阅读说明：本技术 一种主动悬架式星球车爬坡方法 (Active suspension type planet vehicle climbing method ) 是由 王瑞 潘冬 袁宝峰 林云成 刘雅芳 邹猛 张泽洲 于 2021-08-13 设计创作，主要内容包括：本发明公开了一种主动悬架式星球车爬坡方法,主动悬架式星球车由具备独立转向的车轮和能主动调节车体高度的悬架组成,该方法是：利用主动悬架式星球车多轮独立转向的特点,让车身保持车头直接上坡的方向,各轮转向向同一方向旋转同一角度,爬坡一段距离后,各轮转向向另一方向旋转同一角度,再进行爬坡,如此循环,实现“之”字形上坡路线；所述车轮旋转的角度为0～90゜。本发明的“之”字形爬坡路线,全过程无直接向上爬坡的过程,减小了爬坡过程中对牵引力,提高星球车的爬坡能力和车体稳定性。利用主动悬架式星球车悬架可升降的特点,降低车身高度,增加了极端情况下车体的稳定性。(The invention discloses a climbing method of an active suspension type planet vehicle, wherein the active suspension type planet vehicle consists of wheels with independent steering and a suspension capable of actively adjusting the height of a vehicle body, and the method comprises the following steps: the characteristic that multiple wheels of the active suspension type planet vehicle independently steer is utilized, the vehicle body keeps the direction that the vehicle head directly ascends the slope, each wheel is steered to rotate by the same angle in the same direction, after climbing for a certain distance, each wheel is steered to rotate by the same angle in the other direction, then climbing is carried out, and the circulation is carried out, so that a zigzag ascending route is realized; the wheel rotates at an angle of 0-90 degrees. The Z-shaped climbing route has no direct upward climbing process in the whole process, reduces the traction force in the climbing process, and improves the climbing capability and the stability of the planet vehicle body. The characteristic that the active suspension type planet vehicle suspension can rise and fall is utilized, the height of the vehicle body is reduced, and the stability of the vehicle body under extreme conditions is improved.)

1. The active suspension type celestial body vehicle climbing method is characterized in that the active suspension type celestial body vehicle consists of wheels with independent steering and a suspension capable of actively adjusting the height of a vehicle body, and comprises the following steps: the method comprises the following steps:

the characteristic that multiple wheels of the active suspension type planet vehicle independently steer is utilized, the vehicle body keeps the direction that the vehicle head directly ascends the slope, each wheel steers to rotate to the same direction by the same angle, after climbing for a distance, each wheel steers to rotate to the same angle in the other direction, then climbing is carried out, and the circulation is carried out, so that the zigzag ascending route is realized.

2. The method for climbing an active suspension planet vehicle according to claim 1, wherein the method comprises the following steps: the wheel rotates at an angle of 0-90 degrees.

Technical Field

The invention belongs to the technical field of spaceflight, and relates to an active suspension type planet vehicle climbing method which is used for improving climbing capability and stability of a planet vehicle.

Background

The twenty-first century is a new era for the human beings to fully develop deep space exploration and development, and moon and mars become the key points of exploration in all countries in the world. With the progress of detection technology and the deepening of detection work, more and more planet vehicles are added to the rows and columns of the detector, and the surface inspection is realized on the extraterrestrial celestial body.

Different from the patrol of ordinary vehicles on the earth, the surface of an extraterrestrial celestial body is a naturally formed non-paved road surface, and the road surface has the characteristics that the soil in most regions is soft, wheels are easy to slip, the traction force is greatly reduced, the direct climbing cannot be realized when the road surface goes up a slope, but the road surface goes up a slope in a curve mode similar to a 'winding mountain road', but the road section of a planet vehicle directly going up a slope still appears when the curve turns, and the climbing capacity is influenced; secondly, when the vehicle body climbs upwards in an inclined manner, the stability of the vehicle body is lower than that of the vehicle body which directly climbs upwards (because the front and back length dimensions of the general vehicle body are larger than the left and right width dimensions), at this time, in addition to the reduction of the stability of the vehicle body caused by the gradient, the vehicle body inclination caused by the uneven road surface makes the instability worse, and the danger of side turning during the climbing or the climbing can not occur.

Disclosure of Invention

The invention aims to solve the problem that the traction force for directly climbing upwards in the climbing process of a planet vehicle is insufficient, and provides an active suspension type planet vehicle climbing method.

An active suspension type planet vehicle climbing method comprises the following steps:

the characteristic that multiple wheels of the active suspension type planet vehicle independently steer is utilized, the vehicle body keeps the direction that the vehicle head directly ascends, each wheel steers to rotate to the same direction by the same angle, after climbing for a certain distance, each wheel steers to rotate to the same angle in the other direction, then climbing is carried out, and the circulation is carried out, so that a zigzag ascending route is realized;

the wheel rotates by an angle of 0-90 degrees according to the soil softness degree and the gradient.

The invention has the beneficial effects that:

1. the driving suspension type celestial body vehicle has the advantages that the characteristic that the driving suspension type celestial body vehicle is independently steered by multiple wheels is utilized, a designed zigzag climbing route is adopted, the whole process has no process of directly climbing upwards, the vehicle body always keeps the posture that the vehicle head faces upwards, the requirement on traction force in the climbing process is reduced, the vehicle body is always in the maximum stable state, the climbing capability and the vehicle body stability of the celestial body vehicle can be effectively improved, the environmental adaptability of the celestial body vehicle is enhanced, the motion range is expanded, and the driving suspension type celestial body vehicle has very strong practical application significance in the future celestial body vehicle inspection task planning.

2. The characteristic that the active suspension type planet vehicle suspension can rise and fall is utilized, the height of the vehicle body is reduced, and the stability of the vehicle body under extreme conditions is improved.

Drawings

Fig. 1 is a side view of an active suspension celestial vehicle.

Fig. 2 is a top view of an active suspension celestial vehicle.

FIG. 3 is a schematic view of "" shaped climbing "" of an active suspension type celestial body.

Detailed Description

As shown in fig. 1, the active suspension type celestial body consists of wheels with independent steering and a suspension capable of actively adjusting the height of the vehicle body, the number of the wheels is four wheels or more, and the present embodiment is described by taking six wheels as an example.

The active suspension type planet vehicle comprises six sets of wheel driving mechanisms, six sets of wheel steering mechanisms 1, two sets of included angle adjusting mechanisms 2, two sets of clutch mechanisms 3, one set of differential mechanism 4 and a suspension structure consisting of two sets of main rocker arms 5, two sets of auxiliary rocker arms 6 and six sets of steering arms. The seventeen sets of mechanisms are driven mechanisms except the differential mechanism, and the rest sixteen sets of mechanisms are driving mechanisms.

The adoption of the active suspension enables the train to have the following advantages:

1. each wheel is provided with an independent steering mechanism, and any steering angle can be independently realized;

2. the height of the mass center of the train body can be changed, so that the difference between the load of the front wheel and the load of the rear wheel and the driving torque of the wheels during climbing is reduced, and the climbing capability of the mars train is improved.

As shown in fig. 2, a climbing method for an active suspension type planet vehicle comprises the following steps:

(1) the vehicle body keeps the direction that the vehicle head directly ascends the slope, each wheel turns to rotate to the same direction by the same angle, the direction of the wheels in the step (1) of the figure 2 rotates from a dotted line to a solid line, and all the wheels keep the same speed to advance. The rotation angle is between 0 and 90 degrees according to the soil softness degree and the gradient;

(2) after climbing for a certain distance, stopping advancing; each wheel turns to rotate by the same angle in the other direction, the wheel direction in step (2) of fig. 2 rotates from a dotted line to a solid line, and all wheels keep the same speed to advance;

(3) after climbing for a certain distance, stopping advancing; each wheel turns to rotate by the same angle in the other direction, the wheel direction in step (3) of fig. 2 rotates from a dotted line to a solid line), and all wheels keep the same speed to advance;

(4) and (5) repeating the step (2) and the step (3) until the movement to the desired position is carried out.