CN104590586A - Annular shock absorber four-wheel vehicle manned lunar vehicle mobile system - Google Patents
Annular shock absorber four-wheel vehicle manned lunar vehicle mobile system Download PDFInfo
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- CN104590586A CN104590586A CN201410553756.9A CN201410553756A CN104590586A CN 104590586 A CN104590586 A CN 104590586A CN 201410553756 A CN201410553756 A CN 201410553756A CN 104590586 A CN104590586 A CN 104590586A
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Abstract
The invention belongs to the field of spaceflights, and relates to an annular shock absorber four-wheel vehicle manned lunar vehicle mobile system which resolves the problems that an existing manned lunar vehicle is poor in shock absorption performance, unscientific in design and poor in obstacle crossing and operation performance. The annular shock absorber four-wheel vehicle manned lunar vehicle mobile system comprises a front vehicle body, a rear vehicle body, two folding devices, four driving devices, four steering devices, four wheels, two mobile system connectors and four annular shock absorbers, wherein the front vehicle body and the rear vehicle body are connected through the two folding devices, one mobile system connector is installed on the lower end surface of the front vehicle body, the other mobile system connector is installed on the lower end surface of the rear vehicle body, the annular shock absorbers are arranged on two sides of the mobile system connectors respectively, each annular shock absorber is connected with the corresponding steering device, the steering devices are rotationally connected with the corresponding driving devices, and the wheels are installed on the corresponding driving devices. The annular shock absorber four-wheel vehicle manned lunar vehicle mobile system is applied to a manned lunar vehicle.
Description
Technical field
The present invention relates to the manned lunar rover moving system of a kind of annular bumper four-wheeled, belong to space industry.
Background technology
Moon exploration can check a national Sci-Tech Level, simultaneously planetary detection is also origin of life in order to study planet and course, develop energy resource, expand the living space etc. of the mankind, the mankind are to the earth in in-depth, the research of the Origin and evolution in the solar system and universe and understanding, promote that the mankind advance.Specific physical and the design of lunar surface environment factor to manned lunar rover moving system of moonscape propose strict technical requirements, require larger hill climbing ability, good ride comfort, preferably lunar surface comformability, failure-free maneuvering performance, enough bearing capacities, the higher speed of a motor vehicle, stronger cross country power, and there is very strong adaptation lunar surface environment and condition.
The manned lunar rover vehicle is manned lunar exploration and the important component part setting up lunar base, and be that lunar surface detects requisite prospecting tools, the quality of its performance counts for much.The designs of natural cause to the manned lunar rover vehicle such as the physical property of moonscape own and surface state propose certain technical requirements.Although countries in the world comprise the manned lunar rover moving system that China all have devised different types of structure, all there is respective merits and faults in these mobile system configurations, the manned lunar rover vehicle configuration of development of new remains a challenging problem.Due to the difference of detection mission and performance requirement, the various manned lunar rover moving system configurations developed at present, size differ, performance is different, the design of the manned lunar rover vehicle exists to be becomed privileged and diversified feature, design process lacks inheritance, cause design iterations work, waste a large amount of time and resource, in design process, much conscious and introducing that is empirical method may cause the problem such as not science, configuration hydraulic performance decline of design simultaneously.In order to make the manned lunar rover vehicle complete complicated manned exploration's task, need for astronaut provides a applicable manned lunar rover vehicle configuration.
Summary of the invention
The object of this invention is to provide the manned lunar rover moving system of a kind of annular bumper four-wheeled, with solve the damping performance that the existing manned lunar rover vehicle exists poor, design the problem that science, obstacle detouring and maneuvering performance are not bad.
The present invention solves the problems of the technologies described above the technical scheme taked to be: described system comprises front vehicle body, aftercarriage, two folding devices, four actuating devices, four steering hardwares, four wheels, two mobile system attaching partss and four annular bumpers, front vehicle body is connected by two folding devices with aftercarriage, a mobile system attaching parts lower surface of front vehicle body is equipped with, another mobile system attaching parts is equipped with in the lower surface of aftercarriage, annular bumper is respectively equipped with in the both sides of mobile system attaching parts, each annular bumper is connected with corresponding steering hardware, steering hardware is rotationally connected with corresponding actuating device, each wheel is installed on corresponding actuating device.
The present invention has following beneficial effect: the present invention can solve the problem of manned lunar rover moving system design, and propose a kind of folding annular bumper four-wheeled configuration mechanism, structure is reliable.Mobile system of the present invention is applicable to the open manned lunar rover vehicle, and applicability is good.Mobile system of the present invention avoids taking of solid space when folding, and have good folding and expanding performance, collapsed compact is good.Each movable pulley of mobile system of the present invention adopts single wheel drive, and each wheel can independent steering, has good mobile alerting ability.The present invention takes turns and adopts annular damper mechanism, is made up of an outer rotor and inner stator and six vibration damper devices, ensures the foreign impacts power that wheel opposing is very large.Chassis of the present invention is all designed lower, and very convenient astronaut gets on or off the bus at any time.When wanting the manned lunar rover vehicle rest on slope or get off to complete a certain operation, realizing all brakings of driving wheel by the brake equipment driven on wheel, thus realizing the braking of the whole manned lunar rover vehicle, to guarantee that it can stop in time.
Accompanying drawing explanation
Fig. 1 is integral 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 attaching parts, steering hardware and driving device structure schematic diagram.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1 to Fig. 4 illustrates present embodiment, present embodiment system comprises front vehicle body 1, aftercarriage 7, two folding devices 8, four actuating devices 2, four steering hardwares 3, four wheels 4, two mobile system attaching partss 5 and four annular bumpers 6, front vehicle body 1 is connected by two folding devices 8 with aftercarriage 7, a mobile system attaching parts 5 lower surface of front vehicle body 1 is equipped with, another mobile system attaching parts 5 is equipped with in the lower surface of aftercarriage 7, annular bumper 6 is respectively equipped with in the both sides of mobile system attaching parts 5, each annular bumper 6 is connected with corresponding steering hardware 3, steering hardware 3 is rotationally connected with corresponding actuating device 2, each wheel 4 is installed on corresponding actuating device 2.
Detailed description of the invention two: composition graphs 3 illustrates present embodiment, the annular bumper 6 of present embodiment comprises internal stator 6-1, outer rotor 6-3, six straight line Shock absorber 6-2 and two turn to joint pin 6-4, outer rotor 6-3 rotates around internal stator 6-1 when being subject to impacting, six straight line Shock absorber 6-2 are divided into three groups, three groups of straight line Shock absorber 6-2 distribute along the even circumferential of outer rotor 6-3, one end and the internal stator 6-1 of each straight line Shock absorber 6-2 are rotationally connected, the other end of each straight line Shock absorber 6-2 is connected with outer rotor 6-3, outer rotor 6-3 turns to joint pin 6-4 to be connected with two, the advantage of this structure is the foreign impacts power ensureing that wheel opposing is very large.Other embodiment is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 4 illustrates present embodiment, each steering hardware 3 of present embodiment comprises spindle arm 3-1 and lower spindle arm 3-2, one end of upper spindle arm 3-1 and one turn to joint pin 6-4 to be rotationally connected, the other end and the actuating device 2 of upper spindle arm 3-1 are rotationally connected, one end of lower spindle arm 3-2 and another turn to joint pin 6-4 to be rotationally connected, the other end and the actuating device 2 of lower spindle arm 3-2 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: composition graphs 2 illustrates present embodiment, each folding device 8 of present embodiment comprises the folding pedestal 8-3 of the first folding pedestal 8-1, rotating shaft 8-2 and 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 second.Other embodiment is identical with detailed description of the invention one.
Principle of work: deployment lifting process: the folding process of the manned lunar rover moving system configuration of annular bumper four-wheel: by front vehicle body 1 around the shaft 8-2 fold, until aftercarriage 7 is by front vehicle body 1, complete folding process.Annular bumper four-wheel manned lunar rover moving system configuration expansion process: by front vehicle body 1 around the shaft 8-2 fold, until aftercarriage 7 and front vehicle body 1 one-tenth one plane, complete expansion process.
Moving process: the manned lunar rover moving system configuration of annular bumper four-wheel, when mobile, driven the rotation of each wheel 4 by each actuating device 2 of taking turns, the advance realizing the manned lunar rover vehicle is moved; When the manned lunar rover vehicle needs to turn to, actuating device 2 to be connected with steering hardware 3 by revolute pair and to rotate, and realizes turning to of wheel; The manned lunar rover vehicle has scraggly road surface unavoidably when mobile, now rotates between the internal stator 6-1 of annular bumper 6 and outer rotor 6-3, realizes the luffing of wheel, adapt to road surface and go motion.In manned lunar rover vehicle moving process, annular bumper 6 straight line Shock absorber 6-2 fore and aft motion, thus realize shock-absorbing function.
Claims (4)
1. the manned lunar rover moving system of annular bumper four-wheeled, it is characterized in that described system comprises front vehicle body (1), aftercarriage (7), two folding devices (8), four actuating devices (2), four steering hardwares (3), four wheels (4), two mobile system attaching partss (5) and four annular bumpers (6), front vehicle body (1) is connected by two folding devices (8) with aftercarriage (7), a mobile system attaching parts (5) lower surface of front vehicle body (1) is equipped with, another mobile system attaching parts (5) is equipped with in the lower surface of aftercarriage (7), annular bumper (6) is respectively equipped with in the both sides of mobile system attaching parts (5), each annular bumper (6) is connected with corresponding steering hardware (3), steering hardware (3) is rotationally connected with corresponding actuating device (2), each wheel (4) is installed on corresponding actuating device (2).
2. the manned lunar rover moving system of annular bumper four-wheeled according to claim 1, it is characterized in that annular bumper (6) comprises internal stator (6-1), outer 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 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) distribute along the even circumferential of outer rotor (6-3), one end and the internal stator (6-1) of each straight line Shock absorber (6-2) are rotationally connected, the other end of each straight line Shock absorber (6-2) is connected with outer rotor (6-3), outer rotor (6-3) turns to joint pin (6-4) to be connected with two.
3. the manned lunar rover moving system of annular bumper four-wheeled according to claim 2, it is characterized in that: each steering hardware (3) comprises spindle arm (3-1) and lower spindle arm (3-2), one end of upper spindle arm (3-1) and one turn to joint pin (6-4) to be rotationally connected, the other end and the actuating device (2) of upper spindle arm (3-1) are rotationally connected, one end of lower spindle arm (3-2) and another turn to joint pin (6-4) to be rotationally connected, the other end and the actuating device (2) of lower spindle arm (3-2) are rotationally connected.
4. the manned lunar rover moving system of annular bumper four-wheeled according to claim 3, it is characterized in that: each folding device (8) comprises 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 by rotating shaft (8-2) and the second folding pedestal (8-3).
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| Application Number | Priority Date | Filing Date | Title |
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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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| CN104590586B CN104590586B (en) | 2016-07-06 |
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Cited By (5)
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| CN105129110A (en) * | 2015-08-26 | 2015-12-09 | 重庆大学 | Planetary rover |
| CN105730142A (en) * | 2016-02-01 | 2016-07-06 | 吉林大学 | Bionic metal flexible rover wheel |
| CN112429273A (en) * | 2020-11-30 | 2021-03-02 | 哈尔滨工业大学 | Suspension structure and planet detection vehicle |
| CN112429272A (en) * | 2020-11-30 | 2021-03-02 | 哈尔滨工业大学 | Rotary trailing arm suspension mechanism and star detection vehicle |
| CN113525718A (en) * | 2021-09-10 | 2021-10-22 | 吉林大学 | Z-shaped small lunar vehicle with high folding-unfolding ratio |
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| CN113525718A (en) * | 2021-09-10 | 2021-10-22 | 吉林大学 | Z-shaped small lunar vehicle with high folding-unfolding ratio |
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| CN104590586B (en) | 2016-07-06 |
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