CN103318423A - Manned lunar rover - Google Patents
Manned lunar rover Download PDFInfo
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- CN103318423A CN103318423A CN2013102259425A CN201310225942A CN103318423A CN 103318423 A CN103318423 A CN 103318423A CN 2013102259425 A CN2013102259425 A CN 2013102259425A CN 201310225942 A CN201310225942 A CN 201310225942A CN 103318423 A CN103318423 A CN 103318423A
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Abstract
The invention provides a manned lunar rover. The manned lunar rover comprises a vehicle chassis system, four driving systems and a casing which is provided with wire mesh tires; the four driving systems are uniformly distributed on the periphery of the vehicle chassis system; every driving system is in linkage connection with a steering system; the steering systems comprise steering shafts; one ends of the steering shafts are in linkage connection with driving shafts; the other ends of the steering shafts and power output ends of steering motors are fixed through speed reducers; every steering system is connected with the vehicle chassis system through a suspension system. The manned lunar rover has strong driving capability adapting to bad road conditions and can meet the requirements of special road conditions and special environments on the surface of the moon.
Description
Technical field
The present invention relates to a kind of manned lunar rover vehicle.
Background technology
The characteristics of 21 century moon exploration are to set up lunar base, development and utilization moon resource, these movable participations that be unable to do without the people.The manned lunar rover vehicle is as the supporting part of manned moon landing's engineering construction, it can enlarge astronaut's lunar surface action radius, carry astronaut and lunar surface test facility and carry out remote lunar surface exploration, test, and have and provide electric energy supply and lunar surface test support function to the moonfall clothes.At present, implement the country of moon exploration plan and organize all in the moon exploration plan according to oneself, develop the various lunar rover vehicle, and with it as an indispensable content of national spatial development strategy separately.Along with going deep into of various countries' lunar exploration plan, the research and development of the manned lunar rover vehicle, progress speed, the degree of perfection of its function and the quality of performance will be directly connected to the process of whole moon exploration and planetary detection.
Yet, owing to being subject to the impact of the factors such as the special physical property of menology itself and lunar surface environment, the comparatively technical requirements of harshness has been proposed for the design of the manned lunar rover vehicle.On the one hand, the development of the manned lunar rover vehicle will be considered many-sided technology such as material, technique, control, onboard sensor, remote control, remote sensing, guidance; On the other hand, because the lunar rover vehicle will be worked under the changeable environment of high temperature difference, high radiation, landform, need it to have the higher speed of a motor vehicle, larger climbable gradient and load-carrying capacity, preferably ride comfort, failure-free deceleration and stopping performance, good lunar surface comformability and stronger cross country power, to adapt to menology environment and condition.Therefore very high to every technical requirements of the lunar rover vehicle, especially to the comformability of moonscape working environment and the reliability of lunar rover vehicle work.For these reasons, up to the present, only have the U.S. to realize manned lunar rover vehicle development (Apollo Personnel investigation Program " the serial manned lunar rover vehicle), and successfully carried out flight test, and other countries just are confined to the development phase of concept car.Each concept design configurations, size differ, performance different, but mostly concentrate on certain particular studies field, and design exists to be becomed privileged and diversified characteristics, and design process lacks inheritance; The problems such as the not science that simultaneously a lot of conscious and introducings empirical method may cause designing in the design process, configuration hydraulic performance decline lack the overall system research of comprehensive a, stratification.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, a kind of manned lunar rover vehicle is provided, this lunar rover vehicle has the driveability of the stronger abominable pavement conditions of adaptation, can adapt to the requirement of the special road conditions of moonscape, particular surroundings.
For realizing above technical purpose, the present invention will take following technical scheme:
A kind of manned lunar rover vehicle comprises chassis system, drive system and the shell that is fitted with the silk screen tire; Described drive system is four, be distributed on the chassis system around; Described drive system comprises axle drive shaft and drive motor, and described drive motor comprises a wheel hub motor at least, and each wheel hub motor is equipped with a shell; Wheel hub motor places in the shell, comprises internal stator, outer rotor; Internal stator is fixed with axle drive shaft phase build-in, and the inwall of outer rotor and shell is connected and fixed; Each drive system all is connected with a steering swivel system; Described steering swivel system comprises steering shaft, and steering shaft one end and axle drive shaft are connected, and the other end is then fixed by the clutch end of retarder and steer motor; Each steering swivel system all is connected with the chassis system by a suspension system; Described suspension system, comprise suspension beam, lower suspension beam, link span, upper suspension beam, lower suspension beam, link span and chassis system consist of the parallel four-bar structure, in this parallel four-bar structure: upper suspension beam, lower suspension beam parallel, and the two ends of upper suspension beam, lower suspension beam are corresponding hinged with link span, chassis system respectively, go up simultaneously between suspension beam, lower suspension beam and the chassis system and also are connected with shock attenuation unit; The mount pad of described retarder, steer motor all is fixed on the link span.
Described drive motor comprises two wheel hub motors: first wheel motor, the second wheel hub motor, the internal stator of first wheel motor is fixed with an end phase build-in of axle drive shaft, the other end phase build-in of the internal stator of the second wheel hub motor and axle drive shaft is fixed, and the outer rotor of first wheel motor, the second wheel hub motor is connected and fixed with the inwall of a shell respectively.
Described chassis system is square truss structure.
Described shock attenuation unit is electromagnetic damper.
According to above technical scheme, with respect to prior art, the present invention has advantages of following:
The present invention is on the basis of analyzing that the development status of existing manned lunar rover vehicle scheme (be mainly U.S.'s Apollo Personnel investigation Program " series) is made thorough investigation and study; in conjunction with state, inside and outside automobile body, suspension, the pioneering technology in field such as drive, turn to; propose novelty General layout Plan and the mode thereof of the manned lunar rover vehicle; try hard to improve comformability and the stability of the lunar rover vehicle, for the development and Design of the manned lunar rover vehicle is provided fundamental basis and technical support.This new type lunar rover has the driveability of the stronger abominable pavement conditions of adaptation, can adapt to the requirement of the special road conditions of moonscape, particular surroundings.Drive system has been saved traditional power machine and attached power transmission thereof on the one hand, avoids the complex mechanism of fuel oil sex change under the moon particular surroundings, saves on the other hand the space and provides possibility for a large amount of other equipment and instruments are installed at the manned lunar rover vehicle; Steering swivel system can be finished 360 degree turning functions, has increased the lunar rover vehicle at the alerting ability of complex surface and comformability to moon complex surface; Suspension then cooperates with bumper, has strengthened the comformability to the abominable working environment of moonscape, can reduce the impact that vehicle body is subject to when quality is light, and improves the traction of wheel.Chassis is under the prerequisite of the structural strength under the effect that guarantees certain load and stability, alleviated to greatest extent tare, increased the vehicle body space, guarantee to reduce rocket launching and transportation requirement, and satisfy operating system on the lunar rover vehicle, control system and cosmonaut's etc. space requirement.
Description of drawings
Fig. 1 is that the overall structure of the manned lunar rover vehicle of the present invention forms schematic diagram;
Fig. 2 is the birds-eye view of Fig. 1;
Fig. 3 is the partial enlarged drawing of drive part among Fig. 1;
Fig. 4 turns to system's section drawing among Fig. 1;
Fig. 5 is drive system section drawing among Fig. 1;
Number title among the figure: 1. chassis system; 2. suspension system; 3. steering swivel system; 4. drive system; 5. electromagnetic shock absorber; 6. hinged; 7. go up suspension beam; 8. link span; 9. steer motor; 10. retarder; 11. steering shaft; 12. axle drive shaft; 13. wheel hub motor; 14. shell; 15. silk screen tire; 16. lower suspension beam; 17. chassis; 18. vehicle body truss; 19. connecting element.
The specific embodiment
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation; Explain technical scheme of the present invention below with reference to accompanying drawing.
The manned lunar rover vehicle of the present invention as shown in Figure 1 and Figure 2, comprises chassis system, suspension system, drive system and steering swivel system; Wherein:
Described chassis system as Figure 1-3, is truss structure, and setting is square;
Described suspension system, as Figure 1-3, it is four, each suspension system is installed in respectively the position, corner of square truss structure, this suspension system comprises suspension beam, the lower suspension beam, link span, upper suspension beam, the lower suspension beam, link span and square truss structure consist of the parallel four-bar structure, in this parallel four-bar structure: upper suspension beam, the lower suspension beam parallels, and upper suspension beam, the two ends of lower suspension beam respectively with link span, square truss structure correspondence is hinged, goes up suspension beam simultaneously, after all extending, lower suspension beam and the pin jointed end of square truss structure be connected with square truss structure by shock attenuation unit; In this programme, described shock attenuation unit is electromagnetic damper; That is: an end of described upper suspension beam/lower suspension beam is hinged by hinge and link span, and the other end is connected with square truss structure by shock attenuation unit, and the beam body between the two ends of upper suspension beam/lower suspension beam is hinged by hinge and square truss structure;
Described drive system shown in Fig. 1,3,5, is four, is distributed in the position, corner of square truss structure; Described drive system comprises axle drive shaft, the first wheel motor, the second wheel hub motor, the first wheel motor, the second hub motor structure, parameter is all consistent, comprise internal stator, outer rotor, the internal stator of first wheel motor is fixed with an end phase build-in of axle drive shaft, the internal stator of the second wheel hub motor is fixed with the other end phase build-in of axle drive shaft, the first wheel motor, the outer rotor of the second wheel hub motor is connected with the inwall of a shell respectively, thereby relatively rotating of outer rotor and internal stator transferred to relatively rotating of silk screen tire and axle, and by connecting element, such as lockings such as screws; Described shell is fitted with the silk screen tire;
Described steering swivel system shown in Fig. 1,3,4, is four, is distributed in the position, corner of square truss structure; Described steering swivel system comprises steering shaft, and steering shaft one end and axle drive shaft are connected, and the other end is then fixed by the clutch end of retarder and steer motor; The mount pad of described retarder, steer motor all is fixed on the link span.
During use, chaufeur can adopt following 8 kinds of mode of operations according to road conditions or needs:
During flat pavement running, start simultaneously four drive systems, in each drive system, only have a wheel hub motor in running order, another wheel hub motor then is in free rotary state;
During upward slope, need larger power driven, four drive system driven in synchronism, in each drive system, two wheel hub motors are all in running order, so that enough power to be provided;
During descending, four drive system driven in synchronism, in each drive system, a wheel hub motor is in running order, is drive motor, and another drive motor is used for reclaiming the descending energy;
When being in braking mode, drive motor stops to drive and changes braking motor into and brake, and reclaims the kinetic energy in the Vehicle Driving Cycle;
Be in 360 and spend when turning to pattern, in drive system work, control steer motor synchronous working, original place 360 degree of finishing under the quiescence turn to;
When being in the differential steering pattern, the corner of steer motor control steering shaft is consistent, by the rotating speed of control drive wheel, finishes differential steering; This pattern is exactly to control first steer motor, makes the working direction of four groups of two-wheels consistent, then controls the drive wheel rotating speed, and (with respect to the wheel working direction) both sides vehicle wheel rotational speed is inconsistent about making, and finishes turning to.If the working direction of original four groups of wheels is just consistent, just do not need to rotate steer motor;
Turn to failure mode: if one of them steer motor breaks down, start the differential steering pattern under the steer motor fault, namely control other steer motor, according to each remaining wheel direction of fault wheel direction control, turn to by differential steering between advancing and finish, can work on;
The driving malfunction pattern: if one of them wheel hub motor of a certain drive system breaks down, start isolation mode, cut off the circuit of this fault wheel hub motor, make it free to rotate, another coaxial wheel hub motor replaces it to work on the same group.
In sum, advantage of the present invention is as follows as can be known:
(1) for drive system, the present invention comprises the individual drive group device of four groups of wheel hub motors, every group of independent driving device comprises two coaxial wheel hub motors, without speed reduction gearing, hub motor shell is directly fixed with silk screen tire phase build-in, and wheel hub motor comprises outer rotor and internal stator, and wherein outer rotor is fixed with hub motor shell phase build-in, internal stator is fixed with axle drive shaft phase build-in, thereby relatively rotating of outer rotor and internal stator transferred to relatively rotating of silk screen tire and axle; Therefore, the present invention adopts the wheel hub motor individual drive lunar rover vehicle, compares traditional design and has reduced the power transmissions such as transmission shaft, diff and even part-time case, simplifies the body chassis of the lunar rover vehicle, effectively reduces its weight;
(2) for steering swivel system: the present invention comprises quadruplet differential steering motor, lay respectively at the drive wheel top, torque by the control steer motor realizes turning function, the rotation that utilizes steer motor and speed reduction gearing to control steering shaft drives wheel steering and realizes that 360 degree freely turn to, guarantee that the lunar rover vehicle can travel to any direction, can finish promptly the barrier avoiding function such as turn around, turn to flexibly, the alerting ability that Effective Raise in emergency circumstances turns to and car body are to the comformability of moonscape complex road condition; Hub driven motor rotating speed in the control-driven system also can be realized the differential steering function in addition;
(3) for suspension system: the upper and lower suspension beam of the present invention, steer-drive and vehicle body truss constitute parallelogram sturcutre, four jiaos of employings of parallelogram sturcutre are articulated and connected, and keep body gesture stable under electromagnetic shock absorber cooperates.This structure has the following advantages: can adapt to the abominable working environment of moonscape, and simple in structure, the ground strong adaptability, stability is high; Electromagnetic shock absorber is adjusted damping automatically according to road conditions, rocks and tilts to reduce vehicle body, improves the stationarity of the lunar rover vehicle; During emergency braking, the conversion of the energy that the vibration energy of instantaneous generation can be by electromagnetic field consumes rapidly, improves brake efficiency;
(4) for the chassis system: the structure that chassis structure adopts the chassis to combine with truss, the chassis system adopts square layout, and wheel is positioned at four jiaos of square chassis, and truss is distributed on the chassis, is used for connecting suspension.Its advantage is: can cooperate effective work of 360 degree steering swivel systems; Can arrange various device between the truss, the layout of controlling System Dependent equipment on the lunar rover vehicle and cosmonaut's space requirement are satisfied in maximum using lunar rover vehicle vehicle body space; Simple in structure, high lightweight has effectively subtracted light tare under the prerequisite of proof strength.
Therefore, the lunar rover vehicle of the present invention has the driveability of the different pavement conditions of stronger adaptation, comprises general road, upward slope road surface, descending road surface; Original place 360 degree turns to differential steering and combines, and the lunar rover vehicle has more sufficient space, the stronger barrier ability of keeping away of turning to, and has improved lunar rover vehicle steering flexibility; Wheel hub motor can improve the economy that the lunar rover vehicle travels driving, freely rotate, changing between three kinds of patterns of recuperated energy under different mode, efficient is higher; For the fault of wheel hub motor and steer motor, corresponding mode of operation is all arranged, improved the reliability of lunar rover vehicle work.
Claims (4)
1. a manned lunar rover vehicle comprises chassis system, drive system and the shell that is fitted with the silk screen tire; It is characterized in that:
Described drive system is four, be distributed on the chassis system around; Described drive system comprises axle drive shaft and drive motor, and described drive motor comprises a wheel hub motor at least, and each wheel hub motor is equipped with a shell; Wheel hub motor places in the shell, comprises internal stator, outer rotor; Internal stator is fixed with axle drive shaft phase build-in, and the inwall of outer rotor and shell is connected and fixed;
Each drive system all is connected with a steering swivel system;
Described steering swivel system comprises steering shaft, and steering shaft one end and axle drive shaft are connected, and the other end is then fixed by the clutch end of retarder and steer motor;
Each steering swivel system all is connected with the chassis system by a suspension system;
Described suspension system, comprise suspension beam, lower suspension beam, link span, upper suspension beam, lower suspension beam, link span and chassis system consist of the parallel four-bar structure, in this parallel four-bar structure: upper suspension beam, lower suspension beam parallel, and the two ends of upper suspension beam, lower suspension beam are corresponding hinged with link span, chassis system respectively, go up simultaneously between suspension beam, lower suspension beam and the chassis system and also are connected with shock attenuation unit;
The mount pad of described retarder, steer motor all is fixed on the link span.
2. the described manned lunar rover vehicle according to claim 1, it is characterized in that: described drive motor comprises two wheel hub motors: first wheel motor, the second wheel hub motor, the internal stator of first wheel motor is fixed with an end phase build-in of axle drive shaft, the other end phase build-in of the internal stator of the second wheel hub motor and axle drive shaft is fixed, and the outer rotor of first wheel motor, the second wheel hub motor is connected and fixed with the inwall of a shell respectively.
3. the described manned lunar rover vehicle according to claim 1 is characterized in that: described chassis system is square truss structure.
4. the described manned lunar rover vehicle according to claim 1, it is characterized in that: described shock attenuation unit is electromagnetic damper.
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| CN201310225942.5A CN103318423B (en) | 2013-06-07 | 2013-06-07 | A kind of manned lunar rover |
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| CN201310225942.5A CN103318423B (en) | 2013-06-07 | 2013-06-07 | A kind of manned lunar rover |
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| CN103318423B CN103318423B (en) | 2016-06-15 |
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| CN104097481A (en) * | 2014-07-08 | 2014-10-15 | 南京航空航天大学 | Zero-input manned lunar vehicle active suspension and control method thereof |
| CN104149990A (en) * | 2014-06-30 | 2014-11-19 | 上海宇航系统工程研究所 | Novel manned lunar vehicle chassis |
| CN104229160A (en) * | 2014-10-15 | 2014-12-24 | 哈尔滨工业大学 | Four-wheel moving system for manned lunar vehicle |
| CN104309718A (en) * | 2014-10-20 | 2015-01-28 | 哈尔滨工业大学 | Lever lateral mobile damping four-wheeler manned lunar rover folding system |
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| CN112722326B (en) * | 2021-01-19 | 2022-04-22 | 南京航空航天大学 | Novel planet surface landing inspection integrated probe vehicle |
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