CN107776913A - A kind of rope servicing unit sailed out of suitable for probe vehicles - Google Patents
A kind of rope servicing unit sailed out of suitable for probe vehicles Download PDFInfo
- Publication number
- CN107776913A CN107776913A CN201710910167.5A CN201710910167A CN107776913A CN 107776913 A CN107776913 A CN 107776913A CN 201710910167 A CN201710910167 A CN 201710910167A CN 107776913 A CN107776913 A CN 107776913A
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- CN
- China
- Prior art keywords
- probe vehicles
- rope
- ramp
- vehicles
- probe
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Pulleys (AREA)
Abstract
The invention belongs to probe vehicles to travel technical field, more particularly to a kind of probe vehicles driving assist system.A kind of rope servicing unit sailed out of suitable for probe vehicles, its technical scheme are：Landing platform is provided with anchor point；In probe vehicles, the other end is fixed on anchor point rope one ends wound；After probe vehicles sail out of landing platform ramp, rope departs from winding probe vehicles.The present invention is on the basis of original probe vehicles, landing platform, ramp, the sliding of increase rope constraint probe vehicles.During landing platform is sailed out of, wheel is rotated forward probe vehicles, and rope is released.For probe vehicles at the ramp of lower great slope, rope pulls the effect of probe vehicles by producing, and prevents probe vehicles from being glided on ramp.The present invention effectively improves probe vehicles downhill ability, advantageously reduces the design length in ramp, mitigates the quality of system, relatively conventional to sail out of mode, has the characteristics that simple in construction, mass of system is light, safe.
Description
Technical field
The invention belongs to probe vehicles to travel technical field, more particularly to a kind of probe vehicles driving assist system.
Background technology
The celestial body detecting device for carrying probe vehicles lands to after celestial body surface, and probe vehicles need to sail out of to land by ramp to put down
Platform.Landing platform is higher away from celestial body surface distance, is constrained by landing platform configuration layouts, it is necessary to design longer ramp to protect
It is steady that card probe vehicles sail out of process, does not tumble, and thus can cause that ramp quality is big, mechanism is complicated, and the resource of consuming is high.
Probe vehicles maximum is sailed out of ramp ability and limited by detection bassinet structure and mass property, is designed by probe vehicles itself
It is extremely limited that ramp ability is sailed out of in lifting.External influence force constraint probe vehicles are such as used, suppress to visit when probe vehicles sail out of ramp
Measuring car is not tumbled and trackslipped, and effective lifting probe vehicles are sailed out of into ramp ability, ramp is effectively shortened, while to ramp
Frictional behavior requirement with wheel can also reduce, so as to effectively reduce the quality of system design.
The content of the invention
The purpose of the present invention is：The ability in ramp is sailed out of for lifting probe vehicles, there is provided a kind of to be applied to what probe vehicles were sailed out of
Rope servicing unit.
The technical scheme is that：A kind of rope servicing unit sailed out of suitable for probe vehicles, the probe vehicles
Lu Pingtai is provided with two anchor points；Two ropes are arranged symmetrically in the both sides of the probe vehicles, and the one ends wound of the rope exists
On the wheel of probe vehicles, winding direction is identical with the probe vehicles wheel advance rotation direction；The other end is fixed on the anchor of the side
Point on；The length of the rope meets to lead when whole wheels of the probe vehicles sail out of the ramp of landing platform, the rope
Just off probe vehicles.
The present invention is on the basis of original probe vehicles, landing platform, ramp, the sliding of increase rope constraint probe vehicles.Use
Rope is wrapped in probe vehicles, and winding direction is identical with front vehicle wheel advance rotation direction, and the other end is fixed on probe vehicles rear
On landing platform, rope coiling length meets that probe vehicles whole wheel sails out of landing platform ramp just, and rope departs from front vehicle wheel.
During landing platform is sailed out of, wheel is rotated forward probe vehicles, and rope is released.Probe vehicles are in the ramp of lower great slope
When, rope pulls the effect of probe vehicles by producing, and prevents probe vehicles from being glided on ramp.
Beneficial effect：
The present invention sails out of motion by rope to constrain probe vehicles, effectively improves probe vehicles downhill ability, advantageously reduces
The design length in ramp, mitigate the quality of system, it is relatively conventional to sail out of mode, have that simple in construction, mass of system is light, security
The features such as high.
Brief description of the drawings
Fig. 1 is that the present invention sails out of original state side view；
Fig. 2 is Fig. 1 top view；
Fig. 3 is that the present invention sails out of process status side view；
Fig. 4 is wheel and rope not-connected status schematic diagram in the present invention；
Fig. 5 winds view for wheel in the present invention and rope；
Fig. 6 is Fig. 5 front view；
Fig. 7 is that rope auxiliary sails out of process probe vehicles simplification stress diagram；
Fig. 8 is that the present invention sails out of process rope force diagram.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
Referring to accompanying drawing 1,2,3, a kind of rope servicing unit sailed out of suitable for probe vehicles, landing platform 6 is provided with anchor point
5；For the one ends wound of rope 1 on the wheel of probe vehicles 7, winding direction is identical with the wheel advance rotation direction of probe vehicles 7；The other end
It is fixed on anchor point 5.When the length of rope 1 meets that whole wheels of probe vehicles 7 sail out of landing platform ramp 8 just, rope 1 is de-
From probe vehicles 7.
Specifically, being arranged symmetrically in the both sides of probe vehicles 7 using two ropes 1, tumbled forward with constraining probe vehicles；Anchor point
5 quantity is similarly two, and the rear portion both sides of probe vehicles 7 are respectively equipped with cable-through hole 2；Rope 1 is arranged symmetrically in the two of probe vehicles 7
Side, through cable-through hole 2 after be fixedly connected with the anchor point 5 of the side.
After the device, for probe vehicles 7 at the ramp 8 of lower great slope, rope 1 pulls the work of probe vehicles 7 by producing
With, prevent probe vehicles 7 from being glided on ramp 8, while the lower pressure that rope 1 is acted on the rear vehicle cable-through hole 2 of probe vehicles 7,
Turned over before when being advantageous to suppress 7 descending of probe vehicles.
Further, referring to accompanying drawing 4,5,6, the winding position to rope 1, mode define：Rope 1 is wrapped in front truck
On wheel 4, winding direction is identical with the advance rotation direction of front vehicle wheel 4；The Front-end Design of rope 1 has ring buckle 11, the wheel rim of front vehicle wheel 4
Neck 10 is designed with 3, before rope 1 is wound, first ring buckle 11 is socketed in neck 10, before then rope 1 is wrapped in again
On wheel 4, after rope winding, ring buckle 11 does not depart from neck 10, and rope 1 is exceptionally straight, and referring to Fig. 1, this state is the rope of probe vehicles 7
The original state of release.
When probe vehicles 7 are sailed out of, front vehicle wheel 4 rotates forward, and the rope 1 for making to be wrapped on the wheel rim 3 of front vehicle wheel 4 constantly discharges,
Referring to Fig. 3.After 7 whole wheels of probe vehicles sail out of ramp 8, after the release of rope 1 is at the end, ring buckle 11 separates with neck 10.
After probe vehicles whole wheel drives into ramp, now probe vehicles most easily occur to glide and before turn over, by taking the state as an example,
Analyze probe vehicles stress and rope pull, it was demonstrated that the inhibitory action that rope glides to probe vehicles and before turned over.It is analyzed as follows：
Probe vehicles might as well be simplified to a structure, stressing conditions of the probe vehicles on ramp are as shown in Figure 7.In figure, G
For probe vehicles gravity, straight down；FbFor ramp support power, perpendicular to ramp surface；FfFrictional force for ramp to probe vehicles, put down
Row is in ramp surface；FdFor rope pull, have with probe vehicles and ramp specific design parameter, probe vehicles and ramp side position relation etc.
Close, level might as well be set as here；θ is ramp inclination angle；F is wheel and ramp coefficient of friction.Rope pull FdIt is represented by：
It is assumed that probe vehicles weight is 1000N, 30 ° of ramp inclination, wheel is 0.3 with ramp coefficient of friction, and rope pull is then
For 236N.
It can be seen that rope can provide 236N pulling force, probe vehicles are prevented to be glided on ramp.
In addition, force position and direction of the rope in probe vehicles are as shown in figure 8, wherein rope pull Fd1Can be effective
Prevention probe vehicles around front vehicle wheel with being turned over before ramp surface contact point, prevention torque is Fd1×L.L is rope pull Fd1Relative to preceding
The arm of force of wheel and ramp surface contact point.
To sum up, it was demonstrated that rope can glide to probe vehicles and before dig inhibitory action.
To sum up, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.It is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements made etc., the protection of the present invention should be included in
Within the scope of.
Claims (4)
- A kind of 1. rope servicing unit sailed out of suitable for probe vehicles, it is characterised in that：On the landing platform (6) of the probe vehicles Provided with two anchor points (5)；Two ropes (1) are arranged symmetrically in the both sides of the probe vehicles (7), and the one ends wound of the rope (1) is in probe vehicles (7) Wheel on, winding direction is identical with the probe vehicles (7) wheel advance rotation direction；The other end is fixed on the anchor point of the side (5) on；The length of the rope (1) meets to lead when whole wheels of the probe vehicles (7) sail out of the ramp (8) of landing platform When, the rope (1) is just off probe vehicles (7).
- A kind of 2. rope servicing unit sailed out of suitable for probe vehicles as claimed in claim 1, it is characterised in that：The detection Car (7) body tail both sides are respectively equipped with cable-through hole (2)；After the rope (1) passes through the cable-through hole (2) of respective side therewith It is connected with the anchor point (5) of the side.
- A kind of 3. rope servicing unit sailed out of suitable for probe vehicles as claimed in claim 1 or 2, it is characterised in that：Two The rope (1) is wrapped on two front vehicle wheels (4) of probe vehicles (7).
- A kind of 4. rope servicing unit sailed out of suitable for probe vehicles as claimed in claim 1 or 2, it is characterised in that：It is described Rope (1) Front-end Design has ring buckle (11), and neck is designed with the wheel rim (3) for the wheel (4) for being wound with the rope (1) (10) before, winding the rope (1), the ring buckle (11) is socketed in the neck (10), then again twined rope (1) It is wound on wheel；After winding rope (1), the ring buckle (11) does not depart from neck (10), and rope (1) is exceptionally straight.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710910167.5A CN107776913A (en) | 2017-09-29 | 2017-09-29 | A kind of rope servicing unit sailed out of suitable for probe vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710910167.5A CN107776913A (en) | 2017-09-29 | 2017-09-29 | A kind of rope servicing unit sailed out of suitable for probe vehicles |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107776913A true CN107776913A (en) | 2018-03-09 |
Family
ID=61434400
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710910167.5A Pending CN107776913A (en) | 2017-09-29 | 2017-09-29 | A kind of rope servicing unit sailed out of suitable for probe vehicles |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107776913A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086247A (en) * | 2021-04-22 | 2021-07-09 | 哈尔滨工业大学 | Celestial body lava tube detecting vehicle |
| CN115783306A (en) * | 2022-12-28 | 2023-03-14 | 北华大学 | Single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and transfer method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090020351A1 (en) * | 2003-02-21 | 2009-01-22 | Lockheed Martin Corporation | Articulated vehicle suspension system shoulder joint |
| CN101544187A (en) * | 2009-05-06 | 2009-09-30 | 哈尔滨工业大学 | Active and passive combined six-wheel probe vehicle moving mechanism |
| CN202175203U (en) * | 2010-12-14 | 2012-03-28 | 武汉科技大学 | Solar energy lunar-landing trolley |
| CN106945847A (en) * | 2017-02-28 | 2017-07-14 | 北京空间飞行器总体设计部 | A kind of rope auxiliary suitable for probe vehicles sails out of device |
| CN107097976A (en) * | 2017-03-24 | 2017-08-29 | 哈尔滨工业大学 | It is a kind of to unlock rotation support base and the celestial body car transfer ramp with the component |
-
2017
- 2017-09-29 CN CN201710910167.5A patent/CN107776913A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090020351A1 (en) * | 2003-02-21 | 2009-01-22 | Lockheed Martin Corporation | Articulated vehicle suspension system shoulder joint |
| CN101544187A (en) * | 2009-05-06 | 2009-09-30 | 哈尔滨工业大学 | Active and passive combined six-wheel probe vehicle moving mechanism |
| CN202175203U (en) * | 2010-12-14 | 2012-03-28 | 武汉科技大学 | Solar energy lunar-landing trolley |
| CN106945847A (en) * | 2017-02-28 | 2017-07-14 | 北京空间飞行器总体设计部 | A kind of rope auxiliary suitable for probe vehicles sails out of device |
| CN107097976A (en) * | 2017-03-24 | 2017-08-29 | 哈尔滨工业大学 | It is a kind of to unlock rotation support base and the celestial body car transfer ramp with the component |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113086247A (en) * | 2021-04-22 | 2021-07-09 | 哈尔滨工业大学 | Celestial body lava tube detecting vehicle |
| CN115783306A (en) * | 2022-12-28 | 2023-03-14 | 北华大学 | Single-motor rope-driven sliding rail straight-swinging lifting transfer mechanism and transfer method |
| CN115783306B (en) * | 2022-12-28 | 2024-05-28 | 北华大学 | Single-motor rope-driven sliding rail straight swing lifting transfer mechanism and transfer method |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20180309 |