All-terrain manned rover and suspension

Abstract

The present invention provides an all-terrain manned rover and suspension, relating to the technical field of rover technology. The suspension includes two force transmission mechanisms, a second shock absorber, and four swing arms rotatably connected to a vehicle frame. The swing arms are used to mount wheels and drive the wheels to rise and fall relative to the vehicle frame. Two swing arms located at diagonally opposite corners constitute an arm group. Two force transmission mechanisms are respectively connected to different arm groups. The force transmission mechanism includes a balance bar and two intermediate connecting members. The balance bar is used to connect to the vehicle frame. The ends of the balance bar are respectively hingedly connected to the two intermediate connecting members. The ends of the two intermediate connecting members, which are remote from the balance bar, are respectively hinged to the two swing arms of the same arm group. The balance bar has horizontal rotational freedom relative to the vehicle frame. At least one intermediate connecting member of the force transmission mechanism is configured as a first shock absorber, and the second shock absorber acts on the two force transmission mechanisms.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary vehicles, and in particular to an all-terrain adaptable manned planetary vehicle and its suspension. Background Art

[0002] Currently successfully operating planetary exploration rovers are primarily designed to travel on flat surfaces, but their ability to navigate rough terrain is limited, resulting in slow movement. In particular, during exploration of planets such as the Moon, due to the weak gravitational field constraints, the suspension stiffness of manned lunar rovers is soft, resulting in low fundamental frequencies of all-directional vibrations. This leads to severe body sway, slow decay of body attitude sway, and a high risk of overturning under continuous terrain excitation. Low gravity also weakens wheel-ground adhesion, increasing the probability and duration of wheel airborne motion, and compromising vehicle maneuverability. Summary of the Invention

[0003] The present invention aims to solve the problem of how to improve the all-terrain passability of a manned planetary rover in the related art to a certain extent.

[0004] To at least partially address one aspect of the above-mentioned problem, the present invention provides a suspension comprising two force transmission mechanisms, a second shock absorber, and four swing arms rotatably connected to a vehicle frame; the swing arms are used to mount wheels and drive the wheels to rise and fall relative to the vehicle frame, and two swing arms located diagonally opposite each other constitute an arm group;

[0005] The two force transmission mechanisms are respectively connected to different arm groups, and the force transmission mechanism includes a balance bar and two intermediate connecting parts. The balance bar is used to connect to the frame, and the two ends of the balance bar are respectively hingedly connected to the two intermediate connecting parts. The ends of the two intermediate connecting parts away from the balance bar are respectively hinged to the two swing arms of the same arm group. The balance bar has horizontal rotation freedom relative to the frame. At least one of the intermediate connecting parts of the force transmission mechanism is set as a first shock absorber, and the second shock absorber acts on the two force transmission mechanisms.

[0006] Optionally, the second shock absorber includes a linear shock absorber, which is hingedly connected to the two swing arms on the same side in the left and right directions respectively.

[0007] Optionally, the second shock absorber includes two linear shock absorbers, and the two linear shock absorbers are arranged opposite to each other along the left-right direction;

[0008] And / or, the position where the swing arm is connected to the linear shock absorber is higher than the position where the swing arm is connected to the intermediate connecting member.

[0009] Optionally, the second shock absorber includes an anti-torsion shock absorber, and the anti-torsion shock absorber is connected to the two balancing rods respectively.

[0010] Optionally, the damping ratio of the first shock absorber is greater than the damping ratio of the second shock absorber.

[0011] Optionally, the other intermediate connecting member of the same force transmission mechanism is configured as a connecting rod, and the first shock absorbers of different force transmission mechanisms are arranged opposite to each other in the left-right direction.

[0012] Optionally, the rotation axes of the two balancing poles are located at the center of the balancing pole and are coaxially arranged.

[0013] Optionally, the swing arm includes a first rod segment and a second rod segment, the first rod segment and the second rod segment are arranged at an angle, and the first rod segment is rotatably connected to the frame;

[0014] One end of the second rod segment is fixedly connected to one end of the first rod segment, and the other end of the second rod segment is used to mount the wheel; alternatively, the suspension further includes a first rotational drive component, one end of the second rod segment is rotationally connected to the lower end of the first rod segment, and the first rotational drive component is respectively connected to the first rod segment and the second rod segment to drive the second rod segment to rotate relative to the first rod segment and drive the wheel to rise and fall.

[0015] Optionally, the suspension also includes a second rotary drive member and a mounting frame, the mounting frame is rotatably connected to the lower end of the swing arm and the rotation axis is consistent with the up and down directions, the second rotary drive member is respectively connected to the mounting frame and the swing arm, and the mounting frame is used to install the wheel.

[0016] In a second aspect, the present invention provides an all-terrain adaptable manned planetary rover, which includes the suspension as described in the first aspect above.

[0017] Compared with the related prior art, the all-terrain adaptive manned rover and suspension of the present invention has two force transmission mechanisms connected to different arm groups, for example, the first force transmission mechanism is connected to the left front swing arm and the right rear swing arm respectively, realizing force transmission and linkage between the left front swing arm and the right rear swing arm, and the second force transmission mechanism is connected to the left rear swing arm and the right front swing arm respectively, realizing force transmission and linkage between the left rear swing arm and the right front swing arm, and the balance bar of any force transmission mechanism has horizontal rotation freedom relative to the frame, and the two ends of the balance bar are connected by an intermediate connecting piece. Different swing arms are connected to corresponding arm groups. The first force transmission mechanism enables the left front wheel and the right rear wheel connected to the left front swing arm and the right rear swing arm respectively to be raised and lowered synchronously relative to the frame. The second force transmission mechanism enables the left rear wheel and the right front wheel connected to the left rear swing arm and the right front swing arm respectively to be raised and lowered synchronously relative to the frame. The gravity of the frame is dispersed to each wheel. The second shock absorber acts on the two force transmission mechanisms. When each wheel is excited by the terrain, that is, when passing through bumpy terrain, the second shock absorber can absorb the vibration transmitted by each wheel to ensure vertical shock absorption performance. Furthermore, at least one intermediate connecting member of any force transmission mechanism is configured as a first shock absorber. For example, the intermediate connecting member connected to the left front swing arm is configured as the first shock absorber. When the left front wheel is stimulated by the terrain, the first shock absorber absorbs energy. For example, the length of the first shock absorber is shortened. As a result, when the left front wheel crosses an obstacle (for example, the obstacle height is h1), the elevation of the left front wheel relative to the vehicle frame (for example, this elevation is h2+h3) is greater than the descent of the right rear wheel relative to the vehicle frame (for example, this descent is h2). Then, the elevation of the connection point between the left front swing arm and the vehicle frame relative to the horizontal plane is Ha1= (h1-h2-h3), the height Ha2 of the connection point where the right rear swing arm is connected to the frame relative to the horizontal plane = h2. Then, among the connection points where the swing arms are connected to the frame, the height difference between the connection points where the left front swing arm is connected to the frame and the connection point where the right rear swing arm is connected to the frame is the largest, and specifically ΔH = Ha1 + Ha2 = (h1-h2-h3) + h2 = (h1-h3). Therefore, after the first shock absorber is provided, compared to the related art, when the left front wheel crosses an obstacle, the maximum height difference between the connection points where the swing arms are connected to the frame is reduced, thereby reducing the pitch and roll angles of the frame and enhancing the anti-pitch and anti-roll performance. The present invention can achieve all-wheel adhesion, improve vertical shock absorption, and improve anti-pitch and anti-roll performance, and has strong all-terrain adaptability. At this time, by separately designing the stiffness of the first shock absorber and the second shock absorber, it is possible to achieve a semi-decoupled design for vertical damping and pitch and roll to a certain extent, thereby achieving approximate decoupling of motion, which can improve design reliability, reduce design difficulty, and help improve performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic structural diagram of a suspension in an embodiment of the present invention;

[0019] Figure 2This is a schematic structural diagram of an embodiment of the present invention in which the first shock absorber is regarded as a rigid member and the two balancing arms rotate in opposite directions when the four wheels are subjected to the same upward excitation;

[0020] Figure 3 This is a schematic structural diagram of an embodiment of the present invention in which the first shock absorber is regarded as a rigid member and the two balancing arms rotate in the same direction when the left front wheel is excited upward;

[0021] Figure 4 This is a schematic structural diagram of an embodiment of the present invention in which the first shock absorber is regarded as a rigid member and the two balancing arms rotate in the same direction when the left front wheel passes through a pothole;

[0022] Figure 5 A schematic structural diagram of an all-terrain manned rover according to an embodiment of the present invention;

[0023] Figure 6 for Figure 5 Another structural schematic diagram of the all-terrain manned rover is shown;

[0024] Figure 7 for Figure 5 Cross-sectional view of section AA.

[0025] Description of reference numerals:

[0026] 1-force transmission mechanism; 1a-first force transmission mechanism; 1b-second force transmission mechanism; 11-balance bar; 11a-first balance bar; 11b-second balance bar; 12-intermediate connecting member; 12a-first intermediate connecting member; 12b-second intermediate connecting member; 121-connecting rod; 122-first shock absorber; 2-second shock absorber; 3-swinging arm; 3a1-left front swinging arm; 3a2-right rear swinging arm; 3b1-left rear swinging arm; 3b2-right front swinging arm; 31-first rod section; 32-second rod section; 4-wheel; 4a1-left front wheel; 4a2-right rear wheel; 4b1-left rear wheel; 4b2-right front wheel; 5-first rotary drive member; 6-second rotary drive member; 7-mounting frame; 8-vehicle frame. DETAILED DESCRIPTION

[0027] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, specific embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0028] In the description of the present invention, it should be noted that, unless otherwise specified or limited, the terms "mounted," "connected," and "connected" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to direct connections or indirect connections through an intermediary. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0029] Throughout this specification, reference to terms such as "an embodiment," "one embodiment," "some embodiments," "exemplarily," and "one embodiment" means that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or embodiment are included in at least one embodiment or embodiment of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or embodiment. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or embodiments.

[0030] The terms "first," "second," etc. are used for descriptive purposes only and should not be understood to indicate or imply relative importance or to implicitly specify the quantity of the technical features indicated. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one of the features.

[0031] 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 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; the Y-axis in the accompanying drawings 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 rear side; it should be noted that the aforementioned representations of the 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 operate in a specific orientation, and therefore should not be understood as limiting the present invention.

[0032] like Figure 1 、 Figures 5 to 7 As shown, an embodiment of the present invention provides a suspension, comprising two force transmission mechanisms 1, a second shock absorber 2, and four swing arms 3 for rotationally connecting to a vehicle frame 8; the swing arms 3 are used to mount wheels 4 and drive the wheels 4 to rise and fall relative to the vehicle frame 8, and two swing arms 3 located at diagonally opposite corners constitute an arm group;

[0033] The two force transmission mechanisms 1 are respectively connected to different arm groups. The force transmission mechanism 1 includes a balance bar 11 and two intermediate connecting parts 12. The balance bar 11 is used to connect to the frame 8. The two ends of the balance bar 11 are respectively hingedly connected to the two intermediate connecting parts 12. The ends of the two intermediate connecting parts 12 away from the balance bar 11 are respectively hinged to the two swing arms 3 of the same arm group. The balance bar 11 has horizontal rotation freedom relative to the frame 8. At least one intermediate connecting part 12 of the force transmission mechanism 1 is set as a first shock absorber 122, and the second shock absorber 2 acts on the two force transmission mechanisms 1.

[0034] like Figures 2 to 4 As shown, in this specification, the wheel 4 located in the opposite direction of the Y axis and in the positive direction of the X axis is defined as the right rear wheel 4a2. When viewed along the negative direction of the Z axis, the other wheels 4 in the clockwise direction are defined as the left rear wheel 4b1, the left front wheel 4a1 and the right front wheel 4b2, wherein the swing arm 3 corresponding to the right rear wheel 4a2 can be defined as the right rear swing arm 3a2. By analogy, the other swing arms 3 are respectively the left rear swing arm 3b1, the left front swing arm 3a1 and the right front swing arm 3b2, which will not be described later. Among them, the left front swing arm 3a1 and the right rear swing arm 3a2 together constitute an arm group (defined as the first arm group), and the left rear swing arm 3b1 and the right front swing arm 3b2 together constitute an arm group (defined as the second arm group). Of course, it should be understood that in actual use, the number of wheels 4 can be more than four, which is not limited to this and will not be described in detail here.

[0035] The two force transmission mechanisms 1 are respectively the first force transmission mechanism 1a and the second force transmission mechanism 1b. The first force transmission mechanism 1a is respectively connected to the left front swing arm 3a1 and the right rear swing arm 3a2 of the first arm group, and the second force transmission mechanism 1b is respectively connected to the left rear swing arm 3b1 and the right front swing arm 3b2 of the second arm group.

[0036] In a traditional rigid suspension, when only the left front wheel 4a1 is impacted by the ground, assuming that before the left front wheel 4a1 is impacted by the ground, the overall level of the frame 8, for example, the top surface is flush with the horizontal plane, the heights of the connection points of the left front swing arm 3a1, the right rear swing arm 3a2, the left rear swing arm 3b1 and the right front swing arm 3b2 with the frame 8 for rotation are all h0 relative to the horizontal plane, the height of the obstacle passed by the left front wheel 4a1 relative to the horizontal plane is h1, the lifting height of the left front wheel 4a1 is h1, the lifting height of the connection point of the left front swing arm 3a1 with the frame 8 for rotation is approximately Ha1=h1, the maximum height difference △H between the connection points of each swing arm 3 and the frame 8 is h1, and at this time the pitch and roll angles of the frame 8 are relatively large.

[0037] like Figure 2As shown, after adopting the suspension of the present invention, without considering the first shock absorber 122 and the second shock absorber 2 (at a certain moment, the second shock absorber 2 and the first shock absorber 122 are equivalent to rigid parts, for example, each intermediate connecting member 12 is a connecting rod 121), when the left front wheel 4a1 is impacted by the ground, when viewed along the positive direction of the X-axis, the left front swing arm 3a1 will rotate clockwise by a certain angle. At this time, when viewed along the negative direction of the Z-axis, the first balance bar 11a of the first force transmission mechanism 1a corresponding to the left front swing arm 3a1 will rotate clockwise. Correspondingly, when viewed along the positive direction of the X-axis, the right rear swing arm 3a2 will rotate counterclockwise by a certain angle. In some embodiments, the clockwise rotation angle of the left front swing arm 3a1 is equal to the counterclockwise rotation angle of the right rear swing arm 3a2, and the left front wheel 4a1 and the right rear wheel 4a2 are both raised by a height h2 relative to the frame 8. Accordingly, when the right front wheel 4b2 is impacted by the ground, ignoring the first shock absorber 122 and the second shock absorber 2 (at a certain moment, the second shock absorber 2 and the first shock absorber 122 are equivalent to rigid parts, for example, each intermediate connecting member 12 is a connecting rod 121), the second balancing rod 11b of the second force transmission mechanism 1b corresponding to the right front swing arm 3b2 will rotate counterclockwise. The clockwise rotation angle of the right front swing arm 3b2 is equal to the counterclockwise rotation angle of the left rear swing arm 3b1, and the right front wheel 4b2 and the left rear wheel 4b1 are both raised by a height h2 relative to the vehicle frame 8. Therefore, it can be seen that the two wheels 4 corresponding to the same force transmission mechanism 1 will rise or fall synchronously relative to the vehicle frame 8. Therefore, when the four wheels 4 are subjected to the same excitation, the two balancing bars 11 will rotate in opposite directions. At this time, the second shock absorber 2 acts on the two force transmission mechanisms 1 to buffer and dampen the rotation of the balancing bar 11, thereby absorbing the vibrations from the ground transmitted by the four wheels 4, thereby enhancing the suspension's absorption of terrain excitation and improving the vertical shock absorption performance.

[0038] like Figure 3As shown, without considering the first shock absorber 122, that is, when the first shock absorber 122 is regarded as a rigid part, when only the left front wheel 4a1 is stimulated upward, at a certain moment, the second shock absorber 2 is regarded as a rigid part, and when observed along the negative direction of the Z axis, the first balance bar 11a has a tendency to rotate clockwise. Under the action of the second shock absorber 2, for example, the movement tendency of the first balance bar 11a is transmitted to the second balance bar 11b, and the second balance bar 11b has a tendency to rotate clockwise in the same direction. In this case, the left front wheel 4a1 and the right rear wheel 4a2 both have a tendency to rise relative to the frame 8, and the left rear wheel 4b1 and the right front wheel 4b2 both have a tendency to fall relative to the frame 8. In some embodiments, the height of the top surface of the obstacle passed by the left front wheel 4a1 relative to the horizontal plane is h1, and the left front wheel 4a1 is lifted by h2 relative to the frame 8, then the left front wheel 4a1 is lifted by h2 relative to the frame 8. The actual lifting height of the connection point of the swing arm 3a1 and the frame 8 is Ha1 = (h1-h2) relative to the horizontal plane, the right rear wheel 4a2 is raised relative to the frame 8 by a height of h2, the connection point of the right rear swing arm 3a2 and the frame 8 is lowered relative to the horizontal plane by Ha2 = h2, the left rear wheel 4b1 and the right front wheel 4b2 are lowered relative to the frame 8 by a height of h2, then the connection point of the left rear swing arm 3b1 and the frame 8 and the connection point of the right front swing arm 3b2 and the frame 8 are actually lifted relative to the horizontal plane and the lifting height is Hb = h2, then the maximum height difference between the connection points of each swing arm 3 and the frame 8 is △H = Ha1 + Ha2 = (h1-h2) + h2 = h1, and the maximum height difference is formed between the connection point of the left front swing arm 3a1 and the frame 8 and the connection point of the right rear swing arm 3a2 and the frame 8.

[0039] Compared to traditional rigid suspensions, this can somewhat reduce the height of the frame 8 at the wheels 4 where the excitation is transmitted, improving ride comfort. However, it does not significantly change the maximum height difference between the connection points of each swing arm 3 and the frame 8 during pitch and roll, limiting its effectiveness in combating pitch and roll. When a vehicle traverses rough terrain, each wheel 4 is individually stimulated by the terrain. For example, the left front wheel 4a1, the right front wheel 4b2, and the left rear wheel are sequentially stimulated by the terrain. At this point, the highest point of each swing arm 3's connection point with the frame 8 constantly changes, causing the pitch and roll angles of the frame 8 to fluctuate. For example, the frame 8 may sway left and right and nod forward and backward. Under weak gravitational constraints, it is highly susceptible to overturning.

[0040] At this time, further considering the case where the first shock absorber 122 is provided, when only the left front wheel 4a1 is stimulated upward, taking the first shock absorber 122 as an example of being hinged to the left front swing arm 3a1 and the first balance bar 11a respectively (not shown in the figure of this solution), the first shock absorber 122 can be linearly shortened to a certain extent. When shortened, the left front swing arm 3a1 has more space for clockwise rotation without causing the first balance bar 11a to rotate a larger angle, thereby raising the left front wheel 4a1 relative to the frame 8 by a height of (h2+h3). Then, the actual height raised relative to the horizontal plane by the connection point where the left front swing arm 3a1 is rotatably connected to the frame 8 is Ha1=(h1-h2). 2-h3). At this time, the right rear wheel 4a2 is raised relative to the frame 8 by a height of h2, and the connection point of the right rear swing arm 3a2 and the frame 8 is lowered by a height of Ha2=h2 relative to the horizontal plane. The left rear wheel 4b1 and the right front wheel 4b2 are lowered relative to the frame 8 by a height of h2. Then, the connection point of the left rear swing arm 3b1 and the frame 8 and the connection point of the right front swing arm 3b2 are actually raised relative to the horizontal plane by a height of Hb=h2. Finally, the maximum height difference between the connection points of each swing arm 3 and the frame 8 is △H=Ha1+Ha2=(h1-h2-h3)+h2=(h1-h3). At this point, it can be seen that on the one hand, the lifting height of the frame 8 at the wheel 4 that transmits the excitation can be further reduced, and on the other hand, the maximum height difference between the connection points of each swing arm 3 and the frame 8 can be reduced when the frame 8 pitches and rolls. Therefore, the first shock absorber 122 can improve the suspension's anti-pitching and anti-rolling performance while performing shock absorption.

[0041] It should be understood that the above is only a brief analysis, and the analysis data is only used to understand this solution. The situation in actual application is more complicated. For example, when considering the case of having the first shock absorber 122, h2 may be smaller than the case without the first shock absorber 122. This will not be explained in detail here.

[0042] Figure 4 The diagram shows a structure in which the two balancing arms 11 rotate in the same direction when the left front wheel 4a1 passes through a pothole. At this time, the two balancing arms 11 move mainly through the gravity of the vehicle frame 8 so that the left front wheel 4a1 remains on the ground, which will not be described in detail here.

[0043] In this way, the two force transmission mechanisms 1 are respectively connected to different arm groups. For example, the first force transmission mechanism 1a is respectively connected to the left front swing arm 3a1 and the right rear swing arm 3a2, realizing force transmission and linkage between the left front swing arm 3a1 and the right rear swing arm 3a2. The second force transmission mechanism 1b is respectively connected to the left rear swing arm 3b1 and the right front swing arm 3b2, realizing force transmission and linkage between the left rear swing arm 3b1 and the right front swing arm 3b2. The balance bar 11 of any force transmission mechanism 1 has horizontal rotation freedom relative to the frame 8. The two ends of the balance bar 11 are connected to different swing arms 3 of the corresponding arm group through an intermediate connecting member 12. A force transmission mechanism 1a causes the left front wheel 4a1 and the right rear wheel 4a2, to which the left front swing arm 3a1 and the right rear swing arm 3a2 are respectively connected, to rise and fall synchronously relative to the frame 8. A second force transmission mechanism 1b causes the left rear wheel 4b1 and the right front wheel 4b2, to which the left rear swing arm 3b1 and the right front swing arm 3b2 are respectively connected, to rise and fall synchronously relative to the frame 8. The gravity of the frame 8 is dispersed to each wheel 4. The second shock absorber 2 acts on the two force transmission mechanisms 1. When each wheel 4 is excited by the terrain, that is, when passing over bumpy terrain, the second shock absorber 2 can absorb the vibration transmitted by each wheel 4 to ensure vertical shock absorption performance. Furthermore, at least one intermediate connection member 12 of any force transmission mechanism 1 is configured as a first shock absorber 122. For example, the intermediate connection member 12 (i.e., the first intermediate connection member 12a) connected to the left front swing arm 3a1 is configured as the first shock absorber 122. When the left front wheel 4a1 is stimulated by the terrain, the first shock absorber 122 absorbs energy. For example, the length of the first shock absorber 122 is shortened. As a result, when the left front wheel 4a1 crosses an obstacle (for example, the obstacle height is h1), the lifting height of the left front wheel 4a1 relative to the frame 8 (for example, this lifting height is h2+h3) will be greater than the lowering height of the right rear wheel 4a2 relative to the frame 8 (for example, this lowering is h2). Then, the connection point between the left front swing arm 3a1 and the frame 8 is relatively close. The height of the lift from the horizontal plane is Ha1 = (h1 - h2 - h3), and the height of the connection point where the right rear swing arm 3a2 is connected to the frame 8 relative to the horizontal plane is Ha2 = h2. Among the connection points where the swing arms 3 are connected to the frame 8, the height difference between the connection points where the left front swing arm 3a1 is connected to the frame 8 and the right rear swing arm 3a2 is connected to the frame 8 is the largest, and specifically, ΔH = Ha1 + Ha2 = (h1 - h2 - h3) + h2 = (h1 - h3). Therefore, after the first shock absorber 122 is provided, when the left front wheel 4a1 crosses an obstacle, the maximum height difference between the connection points where the swing arms 3 are connected to the frame 8 is reduced, thereby reducing the pitch and roll angles of the frame 8 and enhancing the anti-pitch and anti-roll performance. The present invention can achieve all-wheel adhesion, improve vertical damping, and enhance anti-pitch and anti-roll performance, and has strong all-terrain adaptability.

[0044] In this case, by separately designing the stiffness of the first shock absorber 122 and the second shock absorber 2, a semi-decoupled design can be achieved for vertical damping and pitch and roll to a certain extent, thereby achieving approximate decoupling of motion, which can improve design reliability, reduce design difficulty, and facilitate improved performance. When the suspension is used in a manned planetary rover, for example, the manned planetary rover can have all-terrain adaptability and strong all-terrain passability.

[0045] Optionally, the rotation axes of the two balancing poles 11 are coaxially located at the center of the balancing pole 11. For example, the first balancing pole 11a and the second balancing pole 11b have the same length and are rotatably connected to a column on the frame 8 at the center, with the column forming the rotation axis of the balancing pole 11.

[0046] In this way, the two balancing bars 11 can be reliably installed, and when the balancing bar 11 rotates relative to the vehicle frame 8, the movement amplitudes at both ends of the balancing bar 11 in the length direction are substantially consistent, which facilitates the structural design of the intermediate connector 12 and the swing arm 3. For example, the sizes of the two intermediate connectors 12 can be consistent, and the sizes of the two swing arms 3 can be consistent. Subsequently, the contents of the present invention will be illustrated by taking the consistent sizes of the first balancing bar 11a and the second balancing bar 11b, the consistent sizes of the first intermediate connector 12a of the first force transmission mechanism 1a and the consistent sizes of the second intermediate connector 12b of the second force transmission mechanism 1b, and the consistent sizes of the four swing arms 3 as examples.

[0047] like Figures 1 to 3 As shown, optionally, the second shock absorber 2 includes a linear shock absorber, which is hingedly connected to two swing arms 3 on the same side in the left and right directions.

[0048] For example, the linear shock absorber adopts spring damping for shock absorption, which may include a shock-absorbing spring and a shock-absorbing damper. When passing through an uneven road surface, the shock-absorbing spring filters the vibration of the road surface, and the shock-absorbing damper is used to suppress the jumping of the reciprocating motion of the spring, thereby achieving a better shock absorption effect.

[0049] When only one wheel 4 is excited by the terrain, e.g. Figure 3 When only the left front wheel 4a1 is stimulated upward by the terrain ( Figure 3 The upward arrow along the Z-axis in the middle indicates that the corresponding wheel 4 is subjected to upward excitation from the terrain), the left front swing arm 3a1 rotates instantaneously, driving the first balance bar 11a to rotate counterclockwise. The linear shock absorber on the left can be regarded as a rigid part at a certain moment, which transmits the clockwise swing of the left front swing arm 3a1 to the left rear swing arm 3b1, so that the left rear swing arm 3b1 also rotates clockwise, and finally drives the second balance bar 11b to rotate counterclockwise.

[0050] When the two left wheels 4, that is, the left front wheel 4a1 and the left rear wheel 4b1 are driven upward, Figure 1and Figure 2 As shown, the left front swing arm 3a1 compresses the shock absorbing spring of the first shock absorber 122 of the first force transmission mechanism 1a through the first balance bar 11a, and the left rear swing arm 3b1 compresses the first shock absorber 122 of the second force transmission mechanism 1b ( Figure 2 and Figure 3 The first shock absorber 122 is equivalent to the shock-absorbing spring of the connecting rod 121, which can reduce the roll angle. The left front swing arm 3a1 and the left rear swing arm 3b1 also compress the shock-absorbing spring of the second shock absorber 2, which can achieve vertical shock absorption and ensure all-terrain adhesion. When the left front wheel 4a1 and the right front wheel 4b2 are stimulated upward, the pitch angle can also be reduced.

[0051] like Figure 1 As shown, optionally, the second shock absorber 2 includes two linear shock absorbers, and the two linear shock absorbers are arranged opposite to each other in the left-right direction.

[0052] At this time, a second shock absorber 2 is provided between the left front swing arm 3a1 and the left rear swing arm 3b1, as well as between the right front swing arm 3b2 and the right rear swing arm 3a2, which has high force stability and strong practicality.

[0053] Optionally, the position where the swing arm 3 is connected to the linear shock absorber is higher than the position where the swing arm 3 is connected to the intermediate connecting member 12 .

[0054] In this way, the positions of the first balancing rod 11a and the second balancing rod 11b are prevented from being too high, the positions of the linear shock absorber and the intermediate connecting member 12 are prevented from interfering with each other, and the space for arranging the linear shock absorber can be expanded to a certain extent. The spatial structure layout is reasonable and practical.

[0055] Optionally, the second shock absorber 2 includes an anti-torsion shock absorber, which is respectively connected to the two balancing rods 11 (not shown in the figure of this solution).

[0056] For example, the outer cylinder of the anti-torsion vibration absorber is connected to the first balance bar 11a, and the inner cylinder is connected to the second balance bar 11b. Figure 2 As shown, when the first balancing pole 11a and the second balancing pole 11b rotate in opposite directions, the potential energy of the anti-torsion damper, such as the potential energy of the spring, increases, and cooperates with its damping to buffer and damp the movement of the first balancing pole 11a and the second balancing pole 11b, thereby achieving vertical vibration reduction.

[0057] Optionally, the damping ratio of the first shock absorber 122 is greater than the damping ratio of the second shock absorber 2 .

[0058] The larger the damping ratio, the greater the corresponding stiffness, which can avoid the first shock absorber 122 having too low stiffness and affecting the all-terrain capability of the all-wheel landing and all-terrain adaptability manned planetary rover.

[0059] Optionally, another intermediate connecting member 12 of the same force transmission mechanism 1 is configured as a connecting rod 121 , and the first shock absorbers 122 of different force transmission mechanisms 1 are arranged opposite to each other in the left-right direction.

[0060] In this case, the mutual interference that may occur when the two first shock absorbers 122 of the first force transmission mechanism 1a and the second force transmission mechanism 1b operate separately can be avoided to a certain extent, thereby enhancing the reliability of the suspension. However, it should be understood that this is not limited to this. For example, each intermediate connecting member 12 can be configured as a first shock absorber 122, which will not be described in detail here.

[0061] Optionally, the swing arm 3 includes a first rod segment 31 and a second rod segment 32 , the first rod segment 31 and the second rod segment 32 are arranged at an angle, and the first rod segment 31 is rotatably connected to the frame 8 ;

[0062] One end of the second rod segment 32 is fixedly connected to one end of the first rod segment 31, and the other end of the second rod segment 32 is used to mount the wheel 4 (case one); alternatively, the suspension further includes a first rotary drive member 5, one end of the second rod segment 32 is rotationally connected to the lower end of the first rod segment 31, and the first rotary drive member 5 is respectively connected to the first rod segment 31 and the second rod segment 32 to drive the second rod segment 32 to rotate relative to the first rod segment 31 and drive the wheel 4 to rise and fall (case two).

[0063] Specifically, in the first scenario, the second rod segment 32 is fixedly connected to the first rod segment 31, for example, in an integral or detachable manner. In the second scenario, the first rotary drive member 5 can actively adjust the position of the second rod segment 32 relative to the first rod segment 31, thereby improving the performance of the suspension. For example, the angle between the first and second rod segments 31, 32, can be adjusted based on the actual terrain. Leg-style walking can even be achieved through the control of the first rotary drive member 5, although this will not be described in detail here.

[0064] Optionally, the suspension also includes a second rotary drive member 6 and a mounting bracket 7, the mounting bracket 7 is rotatably connected to the lower end of the swing arm 3 and the rotation axis is consistent with the up and down directions, the second rotary drive member 6 is respectively connected to the mounting bracket 7 and the swing arm 3, and the mounting bracket 7 is used to install the wheel 4.

[0065] At this time, the second rotary drive member 6 drives the mounting frame 7 to rotate, thereby achieving active steering of the wheel 4 and improving the performance of the suspension.

[0066] In this embodiment, the two force transmission mechanisms 1, the second shock absorber 2, the frame 8, and the swing arm 3 together form a spatial closed chain structure. The calculation degrees of freedom of the spatial closed chain structure are:

[0067]

[0068] Where n is the number of components, here 13; g is the number of joints, here 16; fi is the number of degrees of freedom of the i-th joint, with 1 for the revolute joint and 3 for the spherical joint (in this invention, both ends of the intermediate connector 12 and both ends of the second shock absorber 2 are configured as spherical joints, while the others are configured as revolute joints); μ is a parallel redundant constraint. The calculated degrees of freedom are 8, of which four are local degrees of freedom for the first and second balancing poles 11a and 11b to rotate about their respective axes of rotation. Therefore, the actual degrees of freedom are 4, specifically because both the first and second balancing poles 11a and 11b can rotate in the horizontal plane, and the two first shock absorbers 122 provide two of these degrees of freedom.

[0069] like Figures 5 to 7 As shown, another embodiment of the present invention provides an all-terrain adaptable manned planetary rover, which includes the suspension of the above embodiment.

[0070] Although the present invention is disclosed as above, the protection scope of the present invention 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 invention, and these changes and modifications will fall within the protection scope of the present invention.

Claims

1. A suspension, characterized in that: The invention comprises two force transmission mechanisms (1), a second shock absorber (2), and four swing arms (3) for being rotatably connected to a vehicle frame (8); the swing arms (3) are used to mount wheels (4) and drive the wheels (4) to rise and fall relative to the vehicle frame (8); two swing arms (3) located at diagonally opposite corners constitute an arm group; The two force transmission mechanisms (1) are respectively connected to different arm groups. The force transmission mechanism (1) includes a balance bar (11) and two intermediate connecting members (12). The balance bar (11) is used to connect to the vehicle frame (8). The two ends of the balance bar (11) are respectively hingedly connected to the two intermediate connecting members (12). The ends of the two intermediate connecting members (12) away from the balance bar (11) are respectively hingedly connected to the two swing arms (3) of the same arm group. The balance bar (11) has a horizontal rotational freedom relative to the vehicle frame (8). At least one of the intermediate connecting members (12) of the force transmission mechanism (1) is configured as a first shock absorber (122), and the second shock absorber (2) acts on the two force transmission mechanisms (1).

2. The suspension according to claim 1, wherein: The second shock absorber (2) comprises a linear shock absorber, and the linear shock absorber is respectively hingedly connected to the two swing arms (3) on the same side in the left and right directions.

3. The suspension according to claim 2, wherein: The second shock absorber (2) comprises two linear shock absorbers, and the two linear shock absorbers are arranged opposite to each other along the left-right direction; And / or, the position where the swing arm (3) is connected to the linear shock absorber is higher than the position where the swing arm (3) is connected to the intermediate connecting member (12).

4. The suspension according to claim 1, wherein: The second shock absorber (2) comprises an anti-torsion shock absorber, and the anti-torsion shock absorber is respectively connected to the two balancing rods (11).

5. The suspension according to any one of claims 1 to 4, characterized in that The damping ratio of the first shock absorber (122) is greater than the damping ratio of the second shock absorber (2).

6. The suspension according to any one of claims 1 to 4, characterized in that The other intermediate connecting member (12) of the same force transmission mechanism (1) is configured as a connecting rod (121), and the first shock absorbers (122) of different force transmission mechanisms (1) are arranged opposite to each other in the left and right directions.

7. The suspension according to any one of claims 1 to 4, characterized in that The rotation axes of the two balancing poles (11) are located at the center of the balancing pole (11) and are coaxially arranged.

8. The suspension according to claim 1, wherein: The swing arm (3) comprises a first rod segment (31) and a second rod segment (32), the first rod segment (31) and the second rod segment (32) are arranged at an angle, and the first rod segment (31) is rotatably connected to the vehicle frame (8); One end of the second rod segment (32) is fixedly connected to one end of the first rod segment (31), and the other end of the second rod segment (32) is used to mount the wheel (4); or, the suspension further comprises a first rotary drive member (5), one end of the second rod segment (32) is rotatably connected to the lower end of the first rod segment (31), and the first rotary drive member (5) is respectively connected to the first rod segment (31) and the second rod segment (32) to drive the second rod segment (32) to rotate relative to the first rod segment (31) and drive the wheel (4) to rise and fall.

9. The suspension according to claim 1 or 8, characterized in that The suspension further comprises a second rotary drive member (6) and a mounting frame (7), wherein the mounting frame (7) is rotatably connected to the lower end of the swing arm (3) and the rotation axis is consistent with the up-down direction, the second rotary drive member (6) is respectively connected to the mounting frame (7) and the swing arm (3), and the mounting frame (7) is used to mount the wheel (4).

10. An all-terrain manned rover, characterized in that: Comprising the suspension according to any one of claims 1 to 9.

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