Suspension Structure and Manned Planet Rover

Abstract

The present invention provides a suspension structure and a manned planetary rover. The suspension structure includes a double wishbone, a steering knuckle, an intermediate connection structure, a first shock-absorbing driving mechanism, and a second shock-absorbing driving mechanism; one end of the double wishbone is connected to the steering knuckle, and the other end of the double wishbone is used to be connected to the vehicle frame through the intermediate connection structure. The double wishbone has a degree of freedom of up-and-down swing relative to the vehicle frame, and the intermediate connection structure has a degree of freedom of front-and-back rotation relative to the vehicle frame; the first shock-absorbing driving mechanism is connected to the double wishbone to drive the double wishbone to swing up and down and perform shock absorption for the up-and-down swing of the double wishbone; the second shock-absorbing driving mechanism is used to be connected to the intermediate connection structure and the vehicle frame respectively to drive the intermediate connection structure to rotate back and forth and perform shock absorption for the front-and-back rotation of the intermediate connection structure. The suspension structure of the present invention can be actively adjusted according to the passing needs of various terrains, can improve the passing speed of the manned planetary rover on rough terrains, and can improve the obstacle-crossing ability while taking into account the shock absorption performance requirements.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary vehicles, and more particularly, to a suspension structure and a manned planetary vehicle. Background Art

[0002] The current mobile systems have poor passing ability on rough terrains. For example, the lunar surface is rough and full of obstacles, making it difficult for astronauts to drive a manned planetary vehicle through rough terrains, and it is difficult to balance the requirements for shock absorption performance and obstacle passing ability. Summary of the Invention

[0003] The present invention aims to solve to some extent how to improve the obstacle passing ability of a mobile system while balancing the requirements for shock absorption performance in related technologies.

[0004] To solve the above problems at least to some extent, in a first aspect, the present invention provides a suspension structure, including a double wishbone, a steering knuckle, an intermediate connection structure, a first shock absorption driving mechanism, and a second shock absorption driving mechanism;

[0005] One end of the double wishbone is connected to the steering knuckle, and the other end of the double wishbone is used to be connected to a vehicle frame through the intermediate connection structure. The double wishbone has a degree of freedom of swinging up and down relative to the vehicle frame, and the intermediate connection structure has a degree of freedom of rotating forward and backward relative to the vehicle frame;

[0006] The first shock absorption driving mechanism is connected to the double wishbone to drive the double wishbone to swing up and down and perform shock absorption for the up and down swing of the double wishbone;

[0007] The second shock absorption driving mechanism is used to be connected to the intermediate connection structure and the vehicle frame respectively to drive the intermediate connection structure to rotate forward and backward and perform shock absorption for the forward and backward rotation of the intermediate connection structure.

[0008] Optionally, the suspension structure further includes a steering driving mechanism, one end of the steering driving mechanism is connected to the steering knuckle, and the other end is used to be connected to the vehicle frame.

[0009] Optionally, the steering driving mechanism includes a steering tie rod and a telescopic driving assembly. The telescopic driving assembly is used to be installed on the vehicle frame. One end of the steering tie rod is hinged to the steering knuckle, and the other end is hinged to the output end of the telescopic driving assembly.

[0010] Optionally, the first shock absorption driving mechanism includes a first driving member and a first shock absorber; the first driving member is connected to the intermediate connection structure and is connected to one of the upper wishbone and the lower wishbone of the double wishbone to drive the double wishbone to swing up and down. One end of the first shock absorber is connected to the intermediate connection structure, and the other end is connected to one of the upper wishbone and the lower wishbone of the double wishbone.

[0011] Optionally, the intermediate connection structure includes a first housing for rotatably connecting to the vehicle frame to form the front-back rotational degree of freedom. The first driving member is a first motor installed within the first housing. One end of either the upper arm or the lower arm of the double wishbone that is away from the steering knuckle is rotatably installed at the output end of the first motor. One end of the first shock absorber is hinged to the first housing, and the other end is hinged to the other of the upper arm and the lower arm of the double wishbone.

[0012] Optionally, the second shock-absorbing driving mechanism includes a second driving member, a second shock absorber, and a first swing arm.

[0013] The first swing arm is installed on the intermediate connection structure, and in the up-down direction, the installation position of the first swing arm on the intermediate connection structure is between the upper arm and the lower arm of the double wishbone. The second shock absorber is hinged to the first swing arm and acts on the intermediate connection structure through the first swing arm. The second driving member is drivingly connected to the first swing arm.

[0014] Optionally, the second shock-absorbing driving mechanism further includes a second swing arm. The second driving member is located on the side of the intermediate connection structure away from the steering knuckle. The second driving member is a second motor. The second swing arm is installed at the output end of the second motor. The second swing arm is hinged to the end of the second shock absorber away from the first swing arm.

[0015] Optionally, the second shock-absorbing driving mechanism includes two second shock absorbers. The first swing arm is installed at the middle position in the length direction on the intermediate connection structure. The second swing arm is installed at the middle position in the length direction at the output end of the second motor. The two second shock absorbers are arranged at intervals in the front-back direction. The two ends of the second shock absorber are respectively hinged to the ends of the first swing arm and the second swing arm.

[0016] Optionally, the intermediate connection structure is used to rotatably connect to the vehicle frame through a bearing to form the front-back rotational degree of freedom. A connecting portion is provided on the intermediate connection structure. The extending direction of the connecting portion is at an angle to the up-down direction. The connecting portion is used to rotatably connect to the double wishbone to form the up-down swing degree of freedom.

[0017] And / or, the intermediate connection structure includes a Hooke joint structure at the upper and lower ends in the up-down direction. The Hooke joint structure is used to connect to the vehicle frame to form the front-back rotational degree of freedom, and the Hooke joint structure is also used to connect to the double wishbone to form the up-down swing degree of freedom.

[0018] In a second aspect, the present invention provides a manned planetary rover, including the suspension structure described in the first aspect above.

[0019] Compared with the related prior art, in the suspension structure and manned planetary rover of the present invention, the double fork arm, specifically the upper fork arm and the lower fork arm, can be movably connected to the frame relative to the frame through the intermediate connection structure, the double fork arm has the freedom of up and down swinging relative to the frame, and the intermediate connection structure has the freedom of forward and backward rotation relative to the frame, that is, the upper fork arm and the lower fork arm can swing up and down relative to the frame, and the upper fork arm and the lower fork arm can swing forward and backward relative to the frame as a whole through the forward and backward rotation of the intermediate connection structure. The first damping drive mechanism can drive the upper fork arm and / or the lower fork arm to swing up and down, realize the active adjustment of the ground clearance of the wheel, and can also perform up and down swing damping on the upper fork arm and / or the lower fork arm. The second damping drive mechanism can drive the intermediate connection structure as a whole to drive the upper fork arm and the lower fork arm to rotate forward and backward, so that the wheelbase in the forward and backward direction and / or the track in the left and right direction can be adjusted to a certain extent, and the second damping drive mechanism can be used to reduce the impact or vibration transmitted by the wheel in the forward and backward direction to a certain extent, so that the vibration of the parts on the frame or the occupants can be reduced. A mobile system with the suspension structure of the present invention, such as a manned planetary rover, can achieve structural reconstruction of the suspension structure to a certain extent, can be actively and flexibly adjusted according to the needs of passing various terrains, and can achieve wheeled walking, legged walking and creeping walking. Specifically, wheeled walking is walking in the form of self-driven wheels, during which the wheelbase in the front and rear directions and / or the track in the left and right directions can be adjusted according to driving needs. Legged walking is to drive the upper fork arm and the lower fork arm to move in the up and down directions and to deflect in the front and rear directions through the active action of the first shock-absorbing drive mechanism and the second shock-absorbing drive mechanism, and each wheel can move forward alternately by first leaving the ground and then landing on the ground. For example, in creeping driving, the rear wheels are first locked, and the front and rear drive of the second shock-absorbing drive mechanism and the up and down drive of the first shock-absorbing drive mechanism cooperate with the self-drive of the front wheels to change the wheelbase in the front and rear directions. This change in wheelbase (the wheelbase increases in this process) allows the front wheels to pass through, for example, an obstacle. After the front wheels pass the obstacle, the front wheels are locked and the rear wheels move so that the rear wheels cross the obstacle (the wheelbase decreases in this process). The alternating driving of the front and rear wheels enables the manned planetary rover to have the ability to creep. In this creeping driving mode, the front wheels or the rear wheels can be driven with the help of the active action of the first shock-absorbing drive mechanism and the second shock-absorbing drive mechanism. Compared with relying solely on the self-drive of the wheels, this can enhance the manned planetary rover's obstacle-crossing ability, grade climbing ability and sinking escape ability.In addition, the above-mentioned multiple driving modes can be used flexibly. For example, when the wheel passes over a large obstacle, taking the front wheel as an example, the path of the front wheel passing over the obstacle can be actively adjusted through legged walking (for example, the front wheel can be adjusted from passing over the highest point of the obstacle to passing over the obstacle from a slightly lower position) by yawing forward and backward, and the height difference between the bottom of the wheel and the top surface of the obstacle can be adjusted (for example, the wheel can be actively lifted relative to the vehicle frame by the first shock absorption driving mechanism). That is, the landing point and driving direction of the wheel are adjusted through legged walking, and then the wheeled walking or creeping driving mode is adopted to continue passing over the obstacle. The suspension structure of the present invention can achieve structural reconstruction to a certain extent, can improve the passing speed of the manned planetary rover on rough terrain to a certain extent, and can improve the obstacle crossing ability while taking into account the shock absorption performance requirements. Brief Description of the Drawings

[0020] Figure 1 is a schematic diagram of the mechanism of the suspension structure in an embodiment of the present invention;

[0021] Figure 2 is a schematic diagram of the mechanism of the suspension structure in another embodiment of the present invention;

[0022] Figure 3 is a schematic diagram of the structure of the manned planetary rover in another implementation of the present invention;

[0023] Figure 4 is Figure 3 a partial enlarged view of part A in

[0024] Figure 5 is Figure 3 another schematic diagram of the structure of the manned planetary rover shown in

[0025] Figure 6 is Figure 5 a partial enlarged view of part B in

[0026] Description of the Reference Numerals in the Drawings:

[0027] 1 - double wishbone; 11 - upper wishbone; 12 - lower wishbone; 2 - steering knuckle; 3 - intermediate connection structure; 31 - first housing; 32 - main shaft; 33 - connecting part; 34 - Hooke hinge structure; 4 - first shock absorption driving mechanism; 41 - first driving member; 42 - first shock absorber; 5 - second shock absorption driving mechanism; 51 - second driving member; 52 - second shock absorber; 53 - first swing arm; 54 - second swing arm; 6 - steering driving mechanism; 61 - steering tie rod; 62 - telescopic driving assembly; 621 - third driving member; 622 - gear-rack transmission structure; 7 - vehicle frame; 8 - wheel. Detailed Description of the Embodiment

[0028] To make the above objects, features, and advantages of the present invention more obvious and understandable, the following detailed description will be given to specific embodiments of the present invention with reference to the accompanying drawings.

[0029] 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 up, and the negative direction of the Z-axis (that is, the direction opposite to the positive direction of the Z-axis) represents down; in the accompanying drawings, the X-axis represents the horizontal direction and is specified as the left-and-right position, and the positive direction of the X-axis (that is, the direction of the arrow of the X-axis) represents the right side, and the negative direction of the X-axis (that is, the direction opposite to the positive direction of the X-axis) represents the left side; in the accompanying drawings, the Y-axis represents the front-and-back position, and the positive direction of the Y-axis (that is, the direction of the arrow of the Y-axis) represents the front side, 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; at the same time, it should be noted that the above-mentioned meanings represented by the Z-axis, Y-axis, and X-axis are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying 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. In addition, the "front-and-back direction", "left-and-right direction", and "up-and-down direction" all refer to the directions indicated by the front and back, left and right, and up and down of the vehicle body when the suspension structure is applied to the vehicle body.

[0030] As Figures 1 to 6 shown, an embodiment of the present invention provides a suspension structure, which includes a double-wishbone 1, a knuckle 2, an intermediate connection structure 3, a first shock-absorbing driving mechanism 4, and a second shock-absorbing driving mechanism 5;

[0031] One end of the double-wishbone 1 is connected to the knuckle 2, and the other end of the double-wishbone 1 is used to be connected to the vehicle frame 7 through the intermediate connection structure 3. The double-wishbone 1 has a degree of freedom of up-and-down swing relative to the vehicle frame 7, and the intermediate connection structure 3 has a degree of freedom of front-and-back rotation relative to the vehicle frame 7;

[0032] The first shock-absorbing driving mechanism 4 is connected to the double-wishbone 1 to drive the double-wishbone 1 to swing up and down and damp the up-and-down swing of the double-wishbone 1;

[0033] The second shock-absorbing driving mechanism 5 is used to be connected to the intermediate connection structure 3 and the vehicle frame 7 respectively to drive the intermediate connection structure 3 to rotate back and forth and damp the front-and-back rotation of the intermediate connection structure 3.

[0034] It should be noted that this specification will take the suspension structure used in a manned planetary rover as an example to illustrate the content of the present invention. However, it should be understood that without violating the design concept of the present invention, it can also be used in other occasions and can be used for shock absorption of mobile systems.

[0035] The knuckle 2 is used to mount the wheel 8. The connection mode between the double wishbone 1 and the knuckle 2 adopts related technologies. Specifically, the double wishbone 1 includes an upper wishbone 11 and a lower wishbone 12. Both the upper wishbone 11 and the lower wishbone 12 can swing back and forth and up and down relative to the knuckle 2. For example, refer to Figure 1 and Figure 2 . The intermediate connection structure 3 is rotatably connected to the vehicle frame 7 in the front-rear direction. The upper wishbone 11 is connected to the knuckle 2 through a ball joint P1, and the upper wishbone 11 is connected to the upper end of the intermediate connection structure 3 through a rotating joint R1. The lower wishbone 12 is connected to the knuckle 2 through a ball joint P2, and the lower wishbone 12 is connected to the lower end of the intermediate connection structure 3 through a rotating joint R2.

[0036] It should be noted that since both the upper wishbone 11 and the lower wishbone 12 are connected to the knuckle 2, the first shock absorption driving mechanism 4 is drivingly connected to at least one of the upper wishbone 11 and the lower wishbone 12. For example, it is sufficient to be able to drive the upper wishbone 11 to swing up and down relative to the vehicle frame 7. The first shock absorption driving mechanism 4 is connected to at least one of the upper wishbone 11 and the lower wishbone 12. For example, it is sufficient to be able to damp the up and down swing of the lower wishbone 12.

[0037] The specific structure of the intermediate connection structure 3 is not limited. As long as the whole can rotate relative to the vehicle frame 7 in the front-rear direction, and the upper wishbone 11 and the lower wishbone 12 can swing up and down relative to at least part of the intermediate connection structure 3, it will be exemplarily described later.

[0038] Thus, in this embodiment, the double fork arm 1, specifically the upper fork arm 11 and the lower fork arm 12, can be movably connected to the frame 7 relative to the frame 7 through the intermediate connection structure 3, the double fork arm 1 has the freedom to swing up and down relative to the frame 7, and the intermediate connection structure 3 has the freedom to rotate forward and backward relative to the frame 7, that is, the upper fork arm 11 and the lower fork arm 12 can swing up and down relative to the frame 7, and the upper fork arm 11 and the lower fork arm 12 can swing forward and backward relative to the frame 7 as a whole through the forward and backward rotation of the intermediate connection structure 3. The upper fork arm 11 and / or the lower fork arm 12 can be driven to swing up and down by the first damping drive mechanism 4, so as to realize the active adjustment of the ground clearance of the wheel 8, and the upper fork arm 11 and / or the lower fork arm 12 can also be subjected to the up and down swing damping. The second damping drive mechanism 5 can drive the middle connection structure 3 as a whole to drive the upper fork arm 11 and the lower fork arm 12 to rotate forward and backward, so that the wheelbase in the front-to-back direction and / or the track in the left-to-right direction of the wheel 8 can be adjusted to a certain extent, and the second damping drive mechanism 5 can slow down the impact or vibration transmitted by the wheel 8 in the front-to-back direction to a certain extent, so as to reduce the vibration of the parts or passengers on the frame 7. The mobile system with the suspension structure of the present invention, such as a manned planetary rover, can realize the structural reconstruction of the suspension structure to a certain extent, and can be actively and flexibly adjusted according to the needs of passing through various terrains, and can realize wheeled walking, legged walking and creeping walking. Specifically, wheeled walking is walking in the form of self-driven walking of the wheel 8, and the wheelbase in the front-to-back direction and / or the track in the left-to-right direction can be adjusted according to the needs of driving. Legged walking is to drive the upper fork arm 11 and the lower fork arm 12 to drive the wheel 8 to move in the up-down direction and deflect in the front-to-back direction through the active action of the first damping drive mechanism 4 and the second damping drive mechanism 5, and each wheel 8 can move forward alternately in the way of leaving the ground first and then landing. For example, in creeping driving, the rear wheels are first locked, and the front and rear drives of the second shock-absorbing drive mechanism 5 and the up and down drives of the first shock-absorbing drive mechanism 4 cooperate with the self-drive of the front wheels to change the wheelbase in the front and rear directions. This change in wheelbase (the wheelbase increases in this process) allows the front wheels to pass through, for example, an obstacle. After the front wheels pass the obstacle, the front wheels are locked and the rear wheels move so that the rear wheels cross the obstacle (the wheelbase decreases in this process). The alternating driving of the front and rear wheels enables the manned planetary rover to have the ability to creep. In this creeping driving mode, the front wheels or the rear wheels can be driven with the help of the active actions of the first shock-absorbing drive mechanism 4 and the second shock-absorbing drive mechanism 5. Compared with relying solely on the self-drive of the wheels 8, the manned planetary rover can enhance its obstacle-crossing ability, grade climbing ability and sinking escape ability.In addition, the above-mentioned multiple driving modes can be used flexibly. For example, when the wheel 8 passes a larger obstacle, taking the front wheel as an example, the path of the front wheel passing the obstacle can be actively adjusted by leg-type walking (for example, the front wheel can be adjusted from the highest point of the obstacle to passing the obstacle from a slightly lower position by swinging forward and backward) and the height difference between the bottom of the wheel 8 and the top surface of the obstacle can be adjusted (for example, the first shock-absorbing drive mechanism 4 drives the wheel 8 to actively lift relative to the frame 7), that is, the landing point and driving direction of the wheel 8 are adjusted by leg-type walking, and then the wheel-type walking or creeping driving mode is used to continue to pass the obstacle. The suspension structure of the present invention can achieve structural reconstruction to a certain extent, can improve the travel speed of the manned planetary rover on rugged terrain to a certain extent, and can improve the obstacle crossing ability while taking into account the shock absorption performance requirements.

[0039] like Figure 1 , Figure 2 , Figure 4 and Figure 6 As shown, optionally, the suspension structure further includes a steering drive mechanism 6, one end of which is connected to the steering knuckle 2, and the other end is used to connect to the frame 7. The steering drive mechanism 6 can adopt relevant technologies, one end of which is hinged to the steering knuckle 2, and the other end is installed on the frame 7, and is used to drive the steering knuckle 2 to steer, thereby driving the wheel 8 to steer.

[0040] In this way, the steering drive mechanism 6 can drive the steering knuckle 2 to rotate with the connecting line of the ball joint P1 and the ball joint P2 as the axis, thereby realizing the steering of the wheel 8. The active adjustment of the second shock-absorbing drive mechanism 5 and the steering drive mechanism 6 can be used together to adjust the wheelbase of the wheel 8 in the front and rear directions and / or the track in the left and right directions without changing the driving direction of the wheel 8. When the wheel 8 is blocked by a higher obstacle or stuck in a pit, the first shock-absorbing drive mechanism 4, the second shock-absorbing drive mechanism 5 and the steering drive mechanism 6 can be used together to realize the position adjustment of the wheel 8 in three free directions, specifically, the up and down, front and back and steering position adjustment of the wheel 8 can be realized. The position and posture of the wheel 8 relative to the frame 7 are highly controllable, which can improve the obstacle-crossing ability of the wheel 8. When the wheel 8 sinks, it can be effectively escaped by changing the wheelbase, etc.

[0041] like Figure 4 and Figure 6 As shown, further, the steering drive mechanism 6 includes a steering rod 61 and a telescopic drive assembly 62. The telescopic drive assembly 62 is used to be installed on the frame 7. One end of the steering rod 61 is hinged to the steering knuckle 2, and the other end is hinged to the output end of the telescopic drive assembly 62.

[0042] Exemplarily, the telescopic driving assembly includes a third driving member 621 and a rack and pinion transmission structure 622 drivingly connected to the output end of the third driving member 621. The moving direction of the rack of the rack and pinion transmission structure 622 is consistent with the left-right direction. One end of the steering tie rod 61 is hinged to the steering knuckle 2 to form a ball joint P3, and the other end is hinged to the rack of the rack and pinion transmission structure 622 to form a ball joint P4. A steering knuckle arm can be fixedly arranged on the steering knuckle 2, and the steering tie rod 61 is hinged to the steering knuckle 2 by being hinged to the steering knuckle arm.

[0043] In this way, the telescopic movement of the telescopic driving assembly 62 can be converted into the steering movement of the wheel 8. The structure is simple and practical, and the relatively heavy third driving member 621 can be arranged at the middle position of the vehicle frame 7 in the left-right direction, which can optimize the center of gravity components of the manned planetary vehicle and improve its driving stability.

[0044] Optionally, as Figure 4 and Figure 6 shown, the first shock-absorbing driving mechanism 4 includes a first driving member 41 and a first shock absorber 42; the first driving member 41 is connected to the intermediate connection structure 3 and is connected to one of the upper fork arm 11 and the lower fork arm 12 of the double-wishbone arm 1 to drive the double-wishbone arm 1 to swing up and down. One end of the first shock absorber 42 is connected to the intermediate connection structure 3, and the other end is connected to one of the upper fork arm 11 and the lower fork arm 12 of the double-wishbone arm 1.

[0045] In this way, both the first driving member 41 and the first shock absorber 42 are mounted on the intermediate connection structure 3 instead of directly on the vehicle frame 7. When the second shock-absorbing driving mechanism 5 drives the intermediate connection structure 3 and drives the double-wishbone arm 1 to rotate back and forth, both the first driving member 41 and the first shock absorber 42 rotate synchronously relative to the vehicle frame 7. Without considering other factors, the postures of the first driving member 41 and the second shock absorber 52 relative to the double-wishbone arm 1 remain unchanged, so the interference caused by the rotation of the intermediate connection structure 3 is small, and the structure is simple and practical.

[0046] Further, as Figure 4 and Figure 6 shown, the intermediate connection structure 3 includes a first housing 31. The first housing 31 is used for rotatably connecting to the vehicle frame 7 to form a front-back rotational degree of freedom. The first driving member 41 is a first motor, and the first motor is installed in the first housing 31. One end (such as the upper fork arm 11) of the double-wishbone arm 1 away from the steering knuckle 2 is rotatably mounted on the output end of the first motor; one end of the first shock absorber 42 is hinged to the first housing 31, and the other end is hinged to the other one (such as the lower fork arm 12) of the double-wishbone arm 1.

[0047] Specifically, at this time, the rotation axis of the first housing 31 and the frame 7 is the first axis, and the axis of the output end of the first motor is the second axis. At this time, the first axis and the second axis can be coplanar, and the two are generally arranged at an angle of 90°. It should be understood that the front-to-back rotational freedom formed between the intermediate connection structure 3 and the frame 7 generally includes a plurality of connection points spaced apart in the up-and-down direction, and at this time, the first housing 31 forms one of the connection points.

[0048] At this time, the first shock absorber 42 is configured as, for example, a cartridge shock absorber, and is disposed between the upper fork arm 11 and the lower fork arm 12 and is inclined with respect to both the left-right direction and the up-down direction.

[0049] In this way, the first housing 31 can be used to install the first driving member 41 and can also be used to form the connection portion 33 where the intermediate connection structure 3 is connected to the vehicle frame 7. On this basis, the installation of the upper fork arm 11 and the lower fork arm 12 away from the steering knuckle 2 will not be affected by the provision of the intermediate connection structure 3. In addition, the first housing 31 is also used to install the first shock absorber 42. The end of the first shock absorber 42 away from the first housing 31 is connected to, for example, the lower fork arm 12, so that the first shock absorber 42 is located between the upper fork arm 11 and the lower fork arm 12. The first shock absorber 42 can obtain a larger installation space and has a larger shock absorption range. The spatial position layout of the first shock absorber 42, the first housing 31, the first driving member 41, the upper fork arm 11 and the lower fork arm 12 is reasonable, and the space utilization rate is high.

[0050] Alternatively, if Figure 4 and Figure 6 As shown, the second damping driving mechanism 5 includes a second driving member 51, a second damper 52 and a first swing arm 53;

[0051] The first swing arm 53 is installed on the intermediate connection structure 3, and the installation position of the first swing arm 53 on the intermediate connection structure 3 along the up and down directions is located between the upper fork arm 11 and the lower fork arm 12 of the double fork arm 1; the second shock absorber 52 is hinged to the first swing arm 53, and acts on the intermediate connection structure 3 through the first swing arm 53, and the second driving member 51 is drivingly connected to the first swing arm 53.

[0052] like Figure 1 Specifically, the intermediate connecting structure 3 is rotatably connected to the frame 7 along the front-rear direction, and forms Figure 1 The revolute pair R3 shown, and / or, forms Figure 2 The upper fork arm 11 and the upper end of the intermediate connection structure 3 form a revolute pair R1, and the lower fork arm 12 and the lower end of the intermediate connection structure 3 form a revolute pair R2, which will be described in detail later.

[0053] The intermediate connection structure 3 includes a main shaft 32, and the first swing arm 53 is detachably connected to the main shaft 32 at a position between the rotating pair R1 and the rotating pair R2. The second driving member 51 may be a telescopic driving member, which is not limited thereto.

[0054] In this way, by connecting the first swing arm 53 to the intermediate connection structure 3 and the second shock absorber 52 respectively, the position restrictions on the second shock absorber 52 and the second driving member 51 can be reduced through the arrangement of the first swing arm 53, and the first swing arm 53 can extend the force arm of the second shock absorber 52 acting on the intermediate connection structure 3. The second driving member 51 and the second shock absorber 52 transmit force through the first swing arm 53 and act on the intermediate connection structure 3, so as to drive the intermediate connection structure 3 to rotate forward and backward relative to the vehicle frame 7, or to damp the forward and backward rotation, which can improve the accuracy of the forward and backward rotation and damping of the intermediate connection structure 3 to a certain extent, and the controllability is relatively high. Moreover, in the vertical direction, the installation position of the first swing arm 53 on the intermediate connection structure 3 is located between the upper fork arm 11 and the lower fork arm 12 of the double-wishbone arm 1. For example, this installation position is located at the intermediate position between the rotating pair R1 and the rotating pair R2, which can improve the stability of the forward and backward rotation of the intermediate connection structure 3 relative to the vehicle frame 7, avoid the eccentric load at the upper and lower ends when the intermediate connection structure 3 rotates forward and backward, and the consistency of the forward and backward rotation of the upper fork arm 11 and the lower fork arm 12 is relatively high.

[0055] As Figure 1 、 Figure 2 、 Figure 4 and Figure 6 shown, the second shock absorber driving mechanism 5 further includes a second swing arm 54. The second driving member 51 is located on a side of the intermediate connection structure 3 away from the steering knuckle 2. The second driving member 51 is a second motor. The second swing arm 54 is installed at the output end of the second motor, and the second swing arm 54 is hinged to an end of the second shock absorber 52 away from the first swing arm 53.

[0056] Specifically, the second shock absorber 52 is a telescopic shock absorber. The housing of the second motor is installed on the vehicle frame 7. The rotation of the output end of the second motor is transmitted to the intermediate connection structure 3 through the second swing arm 54, the second shock absorber 52 and the first swing arm 53. Thus, the second motor can drive the intermediate connection structure 3, the upper fork arm 11 and the lower fork arm 12 to rotate forward and backward as a whole through rotation. The second shock absorber 52 does not need to be separately connected to the vehicle frame 7, and the structure is simple and the practicability is strong.

[0057] Furthermore, the second shock absorber driving mechanism 5 includes two second shock absorbers 52. The first swing arm 53 is installed on the intermediate connection structure 3 at the intermediate position in the length direction. The second swing arm 54 is installed at the output end of the second motor at the intermediate position in the length direction. The two second shock absorbers 52 are arranged at intervals in the front-rear direction. The two ends of the second shock absorber 52 are respectively hinged to the ends of the first swing arm 53 and the second swing arm 54.

[0058] Specifically, the second swing arm 54 is coaxially and detachably connected to the output end of the second motor at the middle position, and the first swing arm 53 is coaxially and detachably connected to the main shaft 32 at the middle position.

[0059] In this way, through the damping and force transmission of the two second shock absorbers 52 between the first swing arm 53 and the second swing arm 54, the force transmission and force stability between the second shock drive mechanism 5 and the intermediate connection structure 3 are high. For example, when the output end of the second motor rotates to the position and then remains stationary, the two second shock absorbers 52 damp between the first swing arm 53 and the second swing arm 54, which is beneficial to maintaining the position of the intermediate connection structure 3 relative to the vehicle frame 7 unchanged during the forward and backward rotation, and the force reliability is high.

[0060] Next, the intermediate connection structure 3 will be exemplarily described.

[0061] Optionally, the intermediate connection structure 3 is used to rotatably connect to the vehicle frame 7 through a bearing to form a forward and backward rotation degree of freedom. A connection portion 33 is provided on the intermediate connection structure 3, and the extending direction of the connection portion 33 is set at an angle with the up and down direction. The connection portion 33 is used to rotatably connect to the double wishbone 1 to form an up and down swing degree of freedom.

[0062] Exemplarily, as Figure 1 , the intermediate connection structure 3 includes a main shaft 32. The main shaft 32 is installed on the vehicle frame 7 through a bearing. The axial direction of the main shaft 32 is consistent with the up and down direction. A connection portion 33 extending in the radial direction is provided on the main shaft 32. The connection portion 33 can be a connecting shaft. The connection portion 33 can be provided in two upper and lower ones. The upper and lower connection portions 33 are respectively rotatably connected to the upper wishbone 11 and the lower wishbone 12, thereby forming an up and down swing degree of freedom (subsequently referred to as Solution 1).

[0063] Optionally, the intermediate connection structure 3 includes a Hooke joint structure 34 at the end in the up and down direction. The Hooke joint structure 34 is used to connect to the vehicle frame 7 to form a forward and backward rotation degree of freedom, and the Hooke joint structure 34 is also used to connect to the double wishbone 1 to form an up and down swing degree of freedom.

[0064] Exemplarily, as Figure 2 , at this time, the Hooke joint structure 34 is provided in two. The two Hooke joint structures 34 have coaxial degrees of freedom. For example, the adjacent ends of the Hooke joint structure 34 in the up and down direction are detachably connected to the main shaft 32, and the main shaft 32 is detachably connected to the above-mentioned first swing arm 53 (subsequently referred to as Solution 2). In this way, the installation accuracy requirements for the intermediate connection structure 3 can be reduced to a certain extent.

[0065] As Figure 4 and Figure 6In the solution where the intermediate connection structure 3 shown includes the first housing 31, the first housing 31 can be understood as a part of the main shaft 32 in Solution 1. For example, the first housing 31 is detachably connected to the upper end of the main shaft 32. At this time, bearings do not have to be provided at the upper end of the main shaft 32. The first housing 31 can also be used to form the Hooke joint structure 34, which will not be elaborated here.

[0066] Of course, in some cases, both the above-mentioned bearings and the above-mentioned Hooke joint structure 34 can be provided. For example, the upper end of the main shaft 32 is detachably connected to the first housing 31. The first housing 31 is rotationally connected to the vehicle frame 7 through bearings to form the front-back rotational freedom at the upper end. The lower end of the main shaft 32 is rotationally connected to the vehicle frame 7 through the Hooke joint structure 34 to form the front-back rotational freedom at the lower end. Similarly, the requirement for machining accuracy can be reduced, which will not be elaborated here.

[0067] As Figures 3 to 6 shown, another embodiment of the present invention provides a manned planetary rover, including the suspension structure of the above embodiment.

[0068] Environmental perception units such as cameras can be equipped on the manned planetary rover to obtain the ground environment, providing a reliable data basis for the reconstruction of the suspension structure of the manned planetary rover and the driving decision-making, which will not be elaborated here.

[0069] This manned planetary rover has all the beneficial effects of the suspension structure, which will not be elaborated here.

[0070] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installed", "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.

[0071] In the description of this specification, the descriptions referring to terms such as "embodiment", "one embodiment", "some embodiments", "exemplarily", and "one embodiment" 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 descriptions 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 a suitable manner in any one or more embodiments or embodiments.

[0072] The terms "first", "second", etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first", "second" may explicitly or implicitly include at least one such feature.

[0073] Although the present disclosure is disclosed as above, the scope of protection 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 scope of protection of the present invention.

Claims

1. A suspension structure, characterized in that, It includes a double wishbone (1), a steering knuckle (2), an intermediate connection structure (3), a first shock absorber driving mechanism (4) and a second shock absorber driving mechanism (5); One end of the double wishbone (1) is connected to the steering knuckle (2), and the other end of the double wishbone (1) is used to be connected to the vehicle frame (7) through the intermediate connection structure (3). The double wishbone (1) has an up-and-down swing freedom degree relative to the vehicle frame (7), and the intermediate connection structure (3) has a front-and-back rotation freedom degree relative to the vehicle frame (7); The first shock absorber driving mechanism (4) is connected to the double wishbone (1) to drive the double wishbone (1) to swing up and down and perform up-and-down swing shock absorption on the double wishbone (1); The second shock absorber driving mechanism (5) is used to be connected to the intermediate connection structure (3) and the vehicle frame (7) respectively to drive the intermediate connection structure (3) to rotate back and forth and perform front-and-back rotation shock absorption on the intermediate connection structure (3).

2. The suspension structure according to claim 1, characterized in that, It further includes a steering driving mechanism (6). One end of the steering driving mechanism (6) is connected to the steering knuckle (2), and the other end is used to be connected to the vehicle frame (7).

3. The suspension structure according to claim 2, characterized in that, The steering driving mechanism (6) includes a steering tie rod (61) and a telescopic driving assembly (62). The telescopic driving assembly (62) is used to be installed on the vehicle frame (7). One end of the steering tie rod (61) is hinged to the steering knuckle (2), and the other end is hinged to the output end of the telescopic driving assembly (62).

4. The suspension structure according to claim 1, characterized in that, The first shock absorber driving mechanism (4) includes a first driving member (41) and a first shock absorber (42); the first driving member (41) is connected to the intermediate connection structure (3) and is connected to one of the upper wishbone (11) and the lower wishbone (12) of the double wishbone (1) to drive the double wishbone (1) to swing up and down. One end of the first shock absorber (42) is connected to the intermediate connection structure (3), and the other end is connected to one of the upper wishbone (11) and the lower wishbone (12) of the double wishbone (1).

5. The suspension structure according to claim 4, characterized in that, The intermediate connection structure (3) includes a first housing (31). The first housing (31) is used to be rotatably connected to the vehicle frame (7) to form the front-and-back rotation freedom degree. The first driving member (41) is a first motor. The first motor is installed in the first housing (31). One end of one of the upper wishbone (11) and the lower wishbone (12) of the double wishbone (1) far from the steering knuckle (2) is rotatably installed at the output end of the first motor; one end of the first shock absorber (42) is hinged to the first housing (31), and the other end is hinged to the other of the upper wishbone (11) and the lower wishbone (12) of the double wishbone (1).

6. The suspension structure according to any one of claims 1 to 5, characterized in that, The second shock absorber driving mechanism (5) includes a second driving member (51), a second shock absorber (52) and a first swing arm (53); The first swing arm (53) is mounted on the intermediate connection structure (3), and in the vertical direction, the mounting position of the first swing arm (53) on the intermediate connection structure (3) is located between the upper swing arm (11) and the lower swing arm (12) of the double wishbone arm (1); the second shock absorber (52) is hinged to the first swing arm (53) and acts on the intermediate connection structure (3) through the first swing arm (53), and the second driving member (51) is drivingly connected to the first swing arm (53).

7. The suspension structure according to claim 6, characterized in that, The second shock absorber driving mechanism (5) further includes a second swing arm (54). The second driving member (51) is located on a side of the intermediate connection structure (3) away from the steering knuckle (2). The second driving member (51) is a second motor. The second swing arm (54) is mounted on the output end of the second motor, and the second swing arm (54) is hinged to an end of the second shock absorber (52) away from the first swing arm (53).

8. The suspension structure according to claim 7, characterized in that, The second shock absorber driving mechanism (5) includes two second shock absorbers (52). The first swing arm (53) is mounted on the intermediate connection structure (3) at a middle position in the length direction. The second swing arm (54) is mounted on the output end of the second motor at a middle position in the length direction. The two second shock absorbers (52) are arranged at intervals in the front-rear direction. Two ends of each second shock absorber (52) are respectively hinged to ends of the first swing arm (53) and the second swing arm (54).

9. The suspension structure according to any one of claims 1 to 5, characterized in that, The intermediate connection structure (3) is used for rotatably connecting with the vehicle frame (7) through a bearing to form the front-rear rotational degree of freedom. A connecting portion (33) is provided on the intermediate connection structure (3). An extending direction of the connecting portion (33) is arranged at an angle with the vertical direction. The connecting portion (33) is used for rotatably connecting with the double wishbone arm (1) to form the up-down swing degree of freedom; and / or, the intermediate connection structure (3) includes Hooke joint structures (34) located at ends in the vertical direction. The Hooke joint structures (34) are used for connecting with the vehicle frame (7) to form the front-rear rotational degree of freedom, and the Hooke joint structures (34) are further used for connecting with the double wishbone arm (1) to form the up-down swing degree of freedom.

10. A manned planetary rover, characterized in that, Comprising the suspension structure according to any one of claims 1 to 9.

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