CN102490911A

CN102490911A - Lunar surface walking device for lunar rover

Info

Publication number: CN102490911A
Application number: CN2011104277081A
Authority: CN
Inventors: 宋洪侠; 邹睿; 张蕾; 张浩瀚
Original assignee: Dalian University of Technology
Current assignee: Dalian University of Technology
Priority date: 2011-12-16
Filing date: 2011-12-16
Publication date: 2012-06-13

Abstract

The invention discloses a lunar surface walking device for a lunar rover, and belongs to the technical field of aerospace and mechanical designs. The lunar surface walking device is characterized by being supported by a central bracket and controlled to perform jumping and wheel-type movement. During jumping work, a servo motor pulls a steel wire rope to drive a sliding block to slide towards the end of the central bracket; a jumping spring is stretched to fold telescopic folding legs; when reaching the end of the central bracket, the sliding block is hooked by a locking hook; when the servo motor is powered off, and the locking hook releases the sliding block, the jumping spring is quickly shortened, and the telescopic folding legs are unfolded quickly; and therefore, a reacting force of the ground to wheels makes the lunar rover jump. During wheel-type movement, the telescopic folding legs are unfolded; the wheels are turned to be moving postures under the adjustment of stepping motors; motors arranged in the wheels drive the lunar rover; and therefore, the lunar rover can adapt to a rugged road surface through suspension springs arranged on the legs. The lunar surface walking device for the lunar rover has the beneficial effects that: due to the two modes of jumping and wheel-type movement, the variety of moving modes of the lunar rover is increased; and the adaptability of the lunar rover to the ground is improved.

Description

The menology running gear of lunar rover vehicle

Technical field

The invention belongs to aerospace and mechanical designing technique field, relate to a kind of ground-engaging element of novel lunar rover vehicle, specially refer to have folding, the menology running gear of spring and a kind of lunar rover vehicle of normal row stop & go function.

Background technology

At present; All research and development of celestial body detecting devices outside carrying out of countries in the world; The running gear of detector always designs as the vitals of detector, comprise NASA development the Opportunity Rover Marsokhod six take turns suspension type, Italian design-calculated spider type detector polypody, also have other like crawler type and great-jump-forward or the like.But present detector all adopts single lunar surface operation scheme, on the comformability of ground, has deficiency, is not enough to adapt to changeable lunar surface environment.

Summary of the invention

The purpose of this invention is to provide the adaptive device in a kind of reinforcement lunar rover vehicle ground, this device combines wheeled advancing and the great-jump-forward dual mode of advancing, and adapts to the various MODEL OVER COMPLEX TOPOGRAPHY of menology well.When the relatively flat of road surface, lunar rover vehicle is advanced with the metastable wheeled mode of advancing; When running into the gully or slightly during high obstacle, running gear is withdrawn in the lunar rover vehicle, with the jumping mode obstacle detouring, land back lunar rover vehicle automatic compensation attitude, cruising or carry out other tasks.

The technical scheme that the present invention adopts is following: device is made up of three big parts: center frame, the wheeled parts of advancing; Comprise telescopic folding leg, pendulum spring, wheel and stepping motor and jump function unit, comprise slide block, locking hook, inshot spring, steel rope, servomotor.During jump work, servomotor starts the pulling steel rope, make its drive slide block on the center frame slideway to the end inshot spring that stretches simultaneously that slides; The telescopic folding leg is under slide block drives; Its each connecting rod is folding, shank is regained in the lunar rover vehicle, when slide block arrives the center frame end; Caught on by the locking hook, at this moment inshot spring is stretched and can not resets.When under servomotor no power, the locking hook also portion's electromagnetic relay effect within it during release slider; Inshot spring shrinks rapidly; Make slide block near the center frame middle part, the telescopic folding leg is launched rapidly, wheel imposes on the application force in ground; Like this, lunar rover vehicle has just been accomplished jump action under the effect of ground to the antagonistic force of wheel.Lunar rover vehicle adopts wheeled advancing during mode, and the telescopic folding leg launches, and wheel goes to the cruising position through the adjustment of each stepping motor of shank, reaches through every telescopic folding leg in-to-in pendulum spring to adapt to rugged ground-surface purpose.

Effect of the present invention and benefit are: through jumping and the wheeled dual mode of advancing, increased the go variety of mode of lunar rover vehicle, improved the ground comformability of lunar rover vehicle.

Description of drawings

Fig. 1 is the menology running gear shank schematic diagram of mechanism of lunar rover vehicle.

Fig. 2 is the menology running gear front view of lunar rover vehicle.

Fig. 3 is the menology running gear birds-eye view of lunar rover vehicle.

Fig. 4 is the menology running gear lateral plan of lunar rover vehicle.

Fig. 5 is the menology running gear axonometric drawing of lunar rover vehicle.

Among Fig. 1 and Fig. 5: 1. slide block; 2. center frame; 3. telescopic folding leg; 4. pendulum spring; 5. stepping motor; 6. wheel; 7. servomotor; 8. steel rope; 9. locking is linked up with; 10. inshot spring.

The specific embodiment

Be described in detail the specific embodiment of the present invention below in conjunction with technical scheme and accompanying drawing.

In Fig. 1; Slide block 1 can slide on center frame 2 slideways, drives the connecting rod mechanism of telescopic folding leg 3, makes it folding or expansion; Pendulum spring 4 can make lunar rover vehicle adapt to rugged condition of road surface; The attitude adjustment of three stepping motor 5 control wheels 6 makes wheel 6 can in traveling process, have higher spatial degrees of freedom, thereby lunar rover vehicle can be turned to freely.

In Fig. 5, center frame 2 supports and settles each functional component; During jump; Servomotor 7 starts pulling steel rope 8; Make its drive slide block 1 on center frame 2 to the end inshot spring 10 that stretches simultaneously that slides, the slider-crank mechanism of slide block 1 through telescopic folding leg 3 makes that shank is folding to be recovered in the vehicle body, when slide block 1 arrives center frame 2 ends; Caught on by locking hook 9, at this moment inshot spring 10 is stretched and can not resets.When under servomotor 7 no powers, the locking hook 9 also portion's electromagnetic relay effect within it during release slider 1, inshot spring 10 shrinks rapidly, and slide block 1 makes 3 stretching, extensions of telescopic folding leg near the middle part of center frame 2, has so just accomplished jump action.Every telescopic folding leg 3 is all installed three stepping motors 5 as shown in fig. 1, makes lunar rover vehicle in normal traveling process, carry out individual drive, with the alerting ability that guarantees to advance and turn to.Telescopic folding leg 3 stretches, and wheel 6 goes to wheeled travel condition as shown in Figure 5 through the adjustment of stepping motor 5 again, and dependence is installed in each wheel 6 in-to-in motor-driven lunar rover vehicle and normally advances.Wheel 6 outer ring shaped design are become to have the form of oblique groove decorative pattern,, thereby guarantee the cruising of car body so that it can arrange sand smoothly under the menology environment.Center frame 2 main bodys adopt titanium alloy material and composite material, light weight and have enough intensity.Center frame 2 adopts the hollow out form, under the prerequisite of proof strength, has alleviated car weight.In addition, center frame 2 adopts elastomeric material with the buffering shock-absorbing with the car body connecting bridge, prevents that car body inside from damaging in process is landed in jump.

Claims

1. the menology running gear of a lunar rover vehicle, device is made up of center frame (2), wheeled parts and jump function unit three parts of going, and it is characterized in that:

The wheeled parts that go comprise telescopic folding leg (3), pendulum spring (4), wheel and stepping motor (5); Lunar rover vehicle adopts wheeled advancing during mode; The telescopic folding leg (3) of the wheeled parts that go launches; Wheel (6) goes to the cruising attitude through the adjustment of each stepping motor of shank (5), and dependence is installed in each wheel (6) in-to-in motor-driven lunar rover vehicle and normally advances, and this moment, lunar rover vehicle adapted to rugged road surface through every telescopic folding leg (3) in-to-in pendulum spring (4);

The jump function unit comprises slide block (1), locking hook (9), inshot spring (10), steel rope (8), servomotor (7); During jump work, the servomotor of jump function unit (7) starts pulling steel rope (8), make its drive slide block (1) on center frame (2) slideway to the end inshot spring (10) that stretches simultaneously that slides; Telescopic folding leg (3) is under slide block (1) drives; Its each connecting rod is folding, and shank is recovered in the lunar rover vehicle, when slide block (1) arrives center frame (2) end; Caught on by locking hook (9), at this moment inshot spring (10) is stretched and can not resets; When under servomotor (7) no power, the locking hook (9) also portion's electromagnetic relay effect within it during release slider (1); Inshot spring (10) shrinks rapidly; Slide block (1) is near center frame (2) middle part; Telescopic folding leg (3) is launched rapidly, and wheel (6) imposes on the application force in ground, and lunar rover vehicle has just been accomplished jump action under the effect of ground to the antagonistic force of wheel (6).