The invention discloses a climbing method of an active suspension type planet vehicle. The active suspension type planet vehicle is composed of wheels with independent steering and a suspension capable of actively adjusting the height of the vehicle body. The method comprises the following steps: by utilizing the characteristic of independent steering of multiple wheels of the active suspension type planet vehicle, the vehicle body is kept in the direction in which a vehicle head directly climbs a slope; all the wheels rotate by the same angle in the same direction after steering, all the wheels rotate by the same angle in the other direction after climbing for a certain distance, then climbing is conducted, and the steps are repeated, so that a zigzag uphill route is achieved; and the rotation angle of the wheels is 0-90 degrees. According to the zigzag climbing route, a direct upward climbing process is not needed in the whole process, requirement for traction force in the climbing process is reduced, and the climbing capacity of the planet vehicle and the stability of the vehicle body are improved. By utilizing the characteristic that the suspension of the active suspension type planet vehicle can be lifted, the height of the vehicle body is reduced, and the stability of the vehicle body under extreme conditions is improved.
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。
Climbing method for active suspension type planet vehicle
一种主动悬架式星球车爬坡方法
2021-10-01
Patent
Electronic Resource
Chinese
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