Constant-tension hanging mechanism of lunar rover

Abstract

The invention belongs to the technical field of lunar rover weight reduction hanging, and particularly relates to a lunar rover constant tension hanging mechanism which comprises a mounting plate, a winding wheel mounting frame A, a balance winding motor, a winding wheel A, a winding wheel mounting frame B, a fine adjustment winding motor, a winding wheel B, a winding wheel C, a steel wire rope A, a steel wire rope B, a tension sensor, a spring and a steel wire rope C. The balance winch motor continuously provides a preset constant torque to basically balance 5 / 6 of the gravity of the lunar rover and achieve the purpose of hanging weight reduction, the tension sensor is arranged to monitor and obtain the deformation of the spring in real time, the fine adjustment winch motor can be controlled to make instant compensation, and the safety of the lunar rover is improved. The deformation of the spring is further kept in dynamic balance, the tension of the hanging mechanism is constant, and the lunar rover can stably advance. The overall structure is relatively simple, high reliability is achieved, and the problems that in the advancing process of the lunar rover, weight reduction fails, and hanging force is not constant can be effectively solved.

Description

Technical Field

[0001] The invention belongs to the technical field of lunar rover weight reduction suspension, in particular to a lunar rover constant tension suspension mechanism. Background Art

[0002] Due to the special characteristics of the lunar surface, the lunar rover is prone to encounter deep pits or protrusions when exploring the lunar surface, which will cause changes in the wheel pressure of the lunar rover, which has an impact on engineering exploration. Some existing lunar rovers usually need to be connected to the lunar rover through a hanging mechanism to balance the 5 / 6 gravity of the lunar rover.

[0003] However, the existing suspension mechanism cannot solve the problem of tension change caused by wheel pressure change during the movement of the lunar rover. That is, when the lunar rover suddenly encounters a deep pit or a protruding slope, the lunar rover will fail to reduce weight and the suspension force will be unstable during the movement. Summary of the invention

[0004] In view of the above problems, the object of the present invention is to provide a constant tension suspension mechanism for a lunar rover.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A lunar rover constant tension hanging mechanism, comprising a mounting plate, a winch wheel mounting frame A, a balancing winch motor, a winch wheel A, a winch wheel mounting frame B, a fine-tuning winch motor, a winch wheel B, a winch wheel C, a steel wire rope A, a steel wire rope B, a tension sensor, a spring, and a steel wire rope C, wherein the mounting plate is mounted on an external sling;

[0007] The hoisting wheel mounting frame A and the hoisting wheel mounting frame B are respectively mounted on the mounting plate, the axle of the hoisting wheel A is rotatably connected to the hoisting wheel mounting frame A, the housing of the balancing hoisting motor is mounted on the hoisting wheel mounting frame A, the driving end of the balancing hoisting motor is connected to the axle of the hoisting wheel A, the rotating shaft of the hoisting wheel B and the rotating shaft of the hoisting wheel C are respectively rotatably connected to the hoisting wheel mounting frame B, the hoisting wheel B is coaxially connected to the hoisting wheel C, the housing of the fine-tuning hoisting motor is mounted on the hoisting wheel mounting frame B, and the driving end of the fine-tuning hoisting motor is connected to the axle of the hoisting wheel C;

[0008] One end of the steel wire rope A is fixedly connected to the winch wheel A, and the other end of the steel wire rope A is firstly passed around the winch wheel A for several turns, and then passed around the winch wheel B for several turns before being fixedly connected to the winch wheel B. One end of the steel wire rope B is fixedly connected to the winch wheel C, and the other end of the steel wire rope B is passed around the winch wheel C for several turns before being connected to the tension sensor. The tension sensor is connected to the upper end of the spring, and the lower end of the spring is connected to one end of the steel wire rope C, and the other end of the steel wire rope C is connected to the lunar rover.

[0009] The hoisting wheel B is coaxially connected to the hoisting wheel C through a coupling.

[0010] The axial center line of the balancing winch motor is collinear with the axial center line of the winch wheel A, the axial center line of the fine-tuning winch motor, the axial center line of the winch wheel B, and the axial center line of the winch wheel C are all collinear, and the axial center line of the winch wheel A and the axial center line of the winch wheel B are parallel to each other and to the horizontal plane.

[0011] The lunar rover constant tension suspension mechanism of the present invention also includes an inclination adjustment component and a clamping wheel component. The other end of the wire rope B passes through the inclination adjustment component and the clamping wheel component in sequence after winding around the winch wheel C for several turns, and then is connected to the tension sensor.

[0012] The tilt adjustment assembly includes a fixed base frame, a connecting frame, a rotating frame A, and a rotating frame B; the upper end of the fixed base frame is mounted on the mounting plate, the lower end of the fixed base frame is connected to the upper end of the connecting frame, two fixed rotating shafts A are symmetrically arranged on the rotating frame A, the axial center lines of the two fixed rotating shafts A are collinear, the two fixed rotating shafts A are respectively rotatably connected to the lower end of the connecting frame, the rotating frame B is located on the inner side of the rotating frame A, two fixed rotating shafts B are symmetrically arranged on the rotating frame B, the axial center lines of the two fixed rotating shafts B are collinear, the two fixed rotating shafts B are respectively rotatably connected to the rotating frame A, and the clamping wheel assembly is fixedly connected to the inner side of the rotating frame B;

[0013] The other end of the steel wire rope B, after winding around the winch wheel C for several turns, passes through the clamping wheel assembly on the inner side of the fixed base frame, the inner side of the connecting frame and the inner side of the rotating frame B in sequence.

[0014] The axial center lines of the two fixed rotating shafts A and the axial center lines of the two fixed rotating shafts B are parallel to the horizontal plane, and the projection of the axial center line of each fixed rotating shaft A in the horizontal plane is perpendicular to the projection of the axial center lines of all the fixed rotating shafts B in the horizontal plane.

[0015] The clamping wheel assembly includes two clamping plates and at least two clamping wheel groups, the two clamping plates are respectively fixed to the inner sides of the rotating frame B, and the clamping wheel groups are arranged in sequence between the two clamping plates along the vertical direction. Each clamping wheel group includes two symmetrically arranged clamping wheels for clamping the wire rope B, and the axial center lines of the two clamping wheels of each clamping wheel group are parallel to each other and located in the same plane, and the planes where the axial center lines of the two clamping wheels of each clamping wheel group are located are parallel to the horizontal plane.

[0016] The axial center lines of all the clamping wheels are parallel to the axial center line of the winch wheel C.

[0017] The lunar rover constant tension suspension mechanism of the present invention also includes a fixed pulley assembly, which includes a plurality of groups of matched fixed pulleys and fixed pulley frames, each group of the fixed pulley frames is respectively mounted on the mounting plate, and each group of the fixed pulleys is rotatably mounted on the fixed pulley frames of the same group; the other end of the wire rope B that has passed through the winch wheel C for several turns first passes through each of the fixed pulleys in turn, and then vertically downward passes through the inclination adjustment assembly and the clamping wheel assembly in turn to be connected to the tension sensor.

[0018] The axial center lines of all the fixed pulleys are parallel to the axial center line of the winch wheel C.

[0019] The advantages and positive effects of the present invention are:

[0020] 1. The present invention realizes the basic balance of 5 / 6 of the lunar rover's gravity and achieves the purpose of hanging and reducing weight by continuously providing a preset constant torque through the balancing winch motor, and converts the change of spring force into the deformation of the spring through the tension sensor for real-time monitoring, and can control the fine-tuning winch motor to make instant compensation, further keep the spring deformation in dynamic balance, ensure the constant tension of the hanging mechanism, and enable the lunar rover to move stably.

[0021] 2. The overall structure of the present invention is relatively simple and highly reliable, and can effectively avoid the problems of weight reduction failure and unstable hanging force that occur during the movement of the lunar rover. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 It is a schematic diagram of the arrangement structure of the balancing hoisting motor, the fine-tuning hoisting motor, the hoisting wheel A, the hoisting wheel B, and the hoisting wheel C of the present invention;

[0024] Figure 3 It is a schematic diagram of the arrangement structure of the inclination adjustment assembly, the clamping wheel assembly and the fixed pulley assembly of the present invention;

[0025] Figure 4 It is a schematic diagram of the connection structure of the rotating frame A, the rotating frame B and the clamping wheel assembly of the present invention;

[0026] Figure 5 It is a schematic structural diagram of the clamping wheel assembly of the present invention.

[0027] In the figure: 1 is a mounting plate, 2 is a winch wheel mounting frame A, 3 is a balancing winch motor, 4 is a winch wheel A, 5 is a winch wheel mounting frame B, 6 is a fine-tuning winch motor, 7 is a winch wheel B, 8 is a winch wheel C, 9 is a wire rope A, 10 is a wire rope B, 11 is a tension sensor, 12 is a spring, 13 is a wire rope C, 14 is a fixed base frame, 15 is a connecting frame, 16 is a rotating frame A, 1601 is a fixed rotating shaft A, 17 is a rotating frame B, 1701 is a fixed rotating shaft B, 1702 is a mounting ear B, 18 is a clamping plate, 1801 is a mounting ear A, 19 is a clamping wheel, 20 is a fixed pulley, and 21 is a fixed pulley frame. DETAILED DESCRIPTION

[0028] The following is combined with Figure 1-5 The present invention is further described in detail.

[0029] A lunar rover constant tension suspension mechanism, such as Figure 1-5 As shown, the present embodiment includes a mounting plate 1, a winch wheel mounting frame A 2, a balancing winch motor 3, a winch wheel A 4, a winch wheel mounting frame B 5, a fine adjustment winch motor 6, a winch wheel B 7, a winch wheel C 8, a wire rope A 9, a wire rope B 10, a tension sensor 11, a spring 12, and a wire rope C 13. The mounting plate 1 is mounted on an external sling. In the present embodiment, the connection method of the mounting plate 1 and the external sling adopts the existing technology.

[0030] like Figure 1 and Figure 2 As shown, the winch wheel mounting frame A2 and the winch wheel mounting frame B5 are respectively installed on the bottom surface of the mounting plate 1, the axle of the winch wheel A4 is rotatably connected to the winch wheel mounting frame A2, the housing of the balancing winch motor 3 is installed on the winch wheel mounting frame A2, the driving end of the balancing winch motor 3 is connected to the axle of the winch wheel A4, the rotating shaft of the winch wheel B7 and the rotating shaft of the winch wheel C8 are respectively rotatably connected to the winch wheel mounting frame B5, the winch wheel B7 and the winch wheel C8 are coaxially connected through a coupling, the housing of the fine-tuning winch motor 6 is installed on the winch wheel mounting frame B5, and the driving end of the fine-tuning winch motor 6 is connected to the axle of the winch wheel C8.

[0031] One end of the steel wire rope A9 is fixed to the winch wheel A4, and the other end of the steel wire rope A9 is firstly wound around the winch wheel A4 for several turns, and then wound around the winch wheel B7 for several turns before being fixed to the winch wheel B7, one end of the steel wire rope B10 is fixed to the winch wheel C8, and the other end of the steel wire rope B10 is wound around the winch wheel C8 for several turns before being connected to the tension sensor 11, the tension sensor 11 is connected to the upper end of the spring 12, the lower end of the spring 12 is connected to one end of the steel wire rope C13, and the other end of the steel wire rope C13 is connected to the lunar rover. The connection method between the steel wire rope C13 and the lunar rover adopts the existing technology.

[0032] In this embodiment, the axial center line of the balancing hoisting motor 3 is collinear with the axial center line of the hoisting wheel A4, the axial center line of the fine adjustment hoisting motor 6, the axial center line of the hoisting wheel B7, and the axial center line of the hoisting wheel C8 are all collinear, and the axial center line of the hoisting wheel A4 and the axial center line of the hoisting wheel B7 are parallel to each other and to the horizontal plane, so that the overall structure can be compact.

[0033] In this embodiment, the balance hoist motor 3 and the fine adjustment hoist motor 6 are both commercial products, and the actions are controlled by an external controller. The function of the spring 12 in this embodiment is to connect to the steel wire rope C13 directly connected to the lunar rover and sense the force borne by the lunar rover. In this embodiment, the tension sensor 11 is a commercial product, which is connected and communicated with the external controller. The tension sensor 11 is responsible for real-time monitoring of the force of the spring 12.

[0034] The balancing winch motor 3 transmits force to the winch wheel C 8 through the winch wheel A 4, the wire rope A 9, and the winch wheel B 7, and continuously provides a preset constant torque. The winch wheel C8 transmits the hanging force to the lunar rover through the connected wire rope B10 and the subsequent spring 12 and wire rope C13, so as to basically balance the gravity of the lunar rover 5 / 6 and achieve the purpose of hanging and reducing weight. The fine adjustment winch motor 6 is used to drive the winch wheel C 8 to finely adjust the release length of the wire rope B10, so as to further accurately maintain the constant tension of the hanging mechanism.

[0035] Due to the rugged terrain on the lunar surface, the lunar rover will bump up and down during driving. Considering the error, the constant torque provided by the balancing hoisting motor 3 alone cannot accurately balance the 5 / 6 gravity of the lunar rover in real time during operation. The constant torque provided by the balancing hoisting motor 3 can generally achieve real-time accurate balance for about 90% of the 5 / 6 gravity of the lunar rover to be balanced. The error is calculated as 10%, and this part of the error is accurately regulated by the fine-tuning hoisting motor 6. The external controller calculates the change in the expansion and contraction amount of the spring 12 according to the feedback signal of the tension sensor 11, and sends it to the fine-tuning hoisting motor 6 immediately. The fine-tuning hoisting motor 6 compensates according to the change in the expansion and contraction amount of the spring 12, keeps the deformation of the spring 12 fixed, ensures the constant tension of the hanging mechanism, and cooperates with the balancing hoisting motor 3 to achieve real-time accurate balance of the 5 / 6 gravity of the lunar rover.

[0036] For example, when the lunar rover encounters a pothole terrain, the spring 12 will be stretched under the gravity of the lunar rover. At this time, the fine-tuning winch motor 6 will drive the winch wheel C 8 to correspondingly extend the release length of the wire rope B10 to restore the original length of the spring 12. On the contrary, when the lunar rover travels to the slope, the spring 12 is shortened due to compression, and the fine-tuning winch motor 6 will drive the winch wheel C 8 to shorten the release length of the wire rope B10 to restore the original length of the spring 12. Through the coordinated arrangement of the fine-tuning winch motor 6, the spring 12 and the tension sensor 11, the overall tension can be further accurately controlled to remain constant, ensuring that the lunar rover can travel smoothly on various terrains, and can more effectively achieve real-time and accurate balance of the 5 / 6 gravity of the lunar rover, and avoid the weight reduction failure and the problem of unstable hanging force during the travel of the lunar rover.

[0037] Specifically, if Figure 3 As shown, the lunar rover constant tension suspension mechanism in this embodiment also includes a fixed pulley assembly, which includes two groups of matched fixed pulleys 20 and fixed pulley frames 21. The fixed pulley frames 21 of each group are respectively installed on the bottom surface of the mounting plate 1, and the fixed pulleys 20 of each group are respectively rotatably installed on the fixed pulley frames 21 of the same group. The axial center lines of all fixed pulleys 20 are parallel to the axial center line of the winch wheel C8.

[0038] Specifically, if Figure 3-5 As shown, the lunar rover constant tension suspension mechanism in this embodiment also includes a tilt adjustment assembly and a clamping wheel assembly.

[0039] In this embodiment, the tilt adjustment assembly includes a fixed base frame 14, a connecting frame 15, a rotating frame A16, and a rotating frame B17. The upper end of the fixed base frame 14 is mounted on the bottom surface of the mounting plate 1, and the lower end of the fixed base frame 14 is connected to the upper end of the connecting frame 15. Two fixed rotating shafts A1601 are symmetrically arranged on the rotating frame A16, the axial center lines of the two fixed rotating shafts A1601 are collinear, and the two fixed rotating shafts A1601 are respectively rotatably connected to the lower end of the connecting frame 15, the rotating frame B17 is located on the inner side of the rotating frame A16, and two fixed rotating shafts B1701 are symmetrically arranged on the rotating frame B17, the axial center lines of the two fixed rotating shafts B1701 are collinear, and the two fixed rotating shafts B1701 are respectively rotatably connected to the rotating frame A16, and the clamping wheel assembly is fixedly connected to the inner side of the rotating frame B17. In this embodiment, the axial center lines of the two fixed rotation axes A 1601 and the axial center lines of the two fixed rotation axes B 1701 are parallel to the horizontal plane, and the projection of the axial center line of each fixed rotation axis A 1601 in the horizontal plane is perpendicular to the projection of the axial center lines of all fixed rotation axes B 1701 in the horizontal plane.

[0040] In this embodiment, the clamping wheel assembly includes two clamping plates 18 and two clamping wheel groups. The two clamping plates 18 are respectively fixed to the inner sides of the rotating frame B17. The clamping wheel groups are arranged in sequence between the two clamping plates 18 along the vertical direction. Each clamping wheel group includes two symmetrically arranged clamping wheels 19 for clamping the wire rope B10. The axial center lines of the two clamping wheels 19 of each clamping wheel group are parallel to each other and located in the same plane. The plane where the axial center lines of the two clamping wheels 19 of each clamping wheel group are located is parallel to the horizontal plane. The axial center lines of all the clamping wheels 19 are parallel to the axial center line of the winch wheel C8. In this embodiment, a mounting ear A 1801 is protruding from the upper part of the side surface of each clamping plate 18 away from the clamping wheel 19, and a mounting ear B 1702 used in conjunction with the mounting ear A 1801 is protruding from the inner side of the rotating frame B 17. The mounting ear A 1801 of each clamping plate 18 can be connected to a corresponding mounting ear B 1702 on the rotating frame B 17 by bolts, which is convenient for disassembly and assembly.

[0041] After winding around the winch wheel C8 for several turns, the other end of the wire rope B10 first bypasses each fixed pulley 20 in sequence, and then vertically downward passes through the two clamping wheels 19 of each clamping wheel assembly on the inner side of the fixed base frame 14, the inner side of the connecting frame 15, and the inner side of the rotating frame B17. The other end of the wire rope B10 is connected to the tension sensor 11 after passing through the inclination adjustment assembly and the clamping wheel assembly in sequence. The setting of the fixed pulley 20 can reduce the friction of the wire rope B10 bypassing the fixed pulley 20, and change the extension direction of the wire rope B10 and the direction of its tension to cooperate with other parts. The setting of the clamping wheel assembly is also used to guide the wire rope B10 and reduce the friction. During the driving process of the lunar rover, it may encounter various obstacles, which will cause the force of the wire rope C13 and the wire rope B10 to be offset. When the steel wire rope B10 is subjected to force and tends to deviate, it will cause the clamping wheel assembly to tilt. At this time, by cooperating with the rotating frame A16 and the rotating frame B17 which are respectively rotated, the pitch torsion of the rotating frame A16 and the rotating frame B17 themselves can be used to offset the tilt of the clamping wheel assembly, thereby ensuring that the clamping wheel assembly remains in a vertical state, thereby ensuring that the steel wire rope B10 remains plumb at all times, ensuring reliable weight reduction for the lunar rover's suspension, and improving the driving stability and safety of the lunar rover in complex terrain.

Claims

1. A lunar rover constant tension suspension mechanism, characterized in that: It comprises a mounting plate (1), a winch wheel mounting frame A (2), a balancing winch motor (3), a winch wheel A (4), a winch wheel mounting frame B (5), a fine-tuning winch motor (6), a winch wheel B (7), a winch wheel C (8), a steel wire rope A (9), a steel wire rope B (10), a tension sensor (11), a spring (12), and a steel wire rope C (13), wherein the mounting plate (1) is mounted on an external sling; The hoisting wheel mounting frame A (2) and the hoisting wheel mounting frame B (5) are respectively mounted on the mounting plate (1); the axle of the hoisting wheel A (4) is rotatably connected to the hoisting wheel mounting frame A (2); the housing of the balancing hoisting motor (3) is mounted on the hoisting wheel mounting frame A (2); the driving end of the balancing hoisting motor (3) is connected to the axle of the hoisting wheel A (4); the rotating shaft of the hoisting wheel B (7) and the rotating shaft of the hoisting wheel C (8) are respectively rotatably connected to the hoisting wheel mounting frame B (5); the hoisting wheel B (7) is coaxially connected to the hoisting wheel C (8); the housing of the fine-tuning hoisting motor (6) is mounted on the hoisting wheel mounting frame B (5); the driving end of the fine-tuning hoisting motor (6) is connected to the axle of the hoisting wheel C (8); One end of the steel wire rope A (9) is fixedly connected to the hoist wheel A (4), the other end of the steel wire rope A (9) is firstly wound around the hoist wheel A (4) for several turns, then wound around the hoist wheel B (7) for several turns, and then fixedly connected to the hoist wheel B (7), one end of the steel wire rope B (10) is fixedly connected to the hoist wheel C (8), the other end of the steel wire rope B (10) is wound around the hoist wheel C (8) for several turns, and then connected to the tension sensor (11), the tension sensor (11) is connected to the upper end of the spring (12), the lower end of the spring (12) is connected to one end of the steel wire rope C (13), and the other end of the steel wire rope C (13) is connected to the lunar rover.

2. A lunar rover constant tension suspension mechanism according to claim 1, characterized in that: The hoisting wheel B (7) is coaxially connected to the hoisting wheel C (8) via a coupling.

3. A lunar rover constant tension suspension mechanism according to claim 1, characterized in that: The axial center line of the balancing hoisting motor (3) is collinear with the axial center line of the hoisting wheel A (4); the axial center line of the fine-tuning hoisting motor (6), the axial center line of the hoisting wheel B (7), and the axial center line of the hoisting wheel C (8) are all collinear; the axial center line of the hoisting wheel A (4) and the axial center line of the hoisting wheel B (7) are parallel to each other and are parallel to the horizontal plane.

4. A lunar rover constant tension suspension mechanism according to claim 1, characterized in that: It also includes an inclination adjustment component and a clamping wheel component. The other end of the wire rope B (10) passes around the winch wheel C (8) for several turns and then passes through the inclination adjustment component and the clamping wheel component in sequence and is connected to the tension sensor (11).

5. A lunar rover constant tension suspension mechanism according to claim 4, characterized in that: The tilt adjustment assembly comprises a fixed base frame (14), a connecting frame (15), a rotating frame A (16), and a rotating frame B (17); the upper end of the fixed base frame (14) is mounted on the mounting plate (1), the lower end of the fixed base frame (14) is connected to the upper end of the connecting frame (15), and the rotating frame A (16) is symmetrically provided with two fixed rotating shafts A (1601), the axial center lines of the two fixed rotating shafts A (1601) are collinear, and the two fixed rotating shafts A (1601) are symmetrically arranged on the rotating frame A (16). A (1601) are respectively rotatably connected to the lower end of the connecting frame (15), the rotating frame B (17) is located on the inner side of the rotating frame A (16), and two fixed rotating shafts B (1701) are symmetrically arranged on the rotating frame B (17), and the axial center lines of the two fixed rotating shafts B (1701) are collinear, and the two fixed rotating shafts B (1701) are respectively rotatably connected to the rotating frame A (16), and the clamping wheel assembly is fixedly connected to the inner side of the rotating frame B (17); The other end of the steel wire rope B (10) after winding around the winch wheel C (8) for several turns passes through the clamping wheel assembly on the inner side of the fixed base frame (14), the inner side of the connecting frame (15) and the inner side of the rotating frame B (17) in sequence.

6. A lunar rover constant tension suspension mechanism according to claim 5, characterized in that: The axial center lines of the two fixed rotation axes A (1601) and the axial center lines of the two fixed rotation axes B (1701) are parallel to the horizontal plane, and the projection of the axial center line of each fixed rotation axis A (1601) in the horizontal plane is perpendicular to the projection of the axial center lines of all the fixed rotation axes B (1701) in the horizontal plane.

7. The constant tension suspension mechanism for a lunar rover according to claim 5, characterized in that: The clamping wheel assembly comprises two clamping plates (18) and at least two clamping wheel groups. The two clamping plates (18) are respectively fixed to the inner side of the rotating frame B (17). The clamping wheel groups are arranged in sequence between the two clamping plates (18) along the vertical direction. Each clamping wheel group comprises two symmetrically arranged clamping wheels (19) for clamping the wire rope B (10). The axial center lines of the two clamping wheels (19) of each clamping wheel group are parallel to each other and located in the same plane. The plane where the axial center lines of the two clamping wheels (19) of each clamping wheel group are located is parallel to the horizontal plane.

8. A lunar rover constant tension suspension mechanism according to claim 7, characterized in that: The axial center lines of all the clamping wheels (19) are parallel to the axial center line of the winch wheel C (8).

9. The constant tension suspension mechanism for a lunar rover according to claim 4, characterized in that: The invention also comprises a fixed pulley assembly, wherein the fixed pulley assembly comprises a plurality of groups of matched fixed pulleys (20) and fixed pulley frames (21), wherein the fixed pulley frames (21) of each group are respectively mounted on the mounting plate (1), and the fixed pulleys (20) of each group are respectively rotatably mounted on the fixed pulley frames (21) of the same group; the other end of the steel wire rope (10) which has passed through the winch wheel C (8) for a plurality of turns first passes through the fixed pulleys (20) in sequence, and then passes through the tilt adjustment assembly and the clamping wheel assembly in sequence vertically downward to be connected with the tension sensor (11).

10. A lunar rover constant tension suspension mechanism according to claim 9, characterized in that: The axial center lines of all the fixed pulleys (20) are parallel to the axial center line of the winch wheel C (8).

Images