower sidewall (negative Z-axis), a left sidewall (positive Y-axis), and a right sidewall (negative Y-axis). The two half shafts 4 and the two first motors 8 are both installed on the lower sidewall of the carriage 1. The two half shafts 4 extend out of the carriage 1. Two of the four wheels 7 are located on the left side of the left sidewall, and the other two of the four wheels 7 are located on the right side of the right sidewall. After the two swing arm assemblies 5 on the left side of the carriage 1 are respectively rotatably connected to the corresponding wheels 7, the other ends of the two swing arm assemblies 5 on the left side of the carriage 1 are hinged to the left sidewall of the carriage 1; after the two swing arm assemblies 5 on the right side of the carriage 1 are respectively rotatably connected to the corresponding wheels 7, the other ends of the two swing arm assemblies 5 on the right side of the carriage 1 are hinged to the right sidewall of the carriage 1. The two second motors 8 are respectively drivingly connected to two of the four swing arm assemblies 5. The two swing arm assemblies 5 corresponding to the two second motors 8 can rotate upward or downward relative to the carriage 1 under the drive of the corresponding second motors 8. The differential 3 is respectively drivingly connected to the two half shafts 4. The two half shafts 4 are respectively drivingly connected to the other two of the four swing arm assemblies 5. Under the drive of the differential 3, the two swing arm assemblies 5 connected to the two half shafts 4 can rotate in opposite directions. For example, when one of the two wheels 7 corresponding to the two swing arm assemblies 5 respectively corresponding to the two second motors 8 encounters an obstacle, the swing arm assembly 5 corresponding to the wheel 7 corresponding to the obstacle can rotate under the drive of the corresponding second motor 8 to actively adjust the position of the corresponding wheel 7; when one of the two wheels 7 corresponding to the two swing arm assemblies 5 respectively corresponding to the two half shafts 4 encounters an obstacle, the wheel 7 corresponding to the obstacle drives the corresponding swing arm assembly 5 to rotate upward under the influence of the obstacle, and then drives the corresponding half shaft 4 to rotate clockwise. At the same time, the differential 3 causes the other half shaft 4 to rotate counterclockwise, and then causes the swing arm assembly 5 corresponding to the other half shaft 4 to rotate downward to attach the corresponding wheel 7 to the surface of the planet.

[0028] Therefore, in this embodiment, four wheels 7 are distributed around the circumference of the carriage 1 to reduce the number of wheels 7 of the active swing-arm type lunar rover. After the differential 3 is respectively connected to the two half shafts 4, the two half shafts 4 are connected to two of the four wheels 7 through two of the four swing-arm assemblies 5. The differential 3 is arranged such that the swing-arm assemblies 5 connected to the two half shafts 4 can rotate synchronously and reversely relative to the carriage 1. Then, two first motors 8 are respectively drivingly connected to the other two of the four swing-arm assemblies 5 and respectively drive the swing-arm assemblies 5 to rotate around the axis of the hinge joint between the swing-arm assemblies 5 and the carriage 1. The two first motors 8 respectively adjust the positions of the two swing-arm assemblies 5 connected to the two first motors 8, so that the two swing-arm assemblies 5 connected to the two first motors 8 can actively adjust the positions of the wheels 7 respectively under the drive of the two first motors 8. In this way, the differential 3 and the two first motors 8 respectively realize the passive regulation and active regulation of the positions of the four swing-arm assemblies 5. Compared with the prior art, while reducing the number of wheels 7 of the lunar rover, the active regulation and passive regulation of the attitude of the carriage 1 can be combined, thereby simplifying the adjustment process of the carriage 1 and further improving the body attitude regulation efficiency of the active swing-arm type lunar rover.

[0029] Optionally, as shown in Figure 1 two half shafts 4 are respectively drivingly connected to two swing-arm assemblies 5 corresponding to two wheels 8 on the front side of the carriage, and two first motors 8 are respectively drivingly connected to two swing-arm assemblies 5 corresponding to two wheels 7 on the rear side of the carriage.

[0030] Specifically, the two half shafts 4 are arranged at intervals on the lower side wall of the carriage 1 coaxially, and the two ends of the two half shafts 4 facing away from each other extend out from the left side wall and the right side wall of the carriage 1 respectively, and are rotatably connected to the left side wall and the right side wall respectively. Two of the four swing arm assemblies 5 located at the front side (negative X-axis direction) of the carriage are respectively connected to the two half shafts 4, and one end of the four swing arm assemblies 5 facing the carriage 1 is hinged to the left side wall and the right side wall of the carriage 1. One end of the four swing arm assemblies 5 facing the wheels 7 is rotatably connected to the corresponding wheels 7 respectively. The differential 3 is located between the two half shafts 4, and the two ends of the two half shafts 4 facing each other are both drivingly connected to the differential 3. The two first motors 8 are mounted on the lower side wall of the carriage 1 through motor mounts, and the two first motors 8 respectively drive and are connected to the two swing arm assemblies 5 located at the rear side of the carriage, and respectively drive the two swing arm assemblies 5 located at the rear side of the carriage to rotate around the axis of the half shaft 4. When the wheel 7 located at the right front side of the carriage (the wheel 7 located in the negative X-axis and negative Y-axis directions) is affected by an obstacle and moves upward, causing the rear side of the carriage to shift upward, the wheel 7 drives the right front swing arm assembly 5 to rotate upward, and then causes the half shaft 4 on the right front side to rotate. Under the action of the differential 3, the half shaft 4 on the left front side of the carriage (the half shaft 4 located in the negative X-axis and positive Y-axis directions) rotates counterclockwise, and causes the swing arm assembly 5 on the left front side of the carriage to rotate counterclockwise, so that the left side of the carriage is lifted to the same height as the right side of the carriage. At the same time, the two first motors 8 respectively drive the two wheels 7 to move forward to the front side of the carriage through the two swing arm assemblies 5, so as to adjust the heights of the front side and the rear side of the carriage to be the same, and make the two wheels 7 on the rear side of the carriage completely adhere to the surface of the planet. When the wheel 7 located at the left rear side of the carriage (the wheel 7 located in the positive X-axis and negative Y-axis directions) is affected by an obstacle and causes the left side of the carriage to shift upward, the first motor 8 on the left rear side of the carriage drives the left rear wheel 7 to move upward through the swing arm assembly 5 on the left rear side of the carriage, so as to reduce the height of the left rear side of the carriage, so as to adjust the height of the left side of the carriage 1 to be the same as the height of the right side of the carriage 1.

[0031] In this way, by drivingly connecting the two half shafts 4 to the two swing arm assemblies 5 corresponding to the two wheels 7 on the front side of the carriage respectively, the two half shafts 4 can realize synchronous reverse rotation of the two swing arm assemblies 5 on the front side of the carriage. Then, by drivingly connecting the two first motors 8 to the two swing arm assemblies 5 corresponding to the two wheels 7 on the rear side of the carriage respectively, the two first motors 8 can respectively realize rotation of the two swing arm assemblies 5 on the rear side of the carriage. In this way, the driving connection between the two half shafts 4 and the corresponding swing arm assemblies 5 is simplified, thereby reducing the complexity of the transmission structure and facilitating the improvement of the transmission efficiency.

[0032] Optionally, as shown in Figure 1 and Figure 4 , the differential 3 includes two first bevel gears 32 and a second bevel gear 33. The two first bevel gears 32 are arranged oppositely and are both drivingly connected to the second bevel gear 33. The two first bevel gears 32 are respectively drivingly connected to the two half shafts 4.

[0033] Specifically, two first bevel gears 32 are respectively sleeved on the axially ends of two half shafts 4 facing each other through keys. The second bevel gears 33 are respectively meshed with the two first bevel gears 32. The second bevel gears 33 can be connected to the lower side wall of the carriage 1 in the form of a rotating shaft or the like and can rotate around their own axes. When the first bevel gear 32 located in the negative direction of the Y-axis rotates clockwise, the second bevel gear 33 rotates counterclockwise. Under the rotation of the second bevel gear 33, the first bevel gear 32 located in the positive direction of the Y-axis rotates counterclockwise.

[0034] In this way, through a second bevel gear 33 being respectively in transmission connection with two first bevel gears 32, and the two first bevel gears 32 being respectively in transmission connection with two half shafts 4, only by connecting the three bevel gears to each other can the two half shafts 4 rotate synchronously and in opposite directions, thereby simplifying the internal transmission gear set of the differential 3 to improve the transmission efficiency of the differential 3, and further improving the control efficiency of the rotation of the two half shafts 4.

[0035] Optionally, as shown in Figure 1 the four-wheel lunar rover further includes a second motor 2. The differential 3 further includes a housing 31. The second bevel gear 33 is arranged on the housing 31. The second motor 2 is drivingly connected to the housing 31. The second motor 2 drives the second bevel gear 33 and two first bevel gears 32 to rotate around the axis of the half shaft 4 through the housing 31.

[0036] Specifically, the second motor 2 is mounted on the lower side wall of the carriage 1 through a motor base. The second motor 2 can be drivingly connected to the housing 31 in forms such as chain drive or belt drive. The second bevel gear 33 can be mounted in the housing 31 through a rotating shaft. The two first bevel gears 32 are also located in the housing 31. The left and right sides of the housing 31 are respectively rotatably connected to the two half shafts 4. When the second motor 2 drives the housing 31 to rotate around the axis of the half shaft 4, since both of the two first bevel gears 32 mesh with a second bevel gear 33 in the housing 31, when the housing 31 rotates, the housing 31 drives the second bevel gear 33 to rotate synchronously. The two first bevel gears 32 are driven by the second bevel gear 33 to rotate synchronously around the axis of the half shaft 4. That is, the second motor 2 realizes the overall rotation of the housing 31 and a second bevel gear 33 and two first bevel gears 32 inside it around the rotating shaft 4. The two half shafts 4 are respectively drivingly connected to the corresponding two first bevel gears 32, and the two first bevel gears 32 can respectively cause the corresponding two half shafts 4 to rotate synchronously around their own axes. Taking the front side of the carriage 1 as an example, when any one of the two wheels 7 on the front side of the carriage is lifted due to being affected by an obstacle, resulting in the front side of the carriage being higher than the rear side of the carriage. At this time, the two first motors 8 are in an unstarted state, and the second motor 2 drives the housing 31 and the two half shafts 4 to rotate clockwise, so that the two swing arm assemblies 5 on the front side of the carriage rotate forward, thereby realizing the lowering of the front side of the carriage and further realizing the leveling of the carriage 1. Taking the rear side of the carriage as an example, when any one of the two wheels 7 located on the rear side of the carriage is affected by an obstacle, the two first motors 8 respectively drive the two swing arm assemblies 5 on the rear side of the carriage to rotate backward to ensure that the wheels 7 can stably adhere to the surface of the planet. At this time, the rear side of the carriage is higher than the front side of the carriage. At this time, the second motor 2 drives the two swing arm assemblies 5 on the front side of the carriage to rotate backward through the housing 31 and the two half shafts 4, so that the front side of the carriage rises, thereby realizing the adjustment of the position of the carriage 1. Among them, in some embodiments, the transmission form of worm and worm gear can also be adopted. For example, the second motor 2 is drivingly connected to the worm, and the worm gear is connected to the housing 31 through a rotating shaft or other equivalent forms. The second motor 2 drives the worm to rotate, and through the transmission connection between the worm and the worm gear, the worm drives the worm gear and the housing 31 to rotate synchronously.

[0037] Thus, by arranging the second bevel gear 33 on the housing 31, and driving the second bevel gear 33 and the two first bevel gears 31 to rotate around the axis of the half shaft 4 by the housing 31 driven by the second motor 2, after the second motor 2 is driven, the housing 31 drives the second bevel gear 33 to rotate around the axis of the half shaft 4, and the second bevel gear 33 drives the two first bevel gears 32 to rotate synchronously around the axis of the half shaft 4. Thus, the housing 31 and the two half shafts 4 rotate synchronously around the axis of the half shaft 4, and further realize the rotation of the differential 3 as a whole around the half shaft 4. In this way, when the carriage 1 needs to descend, the two first motors 8 respectively drive the two rear swing arm assemblies 5 connected thereto to rotate counterclockwise, so that the two rear swing arm assemblies 5 of the carriage rotate outward relative to the carriage 1 to lower the rear end of the carriage 1. At the same time, the second motor 2 drives the housing 31 and the two half shafts 4 to rotate clockwise around the axis of the half shaft 4, and further drives the two front swing arm assemblies 5 of the carriage connected to the two half shafts 4 to rotate clockwise, so that the two front swing arm assemblies 5 of the carriage rotate outward relative to the carriage 1 to lower the front end of the carriage 1, and further realize the overall lowering of the carriage 1; when the carriage 1 needs to rise, the second motor 2 drives the corresponding two front swing arm assemblies 5 of the carriage to rotate counterclockwise, and the two first motors 8 drive the corresponding two rear swing arm assemblies 5 of the carriage to rotate clockwise. In this way, through the mutual cooperation of the second motor 2 and the two first motors 8, the lifting position of the carriage 1 can be adjusted, and the efficiency of adjusting the position of the carriage 1 can be improved.

[0038] Optionally, as shown in Figure 1 the active swing arm type lunar rover further includes a driven gear and a driving gear. The driven gear is arranged on the housing 31, the driving gear is arranged on the second motor 2, and the driving gear and the driven gear are in transmission connection.

[0039] Specifically, the driving gear is installed on the output shaft of the second motor 2 by key connection, and the driven gear is installed on the housing 31 by key connection. Among them, the driven gear can also be integrally formed with the housing 31. The second motor 2 realizes the rotation of the housing 31 through the driven gear and the driving gear.

[0040] Thus, after the driven gear and the driving gear are in transmission connection and are respectively arranged on the housing 31 and the second motor 2, in this way, after the second motor 2 is started, compared with chain drive or belt drive, the driven gear and the driving gear are in transmission connection, improving the stability of the second motor 2 driving the housing 31 to rotate.

[0041] Optionally, as shown in Figure 1 and Figure 3 the active swing arm type lunar rover further includes four suspensions 6. The four suspensions 6 are respectively connected to the four swing arm assemblies 5 in one-to-one correspondence, and one end of the suspension 6 is connected to the wheel 7, and the other end extends above the wheel 7 and is connected to the swing arm assembly 5.

[0042] Specifically, the four suspensions 6 are respectively and correspondingly connected to the four swing arm assemblies 5. The lower end (the end in the negative Z-axis direction) of the suspension 6 is arranged at the axis position of the wheel 7 and is connected to the wheel 7 through a flange. The upper end (the end in the positive Z-axis direction) of the suspension 6 extends from the wheel 7 and extends in the radial direction of the wheel 7 to directly above the wheel 7, and the upper end of the suspension 6 is connected to the swing arm assembly 5.

[0043] In this way, by respectively and correspondingly connecting the four suspensions 6 to the four swing arm assemblies 5, and one end of the suspension 6 is connected to the wheel 7, and the other end extends above the wheel 7 and is connected to the swing arm assembly 5, the suspension 6 can provide an installation position for the swing arm assembly 5 above the wheel 7. In this way, when the swing arm assembly 5 rotates relative to the carriage 1, the swing arm assembly 5 applies a circumferential force to the suspension 6. Under the action of this circumferential force, the suspension 6 rotates, so as to reduce the movement of the wheel 7 to a certain extent, and the lifting of the carriage 1 can be realized. Especially when the four-wheel lunar rover is in a stationary state, the regulation of the carriage 1 can be realized only by the two first motors 8 and the second motor 2, which is fast and efficient.

[0044] Optionally, as shown in Figure 1 and Figure 3 , the suspension 6 includes a first rod 61, a second rod 62 and a third rod 63. The first rod 61 is located above the wheel 7 and is arranged in parallel with the third rod 63. The second rod 62 is respectively connected to the first rod 61 and the third rod 63, and the first rod 61 is connected to the swing arm assembly 5, and the third rod 63 is connected to the wheel 7.

[0045] Specifically, both the first rod 61 and the third rod 63 extend along the Y-axis. The first rod 61 and the second rod 63 are parallel to each other. The front end of the third rod 63 (i.e., the end of the third rod 63 facing the positive Y-axis direction) is installed at the axis position of the wheel 7 through a flange assembly. The rear end of the third rod 63 (i.e., the end of the third rod 63 facing the negative Y-axis direction) is connected to the lower end of the second rod 62 (i.e., the end of the second rod 62 facing the negative Z-axis direction) by welding. The upper end of the second rod 62 (i.e., the end of the second rod 62 facing the positive Z-axis direction) extends along the positive Z-axis and is connected to the rear end of the first rod 61 (i.e., the end of the first rod 61 facing the negative Y-axis direction) by welding. The front end of the first rod 61 (i.e., the end of the first rod 61 facing the positive Y-axis direction) is connected to the swing arm assembly 5 through fasteners such as bolts.

[0046] In this way, the third rod 63 is connected to the wheel 7, so that under the support of the wheel 7, the third rod 63 can provide a stable supporting force for the second rod 62. Under the action of this supporting force, the stability of the second rod 62 is realized. Generally, after the first rod 61 is connected to the second rod 62, the first rod 61 can be stably connected to the swing arm assembly 5 above the wheel 7 under the support of the second rod 62. Then, since the first rod 61 and the third rod 63 are arranged in parallel, when the swing arm assembly 5 rotates, the swing arm assembly 5 applies a circumferential force to the first rod 61. Under the action of this circumferential force, the first rod 61 rotates relative to the third rod 63 under the support of the second rod 62, thereby realizing the rotation of the suspension 6 relative to the wheel 7.

[0047] Optionally, as shown in Figure 1 and Figure 3 , the first rod 61, the second rod 62 and the third rod 63 are integrally formed. In this way, the overall structural strength of the suspension 6 is improved.

[0048] Optionally, as shown in Figure 1 and Figure 3 , the swing arm assembly 5 includes a connecting rod 52 and two connecting members 51 respectively arranged at both ends of the connecting rod 52. One of the connecting members 51 of the swing arm assembly 5 connected to the half shaft 4 is sleeved on the half shaft 4, and the other connecting member 51 is connected to the first rod 61.

[0049] Specifically, both connecting members 51 are arranged in a circular ring structure. One of the two connecting members 51 is sleeved on the shaft end of the half shaft 4 through a key connection, and the other of the two connecting members 51 is connected to the first rod 61 through a bolt fastener. Here, a connection platform matching the shape of the connecting member 51 can be arranged on the first rod 61.

[0050] In this way, since the two connecting members 51 are respectively arranged at both ends of the connecting rod 52, and one of the connecting members 51 of the swing arm assembly 5 connected to the half shaft 4 is sleeved on the half shaft 4, and the other connecting member 51 is connected to the first rod 61, the connecting member 51 connected to the half shaft 4 realizes the synchronous rotation of the connecting rod 52 and the other connecting member 51. During the rotation process, the connecting member 51 connected to the first rod 61 applies a circumferential force to the first rod 61 to realize the rotation of the first rod 61. In this way, not only the rotation of the first rod 61 around the axis of the wheel 7 is realized, but also the structure of the swing arm assembly 5 is simplified, which is convenient for the swing arm assembly 5 to rotate between the carriage 1 and the suspension 6.

[0051] Optionally, as shown in Figure 1 and Figure 3 , the axes of the two connecting members 51 are arranged perpendicular to each other.

[0052] Specifically, considering the relative positional relationship between the wheel 7 and the carriage 1, and the first rod 61 is located above the wheel 7 and arranged parallel to the axis of the wheel 7. If the axes of the two connecting members 51 are both parallel, it will cause inconvenience in connecting the two connecting members 51 to the two first rods 61 respectively.

[0053] In this way, by arranging the axes of the two connecting members 51 perpendicular to each other, it is convenient to realize the connection between the two connecting members 51 and the two first rods 61 respectively.

[0054] Although the present disclosure is disclosed as above, the protection scope of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall within the protection scope of the present invention.

Claims

1. Active swing arm type planetary rover, characterized in that, The invention comprises a carriage (1), wherein the carriage (1) is provided with a differential (3), two half-axles (4), four swing arm assemblies (5), four wheels (7) and two first motors (8), wherein the differential (3) is respectively connected to the two half-axles (4) in a driving manner, and the arrangement of the differential (3) enables the swing arm assemblies (5) connected to the two half-axles (4) to rotate synchronously in the opposite direction relative to the carriage (1); the four wheels (7) are distributed on the periphery of the carriage (1), and the four swing arm assemblies (5) are connected to the first motors (8). The four wheels (7) are arranged in one-to-one correspondence, one end of the swing arm assembly (5) is connected to the corresponding wheel (7), and the other end is hinged to the carriage (1), two half shafts (4) extend from the carriage (1) and are respectively connected to two of the four swing arm assemblies (5) in a driving manner, and two of the first motors (8) are respectively connected to the other two of the four swing arm assemblies (5) in a driving manner to drive the swing arm assembly (5) to rotate around an axis at a hinge between the swing arm assembly (5) and the carriage (1).

2. The active swing arm type lunar rover according to claim 1, characterized in that, The two half-axles (4) are respectively connected in driving connection with the two swing arm assemblies (5) corresponding to the two wheels (7) at the front side of the carriage, and the two first motors (8) are respectively connected in driving connection with the two swing arm assemblies (5) corresponding to the two wheels (7) at the rear side of the carriage.

3. The active swing arm type planet rover according to claim 1, characterized in that, The differential (3) comprises two first bevel gears (32) and a second bevel gear (33); the two first bevel gears (32) are arranged opposite to each other and are both drivingly connected to the second bevel gear (33); and the two first bevel gears (32) are respectively drivingly connected to the two half shafts (4).

4. The active swing arm type planetary rover according to claim 3, characterized in that The differential (3) further comprises a second motor (2), the second bevel gear (33) being arranged on the housing (31), the second motor (2) being drivingly connected to the housing (31), and the second motor (2) driving the second bevel gear (33) and the two first bevel gears (32) to rotate around the axis of the half shaft (4) through the housing (31).

5. The active swing arm type planetary rover according to claim 4, characterized in that It also comprises a driven gear and a driving gear, wherein the driven gear is arranged on the housing (31), the driving gear is arranged on the second motor (2), and the driving gear and the driven gear are in transmission connection.

6. The active swing arm type planet rover according to claim 2, characterized in that, It also includes four suspensions (6), the four suspensions (6) being connected to the four swing arm assemblies (5) in a one-to-one correspondence, and one end of the suspension (6) being connected to the wheel (7), and the other end extending above the wheel (7) and connected to the swing arm assembly (5).

7. The active swing arm type lunar rover according to claim 6, characterized in that, The suspension (6) comprises a first rod (61), a second rod (62) and a third rod (63); the first rod (61) is located above the wheel (7) and is arranged parallel to the third rod (63); the second rod (62) is connected to the first rod (61) and the third rod (63) respectively; the first rod (61) is connected to the swing arm assembly (5); and the third rod (63) is connected to the wheel (7).

8. The active swing arm type lunar rover according to claim 7, wherein The first rod (61), the second rod (62) and the third rod (63) are integrally formed.

9. The active swing arm type planetary rover according to claim 7, characterized in that, The swing arm assembly (5) includes a connecting rod (52) and two connecting members (51) respectively arranged at both ends of the connecting rod (52). One of the connecting members (51) of the swing arm assembly (5) connected to the half shaft (4) is sleeved on the half shaft (4), and the other connecting member (51) is connected to the first rod (61).

10. The active swing arm type planet rover according to claim 9, characterized in that, The axes of the two connecting members (51) are perpendicular to each other.

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