CN104590586B - The annular manned lunar rover moving system of amortisseur carriage - Google Patents
The annular manned lunar rover moving system of amortisseur carriage Download PDFInfo
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- CN104590586B CN104590586B CN201410553756.9A CN201410553756A CN104590586B CN 104590586 B CN104590586 B CN 104590586B CN 201410553756 A CN201410553756 A CN 201410553756A CN 104590586 B CN104590586 B CN 104590586B
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Abstract
A kind of annular manned lunar rover moving system of amortisseur carriage, belongs to space industry.The damping performance that this system existing manned lunar rover of solution exists is poor, design the problem that science, obstacle detouring and maneuvering performance are not bad.Described system includes front vehicle body, aftercarriage, two folding devices, four driving devices, four transfers, four wheels, two mobile system connectors and four annular amortisseurs, front vehicle body and aftercarriage are connected by two folding devices, equipped with a mobile system connector on the lower surface of front vehicle body, the lower surface of aftercarriage is equipped with another mobile system connector, the both sides of mobile system connector are respectively equipped with annular amortisseur, each annular amortisseur connects with corresponding transfer, transfer is rotationally connected with corresponding driving device, each wheel is installed on corresponding driving device.The present invention is used for manned lunar rover.
Description
Technical field
The present invention relates to a kind of annular manned lunar rover moving system of amortisseur carriage, belong to space industry.
Background technology
Moon exploration can check a national Sci-Tech Level, planetary detection is also for origin of life and course, the exploitation energy resources of studying planet simultaneously, expand the vivosphere etc. of the mankind, the mankind are to the earth in in-depth, the origin in the solar system and universe and the research of evolution and understanding, promote that the mankind advance.The design of manned lunar rover moving system is proposed strict technology requirement by the specific physical of moonscape and lunar surface environment factor, require have bigger climbing capacity, good ride comfort, good lunar surface adaptability, reliable mobility, enough bearing capacities, higher speed, stronger cross-country power, and there is very strong adaptation lunar surface environment and condition.
Manned lunar rover is manned lunar exploration and the important component part setting up lunar base, is that lunar surface detects requisite prospecting tools, and the quality of its performance counts for much.The design of manned lunar rover is proposed certain technology requirement by the natural causes such as the physical characteristic of moonscape own and surface state.Although countries in the world include China all have devised the manned lunar rover moving system of different types of structure, but all there are respective pluses and minuses in these mobile system configurations, and the manned lunar rover configuration of development of new remains a challenging problem.Difference due to detection mission and performance requirement, various manned lunar rover moving system configurations, the size developed at present differ, performance is different, the design of manned lunar rover exists to be becomed privileged and diversified feature, design process lacks inheritance, cause design iterations work, wasting substantial amounts of time and resource, in design process, much conscious and empirical method introducing may result in the problems such as the not science of design, configuration hydraulic performance decline simultaneously.In order to make manned lunar rover complete manned exploration's task of complexity, it is necessary to provide a applicable manned lunar rover configuration for spacefarer.
Summary of the invention
It is an object of the invention to provide a kind of annular manned lunar rover moving system of amortisseur carriage, the damping performance to solve the existence of existing manned lunar rover is poor, design the problem that science, obstacle detouring and maneuvering performance are not bad.
The present invention solves that above-mentioned technical problem adopts the technical scheme that: described system includes front vehicle body, aftercarriage, two folding devices, four driving devices, four transfers, four wheels, two mobile system connectors and four annular amortisseurs, front vehicle body and aftercarriage are connected by two folding devices, equipped with a mobile system connector on the lower surface of front vehicle body, the lower surface of aftercarriage is equipped with another mobile system connector, the both sides of mobile system connector are respectively equipped with annular amortisseur, each annular amortisseur connects with corresponding transfer, transfer is rotationally connected with corresponding driving device, each wheel is installed on corresponding driving device.
The method have the advantages that the present invention can solve the problem that the problem that manned lunar rover moving system designs, it is proposed that a kind of folding annular amortisseur carriage configuration mechanism, structure is reliable.The mobile system of the present invention is applicable to open manned lunar rover, and the suitability is good.Mobile system of the present invention avoids taking of solid space time folding, has good folding and expanding performance, and collapsed compact is good.Each movable pulley of the mobile system of the present invention adopts single wheel drive, each wheel can independent steering, have well mobile motility.The present invention takes turns employing annular damper mechanism, is made up of an outer layer rotor and internal stator and six vibration damper devices, it is ensured that the foreign impacts power that wheel opposing is very big.The chassis of the present invention is all designed to relatively low, it is convenient to spacefarer gets on or off the bus at any time.When wanting manned lunar rover rest on slope or get off to complete a certain operation, realize all brakings driving wheel by driving the brake unit on wheel, thus realizing the braking of whole manned lunar rover, to guarantee that it can stop in time.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention, and Fig. 2 is folded state structural representation, and Fig. 3 is annular dampening arrangement structural representation, and Fig. 4 is mobile system connector, transfer and driving device structure schematic diagram.
Detailed description of the invention
Detailed description of the invention one: present embodiment is described in conjunction with Fig. 1 to Fig. 4, present embodiment system includes front vehicle body 1, aftercarriage 7, two folding devices 8, four driving devices 2, four transfers 3, four wheels 4, two mobile system connectors 5 and four annular amortisseurs 6, front vehicle body 1 and aftercarriage 7 are connected by two folding devices 8, equipped with a mobile system connector 5 on the lower surface of front vehicle body 1, the lower surface of aftercarriage 7 is equipped with another mobile system connector 5, the both sides of mobile system connector 5 are respectively equipped with annular amortisseur 6, each annular amortisseur 6 connects with corresponding transfer 3, transfer 3 is rotationally connected with corresponding driving device 2, each wheel 4 is installed on corresponding driving device 2.
Detailed description of the invention two: present embodiment is described in conjunction with Fig. 3, the annular amortisseur 6 of present embodiment includes internal stator 6-1, outer layer rotor 6-3, six straight line shock absorber 6-2 and two turn to joint pin 6-4, rotate around internal stator 6-1 when outer layer rotor 6-3 is subject to impacting, six straight line shock absorber 6-2 are divided into three groups, three groups of straight line shock absorber 6-2 are distributed along the even circumferential of outer layer rotor 6-3, one end of each straight line shock absorber 6-2 and internal stator 6-1 are rotationally connected, the other end of each straight line shock absorber 6-2 is connected with outer layer rotor 6-3, outer layer rotor 6-3 and two turn to joint pin 6-4 to connect, the advantage of this structure is to ensure that the foreign impacts power that wheel opposing is very big.Other embodiment is identical with detailed description of the invention one.
Detailed description of the invention three: present embodiment is described in conjunction with Fig. 4, each transfer 3 of present embodiment includes steering arm 3-1 and lower steering arm 3-2, one end of upper steering arm 3-1 turns to joint pin 6-4 to be rotationally connected with one, the other end of upper steering arm 3-1 and driving device 2 are rotationally connected, one end of lower steering arm 3-2 turns to joint pin 6-4 to be rotationally connected with another, the other end of lower steering arm 3-2 and driving device 2 are rotationally connected, and the advantage of this structure is that rotating effect is good.Other embodiment is identical with detailed description of the invention one.
Detailed description of the invention four: present embodiment is described in conjunction with Fig. 2, the each folding device 8 of present embodiment includes the first folding pedestal 8-1, the folding pedestal 8-3 of rotating shaft 8-2 and the second, first folding pedestal 8-1 is connected with front vehicle body 1, second folding pedestal 8-3 is connected with aftercarriage 7, and the first folding pedestal 8-1 is rotationally connected by the folding pedestal 8-3 of rotating shaft 8-2 and the second.Other embodiment is identical with detailed description of the invention one.
Operation principle: deployment lifting process: the folding process of the annular manned lunar rover moving system configuration of amortisseur four-wheel: folded by front vehicle body 1 8-2 around the shaft, until aftercarriage 7 is by front vehicle body 1, completes folding process.The annular manned lunar rover moving system configuration of amortisseur four-wheel expansion process: front vehicle body 1 8-2 around the shaft is folded, until aftercarriage 7 and front vehicle body 1 one-tenth one plane, completes expansion process.
Moving process: the annular manned lunar rover moving system configuration of amortisseur four-wheel, when mobile, is driven the rotation of each wheel 4, it is achieved the advance of manned lunar rover is moved by each driving device 2 taken turns；When manned lunar rover needs to turn to, driving device 2 is connected with transfer 3 by revolute pair and rotates, it is achieved turning to of wheel；Manned lunar rover has scraggly road surface unavoidably when mobile, now rotates between the internal stator 6-1 and outer layer rotor 6-3 of annular amortisseur 6, it is achieved the elevating movement of wheel, adapts to road surface and goes motion.In manned lunar rover moving process, annular amortisseur 6 straight line shock absorber 6-2 stretching motion, thus realizing shock-absorbing function.
Claims (4)
- null1. the annular manned lunar rover moving system of amortisseur carriage，Including front vehicle body (1)、Aftercarriage (7)、Four driving devices (2) and four wheels (4)，It is characterized in that described system also includes two folding devices (8)、Four transfers (3)、Two mobile system connectors (5) and four annular amortisseurs (6)，Front vehicle body (1) and aftercarriage (7) are connected by two folding devices (8)，Equipped with a mobile system connector (5) on the lower surface of front vehicle body (1)，The lower surface of aftercarriage (7) is equipped with another mobile system connector (5)，The both sides of mobile system connector (5) are respectively equipped with annular amortisseur (6)，Each annular amortisseur (6) connects with corresponding transfer (3)，Transfer (3) is rotationally connected with corresponding driving device (2)，Each wheel (4) is arranged on corresponding driving device (2).
- 2. the annular manned lunar rover moving system of amortisseur carriage according to claim 1, it is characterized in that annular amortisseur (6) includes internal stator (6-1), outer layer rotor (6-3), six straight line shock absorbers (6-2) and two turn to joint pin (6-4), rotate around internal stator (6-1) when outer layer rotor (6-3) is subject to impacting, six straight line shock absorbers (6-2) are divided into three groups, three groups of straight line shock absorbers (6-2) are distributed along the even circumferential of outer layer rotor (6-3), one end of each straight line shock absorber (6-2) and internal stator (6-1) are rotationally connected, the other end of each straight line shock absorber (6-2) is connected with outer layer rotor (6-3), outer layer rotor (6-3) turns to joint pin (6-4) to be connected with two.
- 3. according to claim 2 annular the manned lunar rover moving system of amortisseur carriage, it is characterized in that: each transfer (3) includes steering arm (3-1) and lower steering arm (3-2), one end of upper steering arm (3-1) turns to joint pin (6-4) to be rotationally connected with one, the other end of upper steering arm (3-1) and driving device (2) are rotationally connected, one end of lower steering arm (3-2) turns to joint pin (6-4) to be rotationally connected with another, and the other end of lower steering arm (3-2) and driving device (2) are rotationally connected.
- 4. according to claim 3 annular the manned lunar rover moving system of amortisseur carriage, it is characterized in that: each folding device (8) includes the first folding pedestal (8-1), rotating shaft (8-2) and the second folding pedestal (8-3), first folding pedestal (8-1) is connected with front vehicle body (1), second folding pedestal (8-3) is connected with aftercarriage (7), and the first folding pedestal (8-1) is rotationally connected with the second folding pedestal (8-3) by rotating shaft (8-2).
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| CN201410553756.9A CN104590586B (en) | 2014-10-17 | 2014-10-17 | The annular manned lunar rover moving system of amortisseur carriage |
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| CN201410553756.9A CN104590586B (en) | 2014-10-17 | 2014-10-17 | The annular manned lunar rover moving system of amortisseur carriage |
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| CN105129110B (en) * | 2015-08-26 | 2017-04-05 | 重庆大学 | A kind of planetary vehicle |
| CN105730142A (en) * | 2016-02-01 | 2016-07-06 | 吉林大学 | Bionic metal flexible rover wheel |
| CN112429272A (en) * | 2020-11-30 | 2021-03-02 | 哈尔滨工业大学 | Rotary trailing arm suspension mechanism and star detection vehicle |
| CN112429273B (en) * | 2020-11-30 | 2022-08-23 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
| CN113525718B (en) * | 2021-09-10 | 2022-05-24 | 吉林大学 | Z-shaped small lunar vehicle with high folding-unfolding ratio |
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| JP2000198497A (en) * | 1999-01-05 | 2000-07-18 | Nissan Motor Co Ltd | Space survey traveling vehicle |
| US20040163869A1 (en) * | 2003-02-21 | 2004-08-26 | Chun Wendell H. | Articulated vehicle suspension system shoulder joint |
| CN202175203U (en) * | 2010-12-14 | 2012-03-28 | 武汉科技大学 | Solar energy lunar-landing trolley |
| CN202046171U (en) * | 2011-03-25 | 2011-11-23 | 许晓华 | Twin-cantilever independent suspension system of vehicle |
| CN202180936U (en) * | 2011-06-17 | 2012-04-04 | 重庆大学 | Bionic lunar rover |
| CN203158049U (en) * | 2013-04-02 | 2013-08-28 | 东华理工大学 | Shopping cart with magnetic strip scanning and pricing functions |
| CN103318423B (en) * | 2013-06-07 | 2016-06-15 | 南京航空航天大学 | A kind of manned lunar rover |
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