CN103318423B - A kind of manned lunar rover - Google Patents
A kind of manned lunar rover Download PDFInfo
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- CN103318423B CN103318423B CN201310225942.5A CN201310225942A CN103318423B CN 103318423 B CN103318423 B CN 103318423B CN 201310225942 A CN201310225942 A CN 201310225942A CN 103318423 B CN103318423 B CN 103318423B
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- 238000002955 isolation Methods 0.000 claims description 2
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Abstract
Description
Technical field
The present invention relates to a kind of manned lunar rover.
Background technology
The feature of 21st century lunar probe sets up moon base, development and utilization lunar surveyor, these movable participations be unableing to do without people. Manned lunar rover implements supporting part as manned moon landing's engineering, it can expand spacefarer moon face scope of activity, carry spacefarer and the moon face testing installation carry out the remote moon face exploration, test, and have to moonfall clothes provide electric energy supply and the moon interview test support function. At present, implement the country of lunar probe plan and organize all in the lunar probe plan according to oneself, develop various lunar rover, and it can be used as an indispensable content of country's competitive ability strategy separately. Along with going deep into of various countries' lunar exploration plan, the research and development of manned lunar rover, progress speed, the degree of perfection of its function and the quality of performance, will be directly connected to the process of whole lunar probe and planetary detection.
But, owing to being subject to the impact of moon table factor such as special physical property and lunar surface environment itself, the design of manned lunar rover is proposed comparatively harsh technical requirements. On the one hand, many-sided technology such as material, technique, control, onboard sensor, remote control, remote sensing, guidance are considered in the development of manned lunar rover; On the other hand, owing to lunar rover to be worked under the environment that high temperature difference, high radiation, landform are changeable, need its have the higher speed of a motor vehicle, bigger climbable gradient and supporting capacity, preferably ride comfort, reliably braking ability, the good moon face adaptability and stronger cross-country ability, to adapt to moon table environment and a condition. Therefore every technical requirements of lunar rover is very high, especially to the adaptability of moon surface Working environment and the reliability of lunar rover work. For these reasons, up to the present, only the U.S. achieves manned lunar rover development (Apollo Personnel investigation Program " serial manned lunar rover), and is successfully made flight test, and other countries are just confined to the development stage of concept car. Each conceptual design structure is different, size differs, performance different, but mostly concentrates on certain particular studies field, and design exists to be becomed privileged and the feature of variation, and design process lacks inheritance; In design process simultaneously, much conscious and introducing that is empirical method may cause the problems such as the not science of design, configuration degradation, lacks that one comprehensive, the overall system research of stratification.
Summary of the invention
The present invention is directed to the deficiencies in the prior art, it is provided that a kind of manned lunar rover, this lunar rover has the stronger traveling ability adapting to severe pavement conditions, can adapt to the requirement of the special road conditions in moon surface, particular surroundings.
For realizing above technical purpose, the present invention will take following technical scheme:
A kind of manned lunar rover, comprises chassis system, drive system and is fitted with the shell of silk screen tire; Described drive system is four, is distributed on the surrounding of chassis system; Described drive system comprises drive shaft and drive-motor, and described drive-motor at least comprises a wheel hub motor, and each wheel hub motor is equipped with a shell; Wheel hub motor is placed in shell, comprises interior stator, outer rotor; Interior stator is mutually embedding fixing with drive shaft, and the inwall of outer rotor and shell is connected and fixed; Each drive system is all connected with a steering; Described steering, comprises steering shaft, and steering shaft one end and drive shaft are connected, and the other end is then fixed by the Power output end of speed reduction unit and steer motor; Each steering is all connected with 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's composition parallel four-bar structure, in this parallel four-bar structure: upper suspension beam, lower suspension beam are mutually parallel, and the two ends of upper suspension beam, lower suspension beam are corresponding hinged with link span, chassis system respectively, go up and are also connected with vibration-control system between suspension beam, lower suspension beam and chassis system simultaneously; The mount pad of described speed reduction unit, steer motor is all fixed on link span.
Described drive-motor comprises two wheel hub motors: first wheel motor, the 2nd wheel hub motor, the interior stator of first wheel motor is mutually embedding fixing with one end of drive shaft, the interior stator of the 2nd wheel hub motor and the other end of drive shaft are mutually embedding fixing, the outer rotor of first wheel motor, the 2nd wheel hub motor respectively inwall with a shell be connected and fixed.
Described chassis system is square truss-frame structure.
Described vibration-control system is electromagnetic damper.
According to above technical scheme, relative to prior art, the present invention has following advantage:
The development situation of existing manned lunar rover scheme (be mainly U.S.'s Apollo Personnel investigation Program " series) is being made thorough investigation and study on the basis analyzed by the present invention; in conjunction with state, inside and outside automobile body, suspension, drive, turn to etc. the modern technique in field; propose novelty General layout Plan and the control mode thereof of manned lunar rover; try hard to improve adaptability and the stability of lunar rover, be that the development and Design of manned lunar rover provides theoretical basis and technical support. This new lunar car has the stronger traveling ability adapting to severe pavement conditions, can adapt to the requirement of the special road conditions in moon surface, particular surroundings. Drive system on the one hand eliminates traditional power machine and attached power transmission device thereof, avoids the complex mechanism of fuel oil sex change under moon particular surroundings, save on the other hand space be on manned lunar rover, install that other equipment and instruments a large amount of provide may; Steering can complete 360 degree and turn to function, adds the handiness of lunar rover at complex surface and the adaptability to moon complex surface; Suspension then coordinates with vibroshock, enhances the adaptability of the Working environment that moon surface is severe, can reduce the impact that vehicle body is subject to, and improve the traction of wheel while light weight. Chassis ensure certain load effect under structural strength and stability prerequisite under, alleviate tare to greatest extent, add vehicle body space, guarantee to reduce rocket launching and transport requirement, and meet operating system on lunar rover, the space requirement of Controlling System and cosmonaut etc.
Accompanying drawing explanation
Fig. 1 is the overall structure composition schematic diagram of manned lunar rover of the present invention;
Fig. 2 is the vertical view of Fig. 1;
Fig. 3 is the partial enlargement figure of driving part in Fig. 1;
Fig. 4 is steering sectional view in Fig. 1;
Fig. 5 is drive system sectional view in Fig. 1;
Numbering title in figure: 1. chassis system; 2. suspension system; 3. steering; 4. drive system; 5. electromagnetic shock absorber; 6. hinged; 7. go up suspension beam; 8. link span; 9. steer motor; 10. speed reduction unit; 11. steering shafts; 12. drive shafts; 13. wheel hub motors; 14. shells; 15. silk screen tires; 16. lower suspension beams; 17. chassis; 18. vehicle body truss; 19. mounting blocks.
Embodiment
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation; The technical scheme of the present invention is explained below with reference to accompanying drawing.
Manned lunar rover of the present invention, as shown in Figure 1 and Figure 2, comprises chassis system, suspension system, drive system and steering; Wherein:
Described chassis system as Figure 1-3, is truss-frame structure, and be square setting;
Described suspension system, as Figure 1-3, it it is four, each suspension system is arranged on the position, corner of square truss-frame structure respectively, this suspension system comprises suspension beam, lower suspension beam, link span, upper suspension beam, lower suspension beam, link span and square truss-frame structure form parallel four-bar structure, in this parallel four-bar structure: upper suspension beam, lower suspension beam is mutually parallel, and upper suspension beam, the two ends of lower suspension beam respectively with link span, square truss-frame structure correspondence is hinged, go up suspension beam simultaneously, lower suspension beam is connected with square truss-frame structure by vibration-control system after all extending with the pin jointed end of square truss-frame structure, in this scheme, described vibration-control system is electromagnetic damper, that is: one 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-frame structure by vibration-control system, and beam body between the two ends of upper suspension beam/lower suspension beam is hinged by hinge and square truss-frame structure,
Described drive system, as shown in Fig. 1,3,5, is four, is distributed in the position, corner of square truss-frame structure, described drive system comprises drive shaft, first wheel motor, 2nd wheel hub motor, first wheel motor, 2nd hub motor structure, parameter is all consistent, comprise interior stator, outer rotor, the interior stator of first wheel motor is mutually embedding fixing with one end of drive shaft, the interior stator of the 2nd wheel hub motor is mutually embedding fixing with the other end of drive shaft, first wheel motor, the outer rotor of the 2nd wheel hub motor respectively inwall with a shell be connected, thus relatively rotating of outer rotor and interior stator is transferred to relatively rotating of silk screen tire and axle, and pass through mounting block, the such as locking such as screw, described shell is fitted with silk screen tire,
Described steering, as shown in Fig. 1,3,4, is four, is distributed in the position, corner of square truss-frame structure; Described steering comprises steering shaft, and steering shaft one end and drive shaft are connected, and the other end is then fixed by the Power output end of speed reduction unit and steer motor; The mount pad of described speed reduction unit, steer motor is all fixed on link span.
During use, officer is according to road conditions or needs to adopt following 8 kinds of operating mode:
During flat pavement running, starting four drive systems, in each drive system, only a wheel hub motor is in running order, and another wheel hub motor is then in free rotary state simultaneously;
During upward slope, it is necessary to bigger power wheel drive, four drive systems synchronously drive, and in each drive system, two wheel hub motors are all in running order, to provide enough power;
During descending, four drive systems synchronously drive, and in each drive system, a wheel hub motor is in running order, is drive-motor, and another drive-motor is used for reclaiming descending energy;
When being in braking mode, drive-motor stopping driving being changed into braking motor and brakes, and reclaims the kinetic energy in vehicle movement;
Being in 360 degree when turning to pattern, while drive system works, control steer motor synchronously works, and 360 degree, the original place completed under stationary state turns to;
Being in differential when turning to pattern, the corner of steer motor control steering shaft is consistent, by controlling the rotating speed of driving wheel, completes differential and turns to; This kind of pattern is exactly first control steer motor, makes the working direction of four groups of two-wheels consistent, then controls driving wheel rotating speed, makes left and right (relative to wheel working direction) both sides vehicle wheel rotational speed inconsistent, completes to turn to. If the working direction of original four groups of wheels is just consistent, just do not need to rotate steer motor;
Turn to fault pattern: if one of them steer motor breaks down, the differential started under steer motor fault turns to pattern, namely controls other steer motor, according to each wheel direction of fault wheel direction controlling remainder, turn between traveling and turned to by differential, work can be continued;
Driving malfunction pattern: if one of them wheel hub motor of a certain drive system breaks down, starts isolation mode, cuts off the circuit of this fault wheel hub motor so that it is free to rotate, replaces it to continue work with another coaxial wheel hub motor of group.
In sum, it is seen that the advantage of the present invention is as follows:
(1) for drive system, the present invention comprises the independent drive group device of four groups of wheel hub motors, often organize independent drive device and comprise two coaxial wheel hub motors, without retarding mechanism, hub motor shell is directly mutually embedding fixing with silk screen tire, and wheel hub motor comprises outer rotor and interior stator, and wherein outer rotor is mutually embedding fixing with hub motor shell, interior stator and drive shaft are mutually embedding fixing, thus relatively rotating of outer rotor and interior stator is transferred to relatively rotating of silk screen tire and axle; Therefore, the present invention adopts wheel hub motor independent drive lunar rover, compares traditional design and decreases the power transmission devices such as transmission shaft, differential mechanism and even transfer gear, simplifies the body chassis of lunar rover, effectively reduces its weight;
(2) for steering: the present invention comprises four cover differential steer motor, lay respectively at above driving wheel, realize turning to function by controlling the torque of steer motor, utilize the rotation of steer motor and retarding mechanism control steering shaft to carry out band motor car wheel to turn to and realize 360 degree and freely turn to, ensure that lunar rover can travel to any direction, barrier avoiding function, the handiness that effective raising in emergency circumstances turns to and the car body such as can complete promptly to turn around, turn to flexibly to the adaptability of moon surface complex road condition; The hub driven motor rotating speed controlled in drive system in addition also can realize differential and turn to function;
(3) for suspension system: the upper and lower suspension beam of the present invention, steer-drive and vehicle body truss form parallelogram sturcutre, parallelogram sturcutre corner adopts and is articulated and connected, and maintains body gesture and stablize under electromagnetic shock absorber coordinates. This structure has the following advantages: can adapting to the Working environment that moon surface is severe, structure is simple, ground strong adaptability, stability height;Electromagnetic shock absorber adjusts damping automatically according to road conditions, rocks to reduce vehicle body and tilts, it is to increase the stationarity of lunar rover; During snub, the vibration energy of instantaneous generation consumes rapidly by the conversion of the energy of electromagnetic field, it is to increase braking efficiency;
(4) for chassis system: the structure that chassis structure employing chassis combines with truss, chassis system adopts square layout, and wheel is positioned at the corner on square chassis, and truss is distributed on chassis, is used for connecting suspension. Its advantage is: the effective work that can coordinate 360 degree of steering; Various equipment can be arranged between truss, maximum using lunar rover vehicle body space, meet the relevant layout of equipment of control system on lunar rover and the space requirement of cosmonaut; Structure lightweight simple, high, has effectively subtracted light tare under the prerequisite of proof strength.
Therefore, lunar rover of the present invention has the traveling ability of the different pavement conditions of stronger adaptation, comprises general road, upward slope road surface, descending road surface; 360 degree, original place turns to turn to differential and combines, lunar rover has and more sufficient turns to space, stronger avoidance ability, it is to increase lunar rover steering flexibility; Wheel hub motor in different modes, can driving, freely rotate, conversion between recovered energy Three models, it is to increase the economy that lunar rover travels, efficiency is higher; For the fault of wheel hub motor and steer motor, all there is corresponding operating mode, it is to increase the reliability of lunar rover work.
Claims (3)
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN103318423A CN103318423A (en) | 2013-09-25 |
| CN103318423B true CN103318423B (en) | 2016-06-15 |
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| CN104149990A (en) * | 2014-06-30 | 2014-11-19 | 上海宇航系统工程研究所 | Novel manned lunar vehicle chassis |
| CN105314129B (en) * | 2014-07-02 | 2019-06-28 | 上海宇航系统工程研究所 | The passive combined celestial body suspension of the master that receipts can be opened up and its suspension system |
| CN104097481B (en) * | 2014-07-08 | 2016-04-06 | 南京航空航天大学 | A kind of zero manned lunar rover vehicle active suspension of input and control method thereof |
| CN104229160B (en) * | 2014-10-15 | 2016-03-30 | 哈尔滨工业大学 | The manned lunar rover moving system of a kind of four-wheel |
| CN104590586B (en) * | 2014-10-17 | 2016-07-06 | 哈尔滨工业大学 | The annular manned lunar rover moving system of amortisseur carriage |
| CN104309718B (en) * | 2014-10-20 | 2017-01-18 | 哈尔滨工业大学 | Lever lateral mobile damping four-wheel type manned lunar rover folding system |
| CN104401505B (en) * | 2014-10-27 | 2016-05-18 | 哈尔滨工业大学 | The manned lunar rover moving system of two-wheel omnidirectional damping type |
| CN105711678B (en) * | 2016-01-25 | 2018-02-02 | 广东溢达纺织有限公司 | Gait creel car |
| CN105917760A (en) * | 2016-06-14 | 2016-09-07 | 深圳市泰旭科技有限公司 | Remote control cultivator |
| CN106114631B (en) * | 2016-07-01 | 2018-07-20 | 重庆大学 | Manned lunar rover folding mechanism for vehicle frame |
| WO2018010178A1 (en) * | 2016-07-15 | 2018-01-18 | 深圳市大疆创新科技有限公司 | Movable apparatus, mobile photographing device, control system and method for movable apparatus |
| CN106114114A (en) * | 2016-08-31 | 2016-11-16 | 青岛四机设备工程有限公司 | The four-wheel independent suspension device of a kind of combined tractor and AC Driving System |
| CN106828642B (en) * | 2017-02-21 | 2019-05-24 | 翟如相 | A kind of Mars obstacle detouring probe vehicles |
| CN107422732A (en) * | 2017-07-13 | 2017-12-01 | 山河智能装备股份有限公司 | The hydraulic moving control method and system of a kind of drill jumbo |
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