CN113086247A - Celestial body lava tube detecting vehicle - Google Patents
Celestial body lava tube detecting vehicle Download PDFInfo
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- CN113086247A CN113086247A CN202110462913.5A CN202110462913A CN113086247A CN 113086247 A CN113086247 A CN 113086247A CN 202110462913 A CN202110462913 A CN 202110462913A CN 113086247 A CN113086247 A CN 113086247A
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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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Abstract
The invention relates to the technical field of celestial body detection, in particular to a celestial body lava tube detection vehicle. The planet lava tube detecting vehicle comprises a counterweight device, a first driving mechanism and a frame, wherein the first driving mechanism is in driving connection with the counterweight device, the counterweight device is arranged on the frame and is movably connected with the frame, and the first driving mechanism is suitable for driving the counterweight device to move in a reciprocating mode along the movement direction of the frame. According to the invention, the first driving mechanism drives the counterweight device to move relative to the frame, and the position of the counterweight device relative to the frame is changed to adjust the position of the mass center of the celestial body lava tube detecting vehicle in the operation process, so that the stability of the celestial body lava tube detecting vehicle when the celestial body lava tube detecting vehicle crosses a larger obstacle or passes through a larger pit can be ensured, and the problem that the celestial body lava tube detecting vehicle is easy to overturn when the celestial body lava tube detecting vehicle runs on a complex road surface is effectively avoided.
Description
Technical Field
The invention relates to the technical field of celestial body detection, in particular to a celestial body lava tube detection vehicle.
Background
The existing planet detection vehicle can only move on soft terrain without obstacles, but is not easy to pass through some extreme terrains, such as cliffs, lava pipes, craters, meteorite pits and the like, because the slopes of the terrains are generally large, a plurality of obstacles exist, and the existing planet detection vehicle is difficult to pass through the extreme terrains and is easy to overturn when crossing the obstacles.
Disclosure of Invention
The invention solves the problems that the planet lava tube detecting vehicle cannot normally pass and is easy to overturn caused by extreme terrains and obstacles.
In order to solve the problems, the invention provides a celestial body lava tube detecting vehicle which comprises a counterweight device, a first driving mechanism and a vehicle frame, wherein the first driving mechanism is in driving connection with the counterweight device, the counterweight device is movably connected with the vehicle frame along the vehicle frame, and the first driving mechanism is suitable for driving the counterweight device to reciprocate along the motion direction of the vehicle frame.
Optionally, the first driving mechanism includes a first motor and a rack and pinion assembly, the first motor is in driving connection with the rack and pinion assembly, the rack and pinion assembly is installed between the counterweight device and the frame, and the first motor is adapted to drive the counterweight device to move through the rack and pinion assembly.
Optionally, the planet lava tube probe vehicle further comprises a connecting piece, the connecting piece is suitable for with the counterweight device with the frame connection, the first motor is installed on the connecting piece, the gear rack assembly comprises a gear, a first rack and a second rack, the first rack is connected with the counterweight device, the second rack is connected with the frame connection, the gear respectively with the first rack and the second rack are meshed with each other, and the first motor is connected with the gear drive.
Optionally, the counterweight device includes a first slider structure, the frame includes a second slider structure, the first slider structure and the second slider structure are arranged along the transverse direction and are parallel to each other, the connecting member includes a first slide rail structure and a second slide rail structure, the first slide rail structure is slidably connected to the first slider structure, and the second slide rail structure is slidably connected to the second slider structure.
Optionally, the planet lava tube detecting vehicle further comprises a second driving mechanism and a rope wheel, the second driving mechanism is in driving connection with the rope wheel, the rope wheel and the second driving mechanism are installed on the frame, the second driving mechanism is suitable for driving the rope wheel to rotate, and the rope wheel is suitable for winding of a rope.
Optionally, the planet lava tube probe vehicle further comprises a fixing piece and a rope, the fixing piece is suitable for being arranged on the top surface of the slope, one end of the rope is connected with the fixing piece, and the other end of the rope is connected with the rope wheel.
Optionally, the planet lava tube detecting vehicle further comprises a first rotating wheel, the second driving mechanism comprises a second motor and a first rotating shaft, the second motor is installed on the frame, one end of the first rotating shaft is connected with the frame in a rotating mode, the other end of the first rotating shaft is connected with the second motor in a driving mode, the first rotating wheel is coaxially arranged with the rope wheel, the first rotating wheel is suitable for being connected with the first rotating shaft, and the rope wheel is connected with the first rotating shaft in a driving mode.
Optionally, the celestial body lava tube detecting vehicle further comprises a first locking mechanism, the first locking mechanism is mounted on the first rotating wheel, and the first locking mechanism is suitable for being connected with the first rotating wheel.
Optionally, the celestial body lava tube detecting vehicle further comprises at least two second rotating wheels and at least two third driving mechanisms, the second rotating wheels are connected with the frame, the third driving mechanisms are installed on the frame, and the two third driving mechanisms are respectively in driving connection with the two second rotating wheels.
Optionally, the celestial body lava tube detecting vehicle further comprises a bogie and a second locking mechanism, the second rotating wheel and the third driving mechanism are respectively installed at two ends of the bogie, a second rotating shaft is arranged on the bogie, the second rotating shaft is rotatably connected with the frame, the second locking mechanism is installed on the frame, and the second locking mechanism is suitable for being connected with the second rotating shaft.
Compared with the prior art, the planet lava tube detecting vehicle has the beneficial effects that:
when the planet lava tube detecting vehicle runs on a complex road surface, for example, a large obstacle exists on the road surface and needs to be crossed or a large pit exists on the road surface and needs to pass, the counterweight device is driven by the first driving mechanism to move relative to the frame, the position of the counterweight device relative to the frame is changed, the mass center position of the planet lava tube detecting vehicle in the running process is adjusted, the stability of the planet lava tube detecting vehicle when the planet lava tube detecting vehicle crosses the large obstacle or passes through the large pit can be guaranteed, and the problem that the planet lava tube detecting vehicle is prone to toppling when the planet lava tube detecting vehicle runs on the complex road surface is effectively avoided.
Drawings
FIG. 1 is a schematic structural view of an embodiment of a celestial lava tube probe vehicle of the present invention;
FIG. 2 is a schematic structural view of another embodiment of the celestial lava tube probe vehicle of the present invention;
FIG. 3 is a schematic structural view of one embodiment of a rack and pinion assembly of the celestial lava tube probe vehicle of the present invention;
FIG. 4 is a schematic cross-sectional view of an embodiment of the celestial lava tube probe vehicle of the present invention;
FIG. 5 is an enlarged view of a portion of the invention at A in FIG. 4;
FIG. 6 is a schematic cross-sectional view of another embodiment of a celestial lava tube probe vehicle of the present invention;
FIG. 7 is a schematic structural view of an embodiment of the star lava tube probe vehicle of the present invention for ascending or descending a slope;
FIG. 8 is a schematic structural view of an embodiment of the star lava tube probe vehicle of the present invention before crossing an obstacle;
FIG. 9 is a schematic structural view of a backward movement of the counterweight device of the celestial lava tube detecting vehicle according to an embodiment of the present invention;
FIG. 10 is a schematic structural view of an embodiment of the star lava tube probe vehicle of the present invention crossing an obstacle;
FIG. 11 is a schematic structural view of an embodiment of forward movement of the counterweight device of the celestial lava tube detecting vehicle according to the present invention;
fig. 12 is a schematic structural view of the star lava tube probe car according to an embodiment of the present invention after the star lava tube probe car climbs over an obstacle.
Description of reference numerals:
1-a counterweight device; 11-a first slider structure; 2-a first drive mechanism; 21-a first motor; 22-a rack and pinion assembly; 221-gear; 222-a first rack; 223-a second rack; 3-a frame; 31-a second slider structure; 4-a connector; 41-a first slide rail structure; 42-a second slide rail structure; 5-a second drive mechanism; 51-a second motor; 52-first shaft; 6-rope wheel; 7-a first wheel; 8-a first locking mechanism; 9-a second wheel; 10-a third drive mechanism; 20-a fixing member; 30-a rope; 40-a bogie; 401-a second spindle; 50-a second locking mechanism.
Detailed Description
In the description of the present invention, it should be noted that terms such as "upper", "lower", "front", "rear", "left", "right", and the like in the embodiments indicate orientation words, and are only for convenience of description of the present invention, and do not indicate or imply that the device referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and such orientation terms do not constitute limitations of the present invention.
The terms "mounted," "connected," and "coupled" are to be construed broadly and may include, for example, a fixed connection, a removable connection, or a rotatable connection; may be a mechanical connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
The terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of the feature.
Also, in the drawings, the Z-axis represents a vertical, i.e., up-down position, and a positive direction of the Z-axis (i.e., an arrow direction of the Z-axis) represents up, and a negative direction of the Z-axis (i.e., a direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents a horizontal direction and is designated as a left-right position, and a positive direction of the X-axis (i.e., an arrow direction of the X-axis) represents a right side and a negative direction of the X-axis (i.e., a direction opposite to the positive direction of the X-axis) represents a left side; in the drawings, the Y-axis indicates the front-rear position, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) indicates the rear side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) indicates the front side; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.
As shown in fig. 1, the star lava tube probe vehicle according to the embodiment of the present invention includes a counterweight device 1, a first driving mechanism 2 and a vehicle frame 3, the first driving mechanism 2 is in driving connection with the counterweight device 1, the counterweight device 1 is movably connected with the vehicle frame 3 along the vehicle frame 3, and the first driving mechanism 2 is adapted to drive the counterweight device 1 to reciprocate along a movement direction of the vehicle frame 3.
The motion direction of frame is the motion direction of planet lava pipe probe car, also is the direction that planet lava pipe probe car gos forward or retreat, and counter weight device 1 can be the instrument shelter of planet lava pipe probe car itself, can also be the special balancing weight that is used for adjusting planet lava pipe probe car barycenter on the planet lava pipe probe car. Can be equipped with measuring instrument in the instrument shelter, can reduce the weight of celestial body lava pipe probe car itself effectively through using the instrument shelter as counter weight device 1, avoid extra balancing weight to increase the heavy burden of celestial body lava pipe probe car itself, can play the effect that the barycenter was adjusted through the instrument shelter to can also be used for accomodating the measuring instrument, effectively utilized the space on the celestial body lava pipe probe car.
As shown in fig. 8 to 12, when the stellar lava tube probe vehicle traverses a rugged terrain, the stellar lava tube probe vehicle is prone to overturn, when the stellar lava tube probe vehicle climbs from a low-terrain place to a high-terrain place, the first driving mechanism 2 drives the counterweight device 1 to move in the direction opposite to the moving direction of the stellar lava tube probe vehicle relative to the frame 3, so that the center of gravity of the stellar lava tube probe vehicle can be shifted toward the rear of the vehicle body, and after the center of gravity is shifted toward the rear of the vehicle body, the load of the front wheel of the stellar lava tube probe vehicle is reduced, and the rear wheel of the stellar lava tube probe vehicle bears a main load, so that the front wheel is lifted up, and the front wheel is firstly climbs from the low-terrain place to the high-terrain place. When the front wheel is overturned to a higher place of the terrain from a lower place of the terrain, the first driving mechanism 2 drives the counterweight device 1 to move towards the positive direction of the motion direction of the planet lava tube detection vehicle relative to the frame 3, so that the gravity center of the planet lava tube detection vehicle can be shifted towards the front part of the vehicle body, after the gravity center is shifted towards the front part of the vehicle body, the load of the rear wheel of the planet lava tube detection vehicle is reduced, the front wheel of the planet lava tube detection vehicle bears main load, the rear wheel is convenient to lift up, the planet lava tube detection vehicle is in the advancing process, the rear wheel can also be overturned to the higher place of the terrain from the lower place of the terrain, and the planet lava tube detection vehicle can be prevented from overturning easily when being overturned to the higher place of the terrain from the lower place of the terrain.
When the planet lava tube detecting vehicle climbs from a place with higher topography to a place with lower topography, the first driving mechanism 2 drives the counterweight device 1 to move relative to the frame 3 in the direction opposite to the moving direction of the planet lava tube detecting vehicle, so that the gravity center of the planet lava tube detecting vehicle can shift towards the rear part of the vehicle body, after the gravity center shifts towards the rear part of the vehicle body, the load of the front wheel of the planet lava tube detecting vehicle is reduced, the rear wheel of the planet lava tube detecting vehicle bears the main load, and when the front wheel of the planet lava tube detecting vehicle climbs from the place with higher topography to the place with lower topography, the planet lava tube detecting vehicle can be prevented from overturning forwards due to the fact that the gravity center is close to the rear part. When the current wheel is by the higher place of relief to the lower place back of relief, 2 drive counter weight devices of first actuating mechanism 1 move to the forward direction of planet lava pipe detection car direction of motion for frame 3, from this can make the focus of planet lava pipe detection car to the anterior skew of automobile body, the focus is to the anterior skew back of automobile body, the heavy burden of planet lava pipe detection car rear wheel reduces, main heavy burden is born to the front wheel of planet lava pipe detection car, planet lava pipe detection car is at the in-process that gos forward, make the rear wheel also can be by the higher place of relief to the lower place of relief. And because the gravity center of the planet lava tube detecting vehicle moves forwards, the problem that the instruments in the planet lava tube detecting vehicle are adversely affected due to the fact that the inertia of the rear part of the planet lava tube detecting vehicle is large when the rear wheel of the planet lava tube detecting vehicle turns over from a place with a high terrain to a place with a low terrain can be reduced.
When the planet lava tube detecting vehicle runs on a complex road surface, for example, a large obstacle exists on the road surface and needs to be crossed or a large pit exists on the road surface and needs to pass through, the counterweight device 1 is driven by the first driving mechanism 2 to move relative to the frame 3, the position of the counterweight device 1 relative to the frame 3 is changed, so that the centroid position of the planet lava tube detecting vehicle in the running process is adjusted, the stability of the planet lava tube detecting vehicle when the planet lava tube detecting vehicle crosses the large obstacle or passes through the large pit can be ensured, and the problem that the planet lava tube detecting vehicle is prone to topple when running on the complex road surface is effectively avoided.
As shown in fig. 2 and 4, the first driving mechanism 2 includes a first motor 21 and a rack and pinion assembly 22, the first motor 21 is in driving connection with the rack and pinion assembly 22, the rack and pinion assembly 22 is installed between the counterweight device 1 and the frame 3, and the first motor 21 is adapted to drive the counterweight device 1 to move through the rack and pinion assembly 22.
In an embodiment of the present invention, the first motor 21 may be mounted on the frame 3, the rack and pinion assembly 22 may include a gear 221 and a first rack 222, the gear 221 is connected to a motor shaft of the first motor 21, the first rack 222 is mounted on the counterweight device 1, the gear 221 and the first rack 222 are engaged with each other, and the first motor 21 drives the gear 221 to rotate, so as to drive the first rack 222 to move, thereby driving the counterweight device 1 connected to the first rack 222 to move along the Y-axis direction relative to the frame 3. The mass center of the planet lava pipe detecting vehicle is adjusted through the first motor 21 and the gear rack assembly 22 which are installed on the vehicle frame 3.
In another embodiment of the present invention, the first motor 21 may be mounted on the counterweight device 1, the rack and pinion assembly 22 may include a gear 221 and a second rack 223, the gear 221 is keyed to a motor shaft of the first motor 21, the second rack 223 is mounted on the frame 3, the gear 221 and the second rack 223 are engaged with each other, and the first motor 21 may drive the gear 221 to rotate so as to drive the second rack 223 to move, thereby driving the counterweight device 1 connected to the second rack 223 to move along the Y-axis direction relative to the frame 3. The mass center of the planet lava pipe detecting vehicle is adjusted through the first motor 21 and the gear rack assembly 22 which are installed on the vehicle frame 3.
As shown in fig. 3 and 4, the celestial body lava tube detecting vehicle further includes a connecting member 4, the connecting member 4 is adapted to be connected to the counterweight device 1 and the vehicle frame 3, the first motor 21 is mounted on the connecting member 4, the rack and pinion assembly 22 includes a gear 221, a first rack 222 and a second rack 223, the first rack 222 is connected to the counterweight device 1, the second rack 223 is connected to the vehicle frame 3, the gear 221 is engaged with the first rack 222 and the second rack 223, respectively, and the first motor 21 is drivingly connected to the gear 221.
Connecting piece 4 can respectively with counter weight device 1 and frame 3 sliding connection, and connecting piece 4 can play the effect of supporting counter weight device 1, and the stability when guarantee first motor 21 passes through rack and pinion subassembly 22 drive counter weight device 1 and moves along the Y axle direction for frame 3, can begin to have the accommodation space in the connecting piece 4, and first motor 21 can install in the accommodation space, and first motor 21 can also directly pass through the bolt fastening on connecting piece 4. The first rack 222 and the second rack 223 may be respectively located at two opposite sides of the gear 221, and the gear 221 is respectively meshed with the first rack 222 and the second rack 223, when the gear 221 rotates, the first rack 222 and the second rack 223 meshed therewith may be driven to move in opposite directions, so that the counterweight device 1 moves in the Y-axis direction relative to the frame 3 to realize the center of mass adjustment. When the first motor 21 drives the gear 221 and the first and second racks 222 and 223 engaged with the gear 221 to rotate, the first motor 21 is also moved together in the Y-axis direction by the link 4, and the movement stroke of the link 4 is half of the relative movement stroke of the first and second racks 222 and 223. Through the first rack 222 and the second rack 223, relative travel between the first rack 222 and the second rack 223 is farther when the gear 221 rotates for the same number of turns relative to the situation that only a single rack exists, so when the celestial body lava tube detecting vehicle is crossing obstacles, the first motor 21 drives the gear 221, the first rack 222 and the second rack 223 to move, so that the counterweight device 1 can reach a specified position faster, the center of mass adjustment is faster, and the celestial body lava tube detecting vehicle is smoother when crossing obstacles.
As shown in fig. 1, 4 and 5, the counterweight device 1 includes a first slider structure 11, the frame 3 includes a second slider structure 31, the first slider structure 11 and the second slider structure 31 are disposed along the transverse direction and are parallel to each other, the connecting member 4 includes a first slide rail structure 41 and a second slide rail structure 42, the first slide rail structure 41 is slidably connected to the first slider structure 11, and the second slide rail structure 42 is slidably connected to the second slider structure 31.
First slide rail structure 41 has been seted up on connecting piece 4, the spout has all been seted up on first slide rail structure 41 and the second slide rail structure 42, first slider structure 11 and second slider structure 31 can slide along the spout, first slide rail structure 41 mutually supports with first slider structure 11 on the counter weight device 1, counter weight device 1 can slide along first slide rail structure 41 through first slider structure 11, first slide rail structure 41 sets up along Y axle direction, first slide rail structure 41 can play the guide effect to first slider structure 11, make counter weight device 1 can slide along Y axle direction along the direction of first slide rail structure 41. The connecting piece 4 is provided with a second slide rail structure 42, the second slide rail structure 42 is matched with the second slide block structure 31 on the frame 3, the connecting piece 4 can slide along the second slide block structure 31 through the second slide rail structure 42, the second slide block structure 31 is arranged along the Y-axis direction, and the second slide block structure 31 can play a role in guiding the second slide rail structure 42, so that the connecting piece 4 can slide along the Y-axis direction along the direction of the second slide block structure 31.
As shown in fig. 6, the star lava tube detecting vehicle further includes a second driving mechanism 5 and a rope pulley 6, the second driving mechanism 5 is in driving connection with the rope pulley 6, the rope pulley 6 and the second driving mechanism 5 are mounted on the frame 3, the second driving mechanism 5 is adapted to drive the rope pulley 6 to rotate, and the rope pulley 6 is adapted to wind the rope 30.
The second driving mechanism 5 can be directly connected with the rope wheel 6 in a key mode, the second driving mechanism 5 can drive the rope wheel 6 to rotate, and the rope 30 wound on the rope wheel 6 can facilitate the celestial body lava tube detecting vehicle to go to a place with a large slope for surveying. For example, when the planet lava tube detecting vehicle needs to survey the meteorite crater or the lava tube, one end of the rope 30 can be fixed outside the meteorite crater or the lava tube, the rope pulley 6 is driven by the second driving mechanism 5 to rotate to gradually release the rope 30, the planet lava tube detecting vehicle gradually descends to the bottom of the meteorite crater or the lava tube from the gradually released rope 30, so that the bottom of the meteorite crater or the lava tube can be surveyed, after the survey is completed, the second driving mechanism 5 drives the rope pulley to rotate to recover the rope 30, and the planet lava tube detecting vehicle is pulled back to the meteorite crater or the lava tube from the bottom of the meteorite crater or the lava tube through the rope 30.
As shown in fig. 6 and 7, the star lava tube probe car further includes a fixing member 20 and a rope 30, the fixing member 20 being adapted to be disposed on the top surface of the slope, one end of the rope 30 being connected to the fixing member 20, and the other end of the rope 30 being connected to the sheave 6.
The fixing member 20 may be a robot, and when detecting on the planet, the planet lava tube detecting vehicle and the robot may move simultaneously, and when detecting an area with a large gradient, such as a cliff, a lava tube, a crater, or a meteorite pit, etc. Can be fixed in the lava outside of the pipe with the robot earlier, the both ends of rope 30 can be connected with robot and planet lava pipe detection car respectively, rope 30 can twine on the rope sheave 6 of planet lava pipe detection car, use mounting 20 as the stress point, release rope 30 gradually through rotating rope sheave 6, with this realization planet lava pipe detection car descends along the domatic slope in the lava pipe gradually, after surveying the completion, use mounting 20 as the stress point, rope sheave 6 rotates and retrieves rope 30 and draws planet lava pipe detection car outside the lava pipe by the domatic slope of lava pipe.
As shown in fig. 6, the celestial body lava tube detecting vehicle further includes a first rotating wheel 7, the second driving mechanism 5 includes a second motor 51 and a first rotating shaft 52, the second motor 51 is mounted on the frame 3, one end of the first rotating shaft 52 is rotatably connected with the frame 3, the other end of the first rotating shaft 52 is drivingly connected with the second motor 51, the first rotating wheel 7 is coaxially disposed with the sheave 6, the first rotating wheel 7 is suitable for being connected with the first rotating shaft 52, and the sheave 6 is drivingly connected with the first rotating shaft 52.
As shown in fig. 6, the star lava tube detecting vehicle further includes a first locking mechanism 8, the first locking mechanism 8 is mounted on the first rotating wheel 7, and the first locking mechanism 8 is adapted to be connected to the first rotating shaft 52.
The first locking mechanism 8 may be an electromagnetic clutch, and the electromagnetic clutch is mounted on the first rotating shaft 7, and the first rotating shaft 52 may be locked by turning on and off the electromagnetic clutch, so as to fix or rotate the first rotating shaft 7 relative to the first rotating shaft 52. When the first locking mechanism 8 is opened, the first rotating shaft 52 and the first rotating wheel 7 are fixed relatively, and the first rotating shaft 52 can drive the first rotating wheel 7 and the rope wheel 6 to rotate simultaneously when rotating; when the first locking mechanism 8 is closed, the first rotating shaft 52 rotates relative to the first rotating wheel 7, and only the rope wheel 6 is driven to rotate when the first rotating shaft 52 rotates.
As shown in fig. 1 and 4, the celestial body lava tube detecting vehicle further includes at least two second rotating wheels 9 and at least two third driving mechanisms 10, the second rotating wheels 9 are connected with the vehicle frame 3, the third driving mechanisms 10 are installed on the vehicle frame 3, and the two third driving mechanisms 10 are respectively in driving connection with the two second rotating wheels 9.
Each third driving mechanism 10 can drive one second rotating wheel 9 to rotate, and when the planet lava tube detecting vehicle needs to turn, the rotation speed of the third driving mechanism is controlled to achieve turning. For example, when the planet lava tube detecting vehicle needs to turn left, the rotating speed of the second rotating wheel 9 positioned on the right side of the planet lava tube detecting vehicle is greater than that of the second rotating wheel 9 positioned on the left side of the planet lava tube detecting vehicle, so that the planet lava tube detecting vehicle turns left; when the planet lava tube detecting vehicle needs to turn to the right, the rotating speed of the second rotating wheel 9 positioned on the left side of the planet lava tube detecting vehicle is greater than that of the second rotating wheel 9 positioned on the right side of the planet lava tube detecting vehicle, so that the planet lava tube detecting vehicle turns to the right. The two second rotating wheels 9 are respectively driven to rotate by the two third driving mechanisms 10, and the rotating speed of the second rotating wheels 9 can be directly controlled by controlling the third driving mechanisms 10, so that the steering of the celestial body lava tube detecting vehicle is completed.
As shown in fig. 4, the celestial body lava tube detecting vehicle further includes a bogie 40 and a second locking mechanism 50, the second rotating wheel 9 and the third driving mechanism 10 are respectively mounted at two ends of the bogie 40, a second rotating shaft 401 is disposed on the bogie 40, the second rotating shaft 401 is rotatably connected with the vehicle frame 3, the second locking mechanism 50 is mounted on the vehicle frame 3, and the second locking mechanism 50 is adapted to be connected with the second rotating shaft 401.
The second locking mechanism 50 may be an electromagnetic clutch, and the electromagnetic clutch is mounted on the frame 3, and the second rotating shaft 401 can be locked by turning on or off the electromagnetic clutch, so as to fix or rotate the bogie 40 relative to the frame 3. When the second locking mechanism 50 is opened, the second rotating shaft 401 is relatively fixed with the frame 3, at the moment, the bogie 40 cannot rotate relative to the frame 3, at the moment, the linear motion of the celestial body lava tube detecting vehicle can be guaranteed, and the running route cannot deviate; when the second locking mechanism 50 is unlocked, the second rotating shaft 401 can rotate relative to the frame 3, and the celestial body lava tube detecting vehicle can normally turn.
As shown in fig. 7, another embodiment of the present invention provides a method for moving a celestial body lava tube probe vehicle, including: when the planet lava tube detecting vehicle receives a downhill instruction, controlling the counter weight device 1 to move in the reverse direction of the moving direction of the planet lava tube detecting vehicle relative to the vehicle frame 3; when the planet lava tube detecting vehicle receives an uphill command, the counterweight device 1 is controlled to move towards the moving direction of the planet lava tube detecting vehicle relative to the vehicle frame 3.
When the planet lava tube detecting vehicle receives a downhill instruction, the first driving mechanism 2 drives the counterweight device 1 to move towards the direction opposite to the moving direction of the planet lava tube detecting vehicle, so that the gravity center of the planet lava tube detecting vehicle moves backwards, the planet lava tube detecting vehicle is prevented from toppling forwards when the planet lava tube detecting vehicle moves to a flat slope from a slope, the first driving mechanism 2 drives the counterweight device 1 to recover to the initial position again, the gravity center of the planet lava tube detecting vehicle is ensured to be centered, and the running stability of the planet lava tube detecting vehicle is ensured. When the planet lava tube detecting vehicle receives an ascending instruction, the first driving mechanism 2 drives the counterweight device 1 to move towards the motion direction of the planet lava tube detecting vehicle, so that the gravity center of the planet lava tube detecting vehicle moves forwards, the planet lava tube detecting vehicle is prevented from toppling backwards when ascending, when the planet lava tube detecting vehicle moves from a slope to a flat slope, the first driving mechanism 2 drives the counterweight device 1 to recover to an initial position again, the gravity center of the planet lava tube detecting vehicle is ensured to be centered, the stability of the operation of the planet lava tube detecting vehicle is ensured, and the front wheel and the rear wheel are uniformly stressed.
The position of the counterweight device 1 relative to the frame 3 is adjusted on an upslope, so that the gravity center of the planet lava tube detecting vehicle moves backwards, and the problem that the planet lava tube detecting vehicle is easy to overturn forwards when the vehicle goes downslope is effectively avoided; the position of the counterweight device 1 relative to the frame 3 is adjusted on a downward slope, so that the gravity center of the planet lava tube detecting vehicle moves forward, and the problem that the planet lava tube detecting vehicle is prone to toppling backwards when the planet lava tube detecting vehicle goes up the upward slope is effectively solved.
When the planet lava pipe probe vehicle receives a downhill command or an uphill command, the method further comprises the following steps: one end of the rope 30 is connected to the fixing member 20.
When the planet lava tube detecting vehicle receives a downhill instruction, one end of a rope 30 is wound on a rope pulley 6 of the planet lava tube detecting vehicle, the other end of the rope 30 is connected with a fixing piece 20, the fixing piece 20 generates a pulling force on the planet lava tube detecting vehicle through the rope 30, the planet lava tube detecting vehicle gradually releases the rope 30 through controlling the rope pulley 6 to rotate, and the planet lava tube detecting vehicle gradually descends from a slope by self gravity; when the planet lava tube detecting vehicle receives an uphill command, the fixing part 20 generates a pulling force on the planet lava tube detecting vehicle through the rope 30, and the planet lava tube detecting vehicle pulls the planet lava tube detecting vehicle to the uphill top from a slope through the driving rope wheel 6 to rotate the contraction rope 30.
The moving method of the planet lava tube detecting vehicle further comprises the following steps: when the planet lava tube detecting vehicle translates, the first locking mechanism 8 is controlled to be opened so as to lock the first rotating wheel 7 and the first rotating shaft 52; when the planet lava tube detecting vehicle descends, controlling the first locking mechanism 8 to be closed so as to release the locking of the first rotating wheel 7 and the first rotating shaft 52, and controlling the rope wheel 6 to rotate forward so as to realize the descent of the planet lava tube detecting vehicle; when the planet lava tube detecting vehicle ascends the slope, the first locking mechanism 8 is controlled to be closed so as to release the locking of the first rotating wheel 7 and the first rotating shaft 52, and the rope wheel 6 is controlled to rotate reversely so as to realize the ascent of the planet lava tube detecting vehicle.
When the planet lava tube detecting vehicle descends, the first locking mechanism 8 is controlled to be closed, the second driving mechanism 5 drives the first rotating shaft 52 to rotate, the first rotating shaft 52 drives the rope pulley 6 connected with the first rotating shaft to rotate in the forward direction to release the rope 30 wound on the rope pulley 6, and the planet lava tube detecting vehicle realizes the descent of the planet lava tube detecting vehicle through self gravity; when the planet lava tube detecting vehicle moves horizontally, the first locking mechanism 8 is controlled to be closed, the first rotating wheel 7 is fixed relative to the first rotating shaft 52, when the second driving mechanism 5 drives the first rotating shaft 52 to rotate, the first rotating shaft 52 drives the second rotating wheel 9 and the rope wheel 6 to rotate, the planet lava tube detecting vehicle drives the second rotating wheel 9 to move forwards through the second driving mechanism 5, and the rope wheel 6 gradually releases the rope 30 when the planet lava tube detecting vehicle moves forwards; when the planet lava tube detecting vehicle ascends the slope, the first locking mechanism 8 is closed, the second driving mechanism 5 drives the first rotating shaft 52 to rotate, the first rotating shaft 52 drives the rope wheel 6 connected with the first rotating shaft to rotate reversely so as to recover the rope 30, the rope 30 can be wound on the rope wheel 6 gradually through the rope wheel 6 rotating reversely, and the planet lava tube detecting vehicle gradually recovers the rope 30 through the rope wheel 6 rotating reversely so as to realize the ascent of the planet lava tube detecting vehicle.
Although the present disclosure has been described above, the scope of the present disclosure is not limited thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the spirit and scope of the present disclosure, and these changes and modifications are intended to be within the scope of the present disclosure.
Claims (10)
1. The utility model provides a planet lava pipe probe vehicle, its characterized in that, includes counter weight device (1), first actuating mechanism (2) and frame (3), first actuating mechanism (2) with counter weight device (1) drive is connected, counter weight device (1) are followed frame (3) with frame (3) swing joint, first actuating mechanism (2) are suitable for the drive counter weight device (1) are followed the direction of motion reciprocating motion of frame (3).
2. The celestial lava tube detecting vehicle according to claim 1, wherein the first driving mechanism (2) includes a first motor (21) and a rack and pinion assembly (22), the first motor (21) being in driving connection with the rack and pinion assembly (22), the rack and pinion assembly (22) being mounted between the counterweight device (1) and the frame (3), the first motor (21) being adapted to move the counterweight device (1) via the rack and pinion assembly (22).
3. The celestial lava tube detecting vehicle according to claim 2, further comprising a connecting member (4), said connecting member (4) being adapted to be connected with said weight device (1) and said frame (3), said first motor (21) being mounted on said connecting member (4), said rack and pinion assembly (22) comprising a gear (221), a first rack (222) and a second rack (223), said first rack (222) being connected with said weight device (1), said second rack (223) being connected with said frame (3), said gear (221) being intermeshed with said first rack (222) and said second rack (223), respectively, said first motor (21) being drivingly connected with said gear (221).
4. The celestial body lava tube probe vehicle according to claim 3, wherein the weight device (1) comprises a first slider structure (11), the frame (3) comprises a second slider structure (31), the first slider structure (11) and the second slider structure (31) are arranged parallel to each other, the connecting member (4) comprises a first rail structure (41) and a second rail structure (42), the first rail structure (41) is slidably connected to the first slider structure (11), and the second rail structure (42) is slidably connected to the second slider structure (31).
5. The celestial body lava tube detecting vehicle according to claim 1, further comprising a second driving mechanism (5) and a rope pulley (6), wherein the second driving mechanism (5) is in driving connection with the rope pulley (6), the rope pulley (6) and the second driving mechanism (5) are mounted on the frame (3), the second driving mechanism (5) is adapted to drive the rope pulley (6) to rotate, and the rope pulley (6) is adapted to wind a rope.
6. The celestial lava tube detecting vehicle according to claim 5, further comprising a fixing member (20) and a rope (30), wherein the fixing member (20) is adapted to be disposed on a top surface of a slope, one end of the rope (30) is connected to the fixing member (20), and the other end of the rope (30) is connected to the sheave (6).
7. The celestial body lava tube detecting vehicle according to claim 5, further comprising a first rotating wheel (7), wherein the second driving mechanism (5) comprises a second motor (51) and a first rotating shaft (52), the second motor (51) is mounted on the frame (3), one end of the first rotating shaft (52) is rotatably connected with the frame (3), the other end of the first rotating shaft (52) is drivingly connected with the second motor (51), the first rotating wheel (7) is coaxially arranged with the sheave (6), the first rotating wheel (7) is adapted to be connected with the first rotating shaft (52), and the sheave (6) is drivingly connected with the first rotating shaft (52).
8. The celestial lava tube detecting vehicle according to claim 7, further comprising a first locking mechanism (8), said first locking mechanism (8) being mounted on said first wheel (7), said first locking mechanism (8) being adapted to be connected to said first shaft (52).
9. The celestial body lava tube detecting vehicle according to claim 1, further comprising at least two second wheels (9) and at least two third driving mechanisms (10), wherein the second wheels (9) are connected to the frame (3), the third driving mechanisms (10) are mounted on the frame (3), and the two third driving mechanisms (10) are respectively in driving connection with the two second wheels (9).
10. The celestial body lava tube detecting vehicle according to claim 9, further comprising a bogie (40) and a second locking mechanism (50), wherein the second wheel (9) and the third driving mechanism (10) are respectively mounted at two ends of the bogie (40), the bogie (40) is provided with a second rotating shaft (401), the second rotating shaft (401) is rotatably connected with the frame (3), the second locking mechanism (50) is mounted on the frame (3), and the second locking mechanism (50) is adapted to be connected with the second rotating shaft (401).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110462913.5A CN113086247A (en) | 2021-04-22 | 2021-04-22 | Celestial body lava tube detecting vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110462913.5A CN113086247A (en) | 2021-04-22 | 2021-04-22 | Celestial body lava tube detecting vehicle |
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| CN113086247A true CN113086247A (en) | 2021-07-09 |
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| CN202110462913.5A Pending CN113086247A (en) | 2021-04-22 | 2021-04-22 | Celestial body lava tube detecting vehicle |
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