A detachable and reconfigurable manned lunar rover

Abstract

The present invention provides a detachable and reconfigurable large-folding manned lunar rover, comprising a front suspension mounting plate, a front bottom plate, a rear suspension mounting plate, a rear bottom plate, a suspension system, a seat, a power supply, a control system, a storage bag, a remote control, an antenna, a connection fixing mechanism, a folding fixing mechanism, wheels, a dual-axle suspension, and a clamping seat. Compared with the traditional lunar rover, the vehicle has a folding and unfolding function to achieve a small envelope launch; at the same time, the whole vehicle has a separation and reconstruction function, and the whole vehicle can be separated and reconstructed into two three-wheeled manned vehicles to ensure the normal progress of the mission when the whole vehicle has a partial failure.

Description

Technical Field

[0001] The present invention relates to a detachable and reconfigurable large-foldable manned lunar rover. The whole vehicle can be folded to achieve small envelope carrying, and has the ability to be separated and reconfigured into two independent three-wheeled manned vehicles for lunar surface driving, belonging to the field of lunar exploration. Background Art

[0002] In the field of manned lunar landing, the manned lunar rover is an important tool that astronauts need to perform exploration missions on the lunar surface and improve work efficiency. The manned lunar rover carrying astronauts for exploration requires that the manned lunar rover must have good high-speed lunar surface movement capabilities and safety and reliability.

[0003] At present, manned lunar rovers such as the Apollo manned lunar rover can be folded and unfolded, but no relevant materials have been found for manned lunar rovers that can be folded and unfolded and separated and reconstructed at the same time. When the existing manned lunar rovers fail and cannot move, astronauts can only rely on walking to return to the lander. When the astronauts have a large range of activities, there is a safety hazard that they cannot return smoothly. Summary of the invention

[0004] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art and to provide a detachable and reconfigurable manned lunar rover with a large foldable structure. The whole vehicle can be folded to achieve small envelope carrying, and has the ability to be separated and reconfigured into two independent three-wheeled manned vehicles for lunar surface travel. When the manned lunar rover fails to move on the lunar surface, it can also carry the astronauts back smoothly through disassembly and reconstruction.

[0005] The technical solution of the present invention is:

[0006] A detachable and reconfigurable large-foldable manned lunar rover, comprising a front suspension mounting plate, a front bottom plate, a rear suspension mounting plate, a rear bottom plate, a suspension system, a seat, a power supply, a control system, a storage bag, a remote controller, an antenna, a connecting and fixing mechanism, a folding and fixing mechanism, wheels, a dual-axle suspension, and a clamping seat;

[0007] The front floor plate and the rear floor plate are connected through a connecting and fixing mechanism, the front suspension mounting plate is connected to the front floor plate through a folding and fixing mechanism, the rear suspension mounting plate is connected to the rear floor plate through a folding and fixing mechanism, the front suspension mounting plate and the rear suspension mounting plate are both equipped with suspension systems, and the wheels are installed on the suspension systems; a set of seats are fixed on the front floor plate and the rear floor plate respectively, a set of control systems are fixed under each set of seats, a set of power supply is fixed behind each set of seats, and a storage bag is fixed on each power supply; a set of remote controllers are installed on the side of each set of seats; the antenna is installed on the rear floor plate through a hinge; a set of double-axle suspensions are fixed under the front floor plate and the rear floor plate respectively; clamping seats are installed on the front suspension mounting plate and the rear suspension mounting plate.

[0008] Preferably, the front suspension mounting plate is connected to the front bottom plate through two sets of folding and fixing mechanisms, and the two sets of folding and fixing mechanisms are symmetrical along the central axis of the lunar rover's traveling direction; the rear suspension mounting plate is connected to the rear bottom plate through two sets of folding and fixing mechanisms, and the two sets of folding and fixing mechanisms are symmetrical along the central axis of the lunar rover's traveling direction.

[0009] Preferably, each set of folding and fixing mechanisms includes a base plate connecting flange, a suspension mounting plate connecting flange, a folding and unfolding shaft, a fixing pin housing, a fixing pin and a fixing spring, a pin hole spring cover, a pin hole stopper, and a pin hole stopper spring;

[0010] A folding and unfolding shaft is installed on the upper part of the bottom plate connecting flange, the suspension mounting plate connecting flange is installed on the folding and unfolding shaft, the fixing pin housing is fixed to the lower part of the bottom plate connecting flange by screws, and the fixing pin is installed in the fixing pin housing; the fixing pin is integrally formed, including a body and a tip, the body includes two cylinders with different diameters, the diameter of the cylinder connected to the tip is larger than the diameter of the rear end cylinder, the fixing spring is located in the fixing pin housing, and is sleeved on the rear end cylinder of the fixing pin, and at the same time, the end face of the fixing spring fits the rear end face of the front end cylinder of the fixing pin, thereby applying spring force to the fixing pin;

[0011] The pin hole stopper is installed in the bottom plate connection flange. In the unfolded state, the pin hole stopper is used to block the fixing pin so that it is fixed in the fixing pin housing; the pin hole spring cover is fixed to the bottom plate connection flange by screws, and the pin hole stopper spring is installed between the pin hole spring cover and the pin hole stopper; the compression and extension direction of the pin hole spring cover is perpendicular to the compression and extension direction of the fixing spring;

[0012] A pin hole is processed on the position corresponding to the fixing pin on the connecting flange of the suspension mounting plate. After the clamping seats on the front suspension mounting plate and the rear suspension mounting plate are unlocked, the connecting flange of the suspension mounting plate can passively rotate around the folding and unfolding axis. When the connecting flange of the suspension mounting plate rotates to the position of the connecting flange of the bottom plate, the connecting flange of the suspension mounting plate overcomes the spring force of the pin hole stopper spring under the action of gravity, and pushes the pin hole stopper to move until the pin hole on the connecting flange of the suspension mounting plate is aligned with the opening of the fixing pin housing, and the fixing pin enters the pin hole in the flange of the suspension mounting plate under the push of the fixing spring to achieve locking.

[0013] A folding fixing mechanism connecting the front suspension mounting plate and the front bottom plate, wherein the suspension mounting plate connecting flange is mounted on the front suspension mounting plate by screws, and the bottom plate connecting flange is mounted on the front bottom plate by screws;

[0014] The folding fixing mechanism connects the rear suspension mounting plate and the rear bottom plate, wherein the suspension mounting plate connecting flange is mounted on the rear suspension mounting plate by screws, and the bottom plate connecting flange is mounted on the rear bottom plate by screws.

[0015] Preferably, the dual-axle suspension comprises a suspension mounting seat, a pitch axis assembly, a large rocker arm, a roll axis assembly, a small rocker arm, a passive wheel assembly and a passive wheel;

[0016] The double-axle suspension is fixed under the front bottom plate or the rear bottom plate through a suspension mounting seat; the pitch axis assembly is installed under the suspension mounting seat, the large rocker arm is connected to the pitch axis assembly, the roll axis assembly is installed on the large rocker arm, and the large rocker arm serves as the outer shell of the roll axis assembly; the roll axis assembly is fixedly connected to the small rocker arm through screws, the passive wheel assembly is installed on the small rocker arm, and the small rocker arm serves as the outer shell of the passive wheel assembly; the passive wheel is installed on the passive wheel assembly through screws.

[0017] Preferably, the dual-axis suspension has two degrees of freedom, namely pitch and roll, and the pitch degree of freedom is realized by a pitch axis assembly; the pitch axis assembly comprises two pitch axis side plates, a pitch axis, two rocker arm gear plates, two sliding gear plates, and four pitch locking springs;

[0018] Two pitch axis side plates are installed on the pitch axis, and the two pitch axis side plates are installed under the suspension mounting seat by screws. Two rocker arm gear plates and two sliding gear plates are all mounted on the pitch axis, and the two sliding gear plates are located between the two rocker arm gear plates; in adjacent sliding gear plates and rocker arm gear plates, a first groove is opened on the end surface of the sliding gear plate facing the rocker arm gear plate, and a first protrusion is processed on the end surface of the rocker arm gear plate facing the sliding gear plate. When the lunar rover is not disassembled, the positions of the first protrusion and the first groove are staggered with each other; the two rocker arm gear plates are fixed to the large rocker arm by screws, and the large rocker arm can drive the rocker arm gear plates to rotate around the pitch axis; a limiting groove is processed axially on the sliding gear plate, and a second protrusion is processed on the pitch axis, and the second protrusion is located in the limiting groove, so that the sliding gear plate can slide axially along the pitch axis; four pitch locking springs are installed between the two sliding gear plates, and the four pitch locking springs are evenly distributed along the opposite inner end surfaces of the two sliding gear plates.

[0019] Preferably, the rolling freedom of the dual-axle suspension is realized by a rolling shaft assembly; the rolling shaft assembly comprises a rolling shaft, an output adapter, a torsion spring, an inner end cover, a first outer end cover, a rolling shaft bearing, a locking sleeve, a rolling locking shell, a rolling locking spring, a rolling locking pin, and a second outer end cover;

[0020] The inner end face of the rolling shaft is fixedly connected to the inner shaft adapter by screws, and the integral structure formed by the rolling shaft and the inner shaft adapter is installed in the large rocker arm through the rolling shaft bearing; the first outer end cover and the second outer end cover are respectively fixed to the two ends of the large rocker arm, and are used to axially limit the outer ring of the rolling shaft bearing; the inner end cover is fixed to the inner shaft adapter, and is used to axially limit the inner ring of the inner end face rolling shaft bearing; the output adapter is installed at the output end of the rolling shaft, and is used to axially limit the inner ring of the rolling shaft bearing at the output end; the output adapter is fixedly connected to the small rocker arm by screws; the output adapter and the small rocker arm are designed with connected pin holes;

[0021] Limiting grooves are designed on the rolling shaft and the large rocker arm, and the two ends of the torsion spring are respectively installed in the limiting grooves of the rolling shaft and the large rocker arm;

[0022] Roll locking shells are fixed on opposite sides of the outer wall of the large rocker arm by screws, and a locking sleeve is installed on the roll locking shell. The roll locking pin is installed in the locking sleeve. The roll locking pin includes a body and a tip. The body includes two cylinders with different diameters. The diameter of the cylinder connected to the tip is larger than the diameter of the rear end cylinder. The roll locking spring is sleeved on the rear end cylinder of the roll locking pin. At the same time, the end face of the roll locking spring fits the rear end face of the front end cylinder of the roll locking pin, thereby applying spring force to the roll locking pin.

[0023] Before the lunar rover is disassembled, the pin hole on the output adapter is not opposite to the roll locking pin. When the lunar rover is disassembled, the output adapter rotates with the roll axis. When the pin hole on the output adapter rotates to the position opposite to the roll locking pin, the roll locking pin is inserted into the pin hole on the output adapter to achieve locking.

[0024] Preferably, it also includes an unlocking rod, which is installed at the end of the rolling locking pin and is used to pull out the rolling locking pin to achieve unlocking.

[0025] Preferably, the passive wheel assembly includes a passive rotating shaft, a passive shaft bearing, an outer sleeve, an inner sleeve, a first end cover, a second end cover, and a passive wheel;

[0026] The passive shaft is installed in the small rocker arm through a pair of passive shaft bearings, and the passive shaft is fixedly connected to the passive wheel assembly clamping device through screws. When the passive wheel assembly clamping device is locked, the double-axle suspension is pressed under the front bottom plate and the rear bottom plate;

[0027] The inner sleeve is sleeved on the passive rotating shaft, the outer sleeve is sleeved on the outside of the inner sleeve, the end faces of the inner sleeve and the outer sleeve are in contact with the passive shaft bearing, the first end cover is fixed on the end face of the passive rotating shaft, the second end cover is fixed on the end face of the small rocker arm, and the passive shaft bearing is axially limited by the first end cover, the second end cover, the inner sleeve and the outer sleeve; the passive wheel is fixedly connected to the passive rotating shaft by screws.

[0028] A method for deploying a detachable and reconfigurable large-foldable manned lunar rover, comprising:

[0029] The manned lunar rover is in the folded state in its initial state. In the folded state, the front suspension mounting plate is perpendicular to the front floor, the rear suspension mounting plate is perpendicular to the rear floor, the rear wheels are located on both sides of the seat on the rear floor, and the front wheels are located on both sides of the seat on the front floor;

[0030] When receiving the deployment command, the clamping seats on the front suspension mounting plate and the rear suspension mounting plate are unlocked, and the folding and fixing mechanism connecting the front suspension mounting plate and the front bottom plate, whose suspension mounting plate connecting flange follows the front suspension mounting plate to passively rotate around the front bottom plate; the folding and fixing mechanism connecting the rear suspension mounting plate and the rear bottom plate, whose suspension mounting plate connecting flange follows the rear suspension mounting plate to passively rotate around the rear bottom plate;

[0031] When the suspension mounting plate connecting flange rotates to contact with the bottom plate connecting flange, the suspension mounting plate connecting flange overcomes the spring force of the pin hole block spring under the action of gravity, and pushes the pin hole block to move until the pin hole on the suspension mounting plate connecting flange is aligned with the opening of the fixed pin housing, and the fixed pin enters the pin hole in the front suspension mounting plate flange under the push of the spring to achieve locking. At this time, the front suspension mounting plate is unfolded to be on the same horizontal plane as the front bottom plate, and the rear suspension mounting plate is unfolded to be on the same horizontal plane as the rear bottom plate; the hinge on the suspension system unfolds the suspension system installed on the front suspension mounting plate to both sides of the front suspension mounting plate, and unfolds the suspension system installed on the rear suspension mounting plate to both sides of the rear suspension mounting plate.

[0032] A separation and reconstruction method of a separable and reconfigurable large-foldable manned lunar rover, comprising:

[0033] When the lunar rover is in the unfolded state and receives the disassembly command, the passive wheel assembly clamping device is unlocked, and the pitch axis assembly and the roll axis assembly are unfolded and locked at the same time;

[0034] The process of deploying and locking the pitch axis assembly is as follows:

[0035] When the clamping device of the driven wheel assembly is not unlocked, the first groove on the sliding gear plate and the first protrusion on the rocker arm gear plate are staggered;

[0036] After the clamping device of the passive wheel assembly is unlocked, the large rocker arm drives the rocker arm gear plate fixed to it to rotate around the pitch axis due to gravity, thereby achieving deployment; when the large rocker arm rotates to a predetermined angle, the first protrusion on the rocker arm gear plate rotates to the position of the first groove on the sliding gear plate, and slides into the groove on the sliding gear plate under the action of the pitch locking spring, thereby completing locking;

[0037] The roll axis assembly deployment and locking process is as follows:

[0038] After the clamping device of the passive wheel assembly is unlocked, the roll shaft rotates around the large rocker arm under the spring force of the torsion spring, and the output adapter and the small rocker arm rotate at the same time, thereby achieving deployment; when the output adapter and the small rocker arm rotate to a predetermined angle driven by the roll shaft, the roll locking pin will be aligned with the pin holes on the output adapter and the small rocker arm, and the roll locking pin will be inserted into the above pin hole under the action of the roll locking spring, thereby completing the locking;

[0039] After the pitch axis assembly and the roll axis assembly are simultaneously deployed and locked, the passive wheels rotate positively and move to a position close to the ground, and the lunar rover becomes two tricycles;

[0040] The connection fixing mechanism is unlocked;

[0041] The two tricycles drove in the separation direction to achieve the separation and reconstruction of the lunar rover.

[0042] Beneficial effects:

[0043] The lunar rover of the present invention realizes the folding and unfolding of the manned vehicle through multiple folding and unfolding mechanisms, and can be carried in a smaller envelope size; in addition, the separation and reconstruction of the manned vehicle is realized through the connection fixation and double-axis suspension mechanism, and in the event of partial failure of the lunar rover, the astronauts can be safely loaded and smoothly returned to the lander. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 The manned lunar rover is in folded state;

[0045] Figure 2 The manned lunar rover is in driving state;

[0046] Figure 3 A schematic diagram of a tricycle;

[0047] Figure 4 - Figure 6 It is a schematic diagram of the composition of the manned vehicle;

[0048] Figure 7 Manned vehicle deployment process a;

[0049] Figure 8 Manned vehicle deployment process b;

[0050] Figure 9-12 It is a schematic diagram of the folding and fixing mechanism;

[0051] Fig.13 Schematic diagram of the dual-axle suspension components (folded in);

[0052] Fig.14 Schematic diagram of the deployment of the dual-axle suspension;

[0053] Fig.15 Schematic diagram of the pitch axis composition of the dual-axis suspension;

[0054] Fig.16 Schematic diagram of the folding and unfolding of the pitch axis of the dual-axle suspension;

[0055] Fig.17 Schematic diagram of the roll axis composition of the dual-axle suspension;

[0056] Fig.18 Schematic diagram of the roll axis of the dual-axle suspension folding and unfolding;

[0057] Fig.19 Schematic diagram of the passive wheel axle composition of the double-axle suspension. DETAILED DESCRIPTION

[0058] The manned lunar rover is limited by its carrying volume and weight, and can only be installed on the entire device in a smaller envelope; if the rover's manned movement on the lunar surface fails, the rover needs to be able to carry the astronauts and return smoothly after the emergency occurs.

[0059] In view of the above requirements, the present invention provides a separation and reconstruction large-scale folding manned lunar rover, such as Figure 4-6 As shown, it includes a front suspension mounting plate 1, a front bottom plate 2, a rear suspension mounting plate 3, a rear bottom plate 4, a suspension system 5, a seat 6, a power supply 7, a control system 8, a storage bag 9, a remote control 10, an antenna 11, a connecting and fixing mechanism 12, a folding and fixing mechanism 13, wheels 14, a dual-axle suspension 15, and a clamping seat 16.

[0060] The front bottom plate 2 and the rear bottom plate 4 are connected by a connecting and fixing mechanism 12, the front suspension mounting plate 1 is connected to the front bottom plate 2 by a folding and fixing mechanism, the rear suspension mounting plate 3 is connected to the rear bottom plate 4 by a folding and fixing mechanism, and the suspension system 5 is fixed to the front suspension mounting plate 1 and the rear suspension mounting plate 3 by screws. The wheel 14 is installed on the suspension system 5. A set of seats 6 are fixed to the front bottom plate 2 and the rear bottom plate 4 respectively, a set of control system 8 is fixed under each set of seats 6, a set of power supply 7 is fixed behind each set of seats 6, and a storage bag 9 is fixed on each set of power supply 7; a set of remote controller 10 is installed on the side of each set of seats 6; the antenna 11 is installed on the rear bottom plate 4 by a hinge; a set of double-axle suspension 15 is fixed under the front bottom plate 2 and the rear bottom plate 4 respectively; and a pressing seat 16 is installed on the front suspension mounting plate 1 and the rear suspension mounting plate 3. The antenna 11 is installed on the rear bottom plate 4 by a hinge. A set of double-axle suspension 15 is fixed under the front bottom plate 2 and the rear bottom plate 4 respectively.

[0061] The front suspension mounting plate 1 is connected to the front bottom plate 2 through two sets of folding and fixing mechanisms, and the two sets of folding and fixing mechanisms are symmetrical along the central axis of the lunar rover's moving direction; the rear suspension mounting plate 3 is connected to the rear bottom plate 4 through two sets of folding and fixing mechanisms, and the two sets of folding and fixing mechanisms are symmetrical along the central axis of the lunar rover's moving direction.

[0062] like Figure 7-Figure 8 As shown, during the unlocking process, the front suspension mounting plate 1 is unfolded to be on the same horizontal plane with the front bottom plate 2, and the rear suspension mounting plate 3 is unfolded to be on the same horizontal plane with the rear bottom plate 4; the hinges on the suspension system 5 unfold the suspension system installed on the front suspension mounting plate 1 to both sides of the front suspension mounting plate 1, and unfold the suspension system installed on the rear suspension mounting plate 3 to both sides of the rear suspension mounting plate 3.

[0063] like Figure 9-12As shown, the folding and fixing mechanism 13 includes a base plate connecting flange 13-2, a suspension mounting plate connecting flange 13-1, a folding and unfolding shaft 13-3, a fixing pin housing 13-4, a fixing pin 13-5, a fixing spring 13-6, a pin hole spring cover 13-7, a pin hole stopper 13-8, and a pin hole stopper spring 13-9.

[0064] The manned lunar rover has a total of four sets of folding and fixing mechanisms 13, two sets between the front suspension mounting plate 1 and the front bottom plate 2, and two sets between the rear suspension mounting plate 3 and the rear bottom plate 4. The suspension mounting plate connecting flange 13-1 of the folding and fixing mechanism 13 is installed on the front suspension mounting plate 1 and the rear suspension mounting plate 3 by screws, and the bottom plate connecting flange 13-2 is installed on the front bottom plate 2 and the rear bottom plate 4 by screws. A folding and unfolding rotating shaft 13-3 is installed between the suspension mounting plate connecting flange 13-1 and the bottom plate connecting flange 13-2. The fixing pin housing 13-4 is fixed to the lower part of the base plate connecting flange 13-2 by screws, and the fixing pin 13-5 is installed in the fixing pin housing 13-4; the fixing pin 13-5 is integrally formed, including a body and a tip, the body includes two cylinders with different diameters, the diameter of the cylinder connected to the tip is larger than the diameter of the rear end cylinder, the fixing spring 13-6 is located in the fixing pin housing 13-4, and is sleeved on the rear end cylinder of the fixing pin 13-5, and at the same time, the end face of the fixing spring 13-6 fits the rear end face of the front end cylinder of the fixing pin 13-5, thereby applying spring force to the fixing pin.

[0065] The pin hole stopper 13-8 is installed in the base plate connecting flange 13-2. In the expanded state, the pin hole stopper 13-8 is used to block the fixing pin 13-5 so that it is fixed in the fixing pin housing 13-4; the pin hole spring cover 13-7 is fixed to the base plate connecting flange 13-2 by screws, and the pin hole stopper spring 13-9 is installed between the pin hole spring cover 13-7 and the pin hole stopper 13-8; the compression and extension direction of the pin hole spring cover 13-7 is perpendicular to the compression and extension direction of the fixing spring 13-4.

[0066] A pin hole is processed at a position corresponding to the fixing pin 13-5 on the suspension mounting plate connecting flange 13-1. After the clamping seat 16 on the front suspension mounting plate 1 and the rear suspension mounting plate 3 is unlocked, the suspension mounting plate connecting flange 13-1 can passively rotate around the folding and rotating axis 13-3. When the suspension mounting plate connecting flange 13-1 rotates to the position of the bottom plate connecting flange 13-2, the suspension mounting plate connecting flange 13-1 overcomes the spring force of the pin hole block spring 13-9 under the action of gravity, and pushes the pin hole block 13-8 to move until the pin hole on the suspension mounting plate connecting flange 13-1 is aligned with the opening of the fixing pin housing 13-4, and the fixing pin 13-5 enters the pin hole in the suspension mounting plate flange 13-1 under the push of the fixing spring 13-6 to achieve locking.

[0067] like Figure 13-14As shown, the dual-axis suspension 15 includes a suspension mounting seat 15-1, a pitch axis assembly 15-2, a large rocker arm 15-3, a roll axis assembly 15-4, a small rocker arm 15-5, a passive wheel assembly 15-6 and a passive wheel 15-7.

[0068] The dual-axle suspension 15 is fixed under the front base plate 2 or the rear base plate 4 through the suspension mounting seat 15-1; the pitch axis assembly 15-2 is installed under the suspension mounting seat 15-1, the large rocker arm 15-3 is connected to the pitch axis assembly 15-2, and the roll axis assembly 15-4 is installed on the large rocker arm 15-3, and the large rocker arm 15-3 serves as the outer shell of the roll axis assembly 15-4; the roll axis assembly 15-4 is fixedly connected to the small rocker arm 15-5 through screws, and the passive wheel assembly 15-6 is installed on the small rocker arm 15-5, and the small rocker arm 15-5 serves as the outer shell of the passive wheel assembly 15-6; the passive wheel 15-7 is installed on the passive wheel assembly 15-6 through screws.

[0069] like Figure 15-18 As shown, the dual-axis suspension 15 has two degrees of freedom, pitch and roll, and the pitch degree of freedom is realized by a pitch axis assembly 15-2; the pitch axis assembly 15-2 includes two pitch axis side plates 15-2-1, a pitch axis 15-2-2, two rocker arm gear plates 15-2-3, two sliding gear plates 15-2-4, and four pitch locking springs 15-2-5. The rolling freedom of the dual-axle suspension 15 is achieved through the rolling axis assembly 15-4; the rolling axis assembly 15-4 includes a rolling axis 15-4-1, an output adapter 15-4-2, a torsion spring 15-4-3, an inner end cover 15-4-5, a first outer end cover 15-4-6, a rolling axis bearing 15-4-7, a locking sleeve 15-4-8, a rolling locking shell 15-4-9, a rolling locking spring 15-4-10, a rolling locking pin 15-4-11, and a second outer end cover 15-4-13.

[0070] Specifically, two pitch axis side plates 15-2-1 are installed on both sides of the suspension mounting seat 15-1 and are fixedly connected to the pitch axis 15-2-2 by screws. The large rocker arm 15-3, two rocker arm gear plates 15-2-3, and two sliding gear plates 15-2-4 are installed on the pitch axis 15-2-2. Among them, the two rocker arm gear plates 15-2-3 are fixed to both sides of the large rocker arm 15-3 by screws, and can rotate around the pitch axis 15-2-2 as a whole. Due to the limit groove design on the pitch axis 15-2-2, the two sliding gear plates 15-2-4 can only slide axially along the pitch axis 15-2-2. Four pitch locking springs 15-2-5 are installed between the sliding gear plates 15-2-4. Under the action of the spring force, the sliding gear plates 15-2-4 are tightly attached to the rocker arm gear plates 15-2-3. The two sliding gear discs 15-2-4 are located between the two rocker arm gear discs 15-2-3; in the adjacent sliding gear discs 15-2-4 and rocker arm gear discs 15-2-3, a first groove is formed on the end surface of the sliding gear disc 15-2-4 facing the rocker arm gear disc 15-2-3, and a first protrusion is processed on the end surface of the rocker arm gear disc facing the sliding gear disc. When the lunar rover is not disassembled, the positions of the first protrusion and the first groove are staggered; the two rocker arm gear discs 15-2-3 are fixed to the large rocker arm 15-3 by screws, and the large rocker arm 15-3 can drive the rocker arm gear discs to rotate around the pitch axis 15-2-2.

[0071] The first outer end cover 15-4-6 and the second outer end cover 15-4-13 are respectively fixed at both ends of the large rocker arm 15-3, and are used to axially limit the outer ring of the rolling shaft bearing 15-4-7; the inner end cover 15-4-5 is fixed on the inner shaft adapter 15-4-4, and is used to axially limit the inner ring of the inner rolling shaft bearing 15-4-7; the output adapter 15-4-2 is installed at the output end of the rolling shaft 15-4-1, and is used to axially limit the output shaft bearing 15-4-7. The inner ring of the rolling shaft bearing 15-4-7 at the output end is axially limited; the output adapter 15-4-2 is fixedly connected to the small rocker arm 15-5 by screws; the output adapter 15-4-2 and the small rocker arm 15-5 are designed with connecting pin holes; the rolling shaft 15-4-1 and the large rocker arm 15-3 are designed with limiting grooves, and the two ends of the torsion spring 15-4-3 are respectively installed in the limiting grooves of the rolling shaft 15-4-1 and the large rocker arm 15-3.

[0072] A rolling locking shell 15-4-9 is fixed to the opposite sides of the outer wall of the large rocker arm 15-3 by screws, and a locking sleeve 15-4-8 is installed on the rolling locking shell 15-4-9. A rolling locking pin 15-4-11 is installed in the locking sleeve 15-4-8. The rolling locking pin 15-4-11 includes a body and a tip. The body includes two cylinders with different diameters. The diameter of the cylinder connected to the tip is larger than the diameter of the rear end cylinder. The rolling locking spring 15-4-10 is sleeved on the rear end cylinder of the rolling locking pin 15-4-11. At the same time, the end face of the rolling locking spring 15-4-10 fits the rear end face of the front end cylinder of the rolling locking pin 15-4-11, thereby applying spring force to the rolling locking pin 15-4-11.

[0073] Before the lunar rover is separated and reconstructed, the pin hole on the output adapter 15-4-2 is not opposite to the roll locking pin 15-4-11. When the lunar rover is separated and reconstructed, the output adapter 15-4-2 rotates with the roll shaft 15-4-1. When the pin hole on the output adapter 15-4-2 rotates to the position opposite to the roll locking pin 15-4-11, the roll locking pin 15-4-11 is inserted into the pin hole on the output adapter 15-4-2 to achieve locking. The passive shaft 15-6-1 is installed in the small rocker arm 15-5 through a pair of passive shaft bearings 15-6-2. The passive shaft 15-6-1 has an interface fixedly connected to the clamping device by screws. The clearance between the passive shaft bearings 15-6-2 is adjusted by the outer sleeve 15-6-3 and the inner sleeve 15-6-4, and the outer ring is axially limited by the inner end cover 15-6-5 and the outer end cover 15-6-6. The passive wheel 15-7 is fixedly connected to the passive rotating shaft 15-6-1 by screws. The unlocking rod 15-4-12 is installed at the end of the rolling locking pin 15-4-11, and is used to pull out the rolling locking pin 15-4-11 to achieve unlocking.

[0074] like Fig.19 As shown, the passive wheel assembly includes a passive rotating shaft 15-6-1, a passive shaft bearing 15-6-2, an outer sleeve 15-6-3, an inner sleeve 15-6-4, a first end cover 15-6-5, a second end cover 15-6-6, and a passive wheel 15-7;

[0075] The passive shaft 15-6-1 is installed in the small rocker arm 15-5 through a pair of passive shaft bearings 15-6-2. The passive shaft 15-6-1 is fixedly connected to the passive wheel assembly clamping device through screws. When the passive wheel assembly clamping device is locked, the dual-axle suspension 15 is pressed under the front bottom plate 2 and the rear bottom plate 4;

[0076] The inner sleeve 15-6-4 is sleeved on the passive shaft 15-6-1, and the outer sleeve 15-6-3 is sleeved on the outside of the inner sleeve 15-6-4. The inner sleeve 15-6-4 and the outer sleeve 15-6-3 are in contact with the passive shaft bearing 15-6-2 on both sides. The first end cover 15-6-5 is fixed on the end face of the passive shaft 15-6-1, and the second end cover 15-6-6 is fixed on the cross section of the small rocker arm 15-5. The passive shaft bearing 15-6-2 is axially limited by the first end cover 15-6-5, the second end cover 15-6-6, the inner sleeve 15-6-4 and the outer sleeve 15-6-3; the passive wheel 15-7 is fixedly connected to the passive shaft 15-6-1 by screws.

[0077] like Figure 1 As shown, the manned lunar rover is initially in a folded state. In the folded state, the front suspension mounting plate 1 is perpendicular to the front bottom plate 2, the rear suspension mounting plate 3 is perpendicular to the rear bottom plate 4, the rear wheels are located on both sides of the seat on the rear bottom plate 4, and the front wheels are located on both sides of the seat on the front bottom plate 2.

[0078] Expand implementation method:

[0079] After the clamping seat 16 on the front suspension mounting plate 1 and the rear suspension mounting plate 3 is unlocked, the folding fixing mechanism connecting the front suspension mounting plate 1 and the front bottom plate 2, and its suspension mounting plate connecting flange follows the front suspension mounting plate 1 to passively rotate around the front bottom plate 2; the folding fixing mechanism connecting the rear suspension mounting plate 3 and the rear bottom plate 4, and its suspension mounting plate connecting flange follows the rear suspension mounting plate 3 to passively rotate around the rear bottom plate 4. When the suspension mounting plate connecting flange 13-1 rotates to contact the bottom plate connecting flange 13-2, the suspension mounting plate connecting flange 13-1 overcomes the spring force of the pin hole stopper spring 13-9 under the action of gravity, and pushes the pin hole stopper 13-8 to move until the pin hole on the suspension mounting plate connecting flange 13-1 is aligned with the pin hole on the bottom plate connecting flange 13-2, and the fixing pin 13-5 enters the pin hole in the front suspension mounting plate flange 13-1 under the push of the spring 13-6 to achieve locking. The suspension system is unfolded to both sides of the front suspension mounting plate 1 and the front suspension mounting plate 3 through the hinge on the suspension system 5. Figure 2 As shown, the manned lunar rover is in the deployed and driving state.

[0080] When the lunar rover is in the unfolded state and receives the disassembly command, the passive wheel assembly clamping device is unlocked, and the pitch axis assembly and the roll axis assembly are unfolded and locked at the same time.

[0081] Separation implementation method:

[0082] 1) Deployment and locking of the pitch axis assembly

[0083] When the clamping device of the driven wheel assembly is not unlocked, the first groove on the sliding gear plate 15-2-4 and the first protrusion on the rocker arm gear plate 15-2-3 are staggered.

[0084] After the clamping device of the passive wheel assembly is unlocked, the large rocker arm 15-3 drives the rocker arm toothed disc 15-2-3 fixed thereto to rotate around the pitch axis 15-2-2 due to gravity, thereby achieving deployment. When the large rocker arm 15-3 rotates to a predetermined angle, the groove on the sliding toothed disc 15-2-4 rotates to the position of the boss on the rocker arm toothed disc 15-2-3, and slides to cooperate with the boss on the rocker arm toothed disc 15-2-3 under the action of the pitch locking spring 15-2-5, thereby completing the locking.

[0085] 2) Roll axis assembly deployment and locking

[0086] When the clamping device of the passive wheel assembly is not unlocked, the rolling locking pin 15-4-11 is pressed against the output adapter 15-4-2 under the spring force of the rolling locking spring 15-4-10, and the torsion spring 15-4-3 is in a pre-stressed state.

[0087] After the clamping device of the passive wheel assembly is unlocked, the rolling shaft 15-4-1 rotates around the large rocker arm 15-3 under the spring force of the torsion spring 15-4-3, and the output adapter 15-4-2 and the small rocker arm 15-5 rotate at the same time, thereby achieving deployment. There are pin holes at a predetermined angle on the output adapter 15-4-2 and the small rocker arm 15-5. When the output adapter 15-4-2 and the small rocker arm 15-5 rotate to a predetermined angle driven by the rolling shaft 15-4-1, the rolling locking pin 15-4-11 will be aligned with the pin holes on the output adapter 15-4-2 and the small rocker arm 15-5, and inserted into the above-mentioned pin hole under the action of the rolling locking spring 15-4-10, thereby completing the locking.

[0088] After the passive wheel 15-7 is turned to the positive position and moved to the ground position and locked, the lunar rover becomes two tricycles. The connecting fixing mechanism 12 is unlocked. The two trolleys move in the separation direction to separate the lunar rover. Figure 3 shown.

[0089] The dual-axle suspension 15 fixed under the front bottom plate 2 and the rear bottom plate 4 of the present invention has an unfolding and locking function, providing support for the manned lunar rover after being disassembled. The folding and fixing mechanism 13 between the front suspension mounting plate 1 and the front bottom plate 2 and between the rear suspension mounting plate 3 and the rear bottom plate 4 of the present invention has an unfolding and locking function. The folded state can minimize the envelope of the manned lunar rover. After unfolding, the suspension mounting plate and the bottom plate can be locked as one, and the astronauts can travel with the load.

[0090] The present invention realizes the folding and unfolding of the vehicle bottom plate by a folding and fixing mechanism, realizes the folding and unfolding of the wheels by a suspension, and simultaneously cooperates with the hinge folding and unfolding mechanism of the remote control, antenna, etc. to complete the folding and unfolding of the manned mobile vehicle. The passive wheel is folded and unfolded by a double-axle suspension mechanism, and the front and rear vehicle bodies are separated by a connecting and fixing mechanism to complete the separation and reconstruction of the manned lunar rover.

[0091] The dual-axle suspension of the present invention can realize two configurations, folded and unfolded, through the folding and unfolding of the dual-axles. The dual-axle suspension is usually in a folded configuration, and can be unfolded as a passive suspension in a dual-vehicle mode of the reconfigurable three-wheeled passenger vehicle when necessary.

[0092] The present invention provides a detachable and reconfigurable manned lunar rover configuration, which can be folded and unfolded through various folding and unfolding components. The lunar rover configuration of the present invention is usually a four-wheeled manned vehicle movement mode, and can be separated and reconfigured into two three-wheeled manned vehicles when necessary.

[0093] The detachable and reconfigurable lunar rover proposed in the present invention is launched in a folded and stowed manner, unfolded after landing on the moon, and can be separated and reconfigured into two independent three-wheeled manned lunar rovers when necessary to ensure the safety of lunar surface operations. Compared with traditional lunar rovers, this vehicle has the function of folding and unfolding to achieve small envelope launch; at the same time, the whole vehicle has the function of separation and reconstruction, and the whole vehicle can be split into two three-wheeled manned vehicles to ensure the normal progress of the mission in the event of a partial failure of the whole vehicle.

[0094] The contents not described in detail in the specification of the present invention belong to the common knowledge of the professionals in this field.

Claims

1. A detachable and reconfigurable large-foldable manned lunar rover, characterized in that: It comprises a front suspension mounting plate (1), a front bottom plate (2), a rear suspension mounting plate (3), a rear bottom plate (4), a suspension system (5), a seat (6), a power supply (7), a control system (8), a storage bag (9), a remote controller (10), an antenna (11), a connecting and fixing mechanism (12), a folding and fixing mechanism (13), wheels (14), a dual-axle suspension (15), and a clamping seat (16); The front bottom plate (2) and the rear bottom plate (4) are connected via a connecting fixing mechanism (12); the front suspension mounting plate (1) is connected to the front bottom plate (2) via a folding fixing mechanism; the rear suspension mounting plate (3) is connected to the rear bottom plate (4) via a folding fixing mechanism; a suspension system (5) is installed on the front suspension mounting plate (1) and the rear suspension mounting plate (3); and a wheel (14) is installed on the suspension system (5); a set of seats (6) is fixed to the front bottom plate (2) and the rear bottom plate (4), respectively, and each set of seats has a plurality of seats. (6) A control system (8) is fixed below, a power supply (7) is fixed behind each seat (6), and a storage bag (9) is fixed on each power supply (7); a remote controller (10) is installed on the side of each seat (6); an antenna (11) is installed on the rear bottom plate (4) through a hinge; a double-axle suspension (15) is fixed under the front bottom plate (2) and the rear bottom plate (4); a clamping seat (16) is installed on the front suspension mounting plate (1) and the rear suspension mounting plate (3); The dual-axis suspension (15) comprises a suspension mounting seat (15-1), a pitch axis assembly (15-2), a large rocker arm (15-3), a roll axis assembly (15-4), a small rocker arm (15-5), a passive wheel assembly (15-6) and a passive wheel (15-7); The dual-axis suspension (15) is fixed under the front bottom plate (2) or the rear bottom plate (4) via a suspension mounting seat (15-1); the pitch axis assembly (15-2) is mounted below the suspension mounting seat (15-1); the large rocker arm (15-3) is connected to the pitch axis assembly (15-2); the roll axis assembly (15-4) is mounted on the large rocker arm (15-3); the large rocker arm (15-3) serves as the outer shell of the roll axis assembly (15-4); the roll axis assembly (15-4) is fixedly connected to the small rocker arm (15-5) via screws; the passive wheel assembly (15-6) is mounted on the small rocker arm (15-5); the small rocker arm (15-5) serves as the outer shell of the passive wheel assembly (15-6); the passive wheel (15-7) is mounted on the passive wheel assembly (15-6) via screws; The dual-axis suspension (15) has two degrees of freedom, namely pitch and roll, and the pitch degree of freedom is realized by a pitch axis assembly (15-2); the pitch axis assembly (15-2) comprises two pitch axis side plates (15-2-1), a pitch axis (15-2-2), two rocker arm gear plates (15-2-3), two sliding gear plates (15-2-4), and four pitch locking springs (15-2-5); Two pitch axis side plates (15-2-1) are installed on the pitch axis, and the two pitch axis side plates (15-2-1) are installed below the suspension mounting seat (15-1) by screws. Two rocker arm gear plates (15-2-3) and two sliding gear plates (15-2-4) are both mounted on the pitch axis (15-2-2), and the two sliding gear plates (15-2-4) are located between the two rocker arm gear plates (15-2-3); in adjacent sliding gear plates (15-2-4) and rocker arm gear plates (15-2-3), a first groove is formed on the end surface of the sliding gear plate (15-2-4) facing the rocker arm gear plate (15-2-3), and a first protrusion is processed on the end surface of the rocker arm gear plate (15-2-3) facing the sliding gear plate (15-2-4). The lunar rover is not disassembled. When the first protrusion and the first groove are staggered, the two rocker gear discs (15-2-3) are fixed to the large rocker arm (15-3) by screws, and the large rocker arm (15-3) can drive the rocker gear disc (15-2-3) to rotate around the pitch axis (15-2-2); a limiting groove is machined along the axial direction on the sliding gear disc (15-2-4), and a second protrusion is machined on the pitch axis (15-2-2), and the second protrusion is located in the limiting groove, so that the sliding gear disc (15-2-4) can slide axially along the pitch axis (15-2-2); four pitch locking springs (15-2-5) are installed between the two sliding gear discs (15-2-4), and the four pitch locking springs (15-2-5) are evenly distributed along the opposite inner end surfaces of the two sliding gear discs.

2. The detachable and reconfigurable large-foldable manned lunar rover according to claim 1, characterized in that: The front suspension mounting plate (1) is connected to the front bottom plate (2) via two sets of folding and fixing mechanisms, and the two sets of folding and fixing mechanisms are symmetrical along the central axis of the lunar rover's travel direction; the rear suspension mounting plate (3) is connected to the rear bottom plate (4) via two sets of folding and fixing mechanisms, and the two sets of folding and fixing mechanisms are symmetrical along the central axis of the lunar rover's travel direction.

3. The detachable and reconfigurable large-foldable manned lunar rover according to claim 2 is characterized in that: Each set of folding and fixing mechanisms (13) comprises a base plate connecting flange (13-2), a suspension mounting plate connecting flange (13-1), a folding and unfolding shaft (13-3), a fixing pin housing (13-4), a fixing pin (13-5), a fixing spring (13-6), a pin hole spring cover (13-7), a pin hole stopper (13-8), and a pin hole stopper spring (13-9); A folding and unfolding shaft (13-3) is installed on the upper part of the bottom plate connecting flange (13-2), the suspension mounting plate connecting flange (13-1) is installed on the folding and unfolding shaft (13-3), the fixing pin housing (13-4) is fixed to the lower part of the bottom plate connecting flange (13-2) by screws, and the fixing pin (13-5) is installed in the fixing pin housing (13-4); the fixing pin (13-5) is integrally formed, including a body and a tip, the body including two cylinders with different diameters, the diameter of the cylinder connected to the tip being larger than the diameter of the rear end cylinder, the fixing spring (13-6) is located in the fixing pin housing (13-4) and is sleeved on the rear end cylinder of the fixing pin (13-5), and the end face of the fixing spring (13-6) fits the rear end face of the front end cylinder of the fixing pin (13-5), thereby applying a spring force to the fixing pin; The pin hole stopper (13-8) is installed in the bottom plate connection flange (13-2). In the expanded state, the pin hole stopper (13-8) is used to block the fixing pin (13-5) so that it is fixed in the fixing pin housing (13-4); the pin hole spring cover (13-7) is fixed to the bottom plate connection flange (13-2) by screws, and the pin hole stopper spring (13-9) is installed between the pin hole spring cover (13-7) and the pin hole stopper (13-8); the compression and extension direction of the pin hole spring cover (13-7) is perpendicular to the compression and extension direction of the fixing spring (13-6); A pin hole is machined at a position corresponding to the fixing pin (13-5) on the suspension mounting plate connecting flange (13-1). After the clamping seats (16) on the front suspension mounting plate (1) and the rear suspension mounting plate (3) are unlocked, the suspension mounting plate connecting flange (13-1) can passively rotate around the folding and unfolding axis (13-3). When the suspension mounting plate connecting flange (13-1) rotates to the position of the bottom plate connecting flange (13-2), the suspension mounting plate connecting flange (13-1) overcomes the spring force of the pin hole stopper spring (13-9) under the action of gravity, and pushes the pin hole stopper (13-8) to move until the pin hole on the suspension mounting plate connecting flange (13-1) is aligned with the opening of the fixing pin housing (13-4). The fixing pin (13-5) enters the pin hole in the suspension mounting plate flange (13-1) under the push of the fixing spring (13-6), thereby achieving locking. A folding fixing mechanism connecting a front suspension mounting plate (1) and a front bottom plate (2), wherein a suspension mounting plate connecting flange (13-1) is mounted on the front suspension mounting plate (1) by means of screws, and a bottom plate connecting flange (13-2) is mounted on the front bottom plate (2) by means of screws; A folding fixing mechanism connects a rear suspension mounting plate (3) and a rear bottom plate (4), wherein a suspension mounting plate connecting flange (13-1) is mounted on the rear suspension mounting plate (3) by means of screws, and a bottom plate connecting flange (13-2) is mounted on the rear bottom plate (4) by means of screws.

4. The detachable and reconfigurable large-foldable manned lunar rover according to claim 1, characterized in that: The rolling freedom of the dual-axis suspension (15) is achieved by a rolling shaft assembly (15-4); the rolling shaft assembly (15-4) comprises a rolling shaft (15-4-1), an output adapter (15-4-2), a torsion spring (15-4-3), an inner end cover (15-4-5), a first outer end cover (15-4-6), a rolling shaft bearing (15-4-7), a locking sleeve (15-4-8), a rolling locking shell (15-4-9), a rolling locking spring (15-4-10), a rolling locking pin (15-4-11), and a second outer end cover (15-4-13); The inner end surface of the rolling shaft (15-4-1) is fixedly connected to the inner shaft adapter (15-4-4) by screws, and the integral structure formed by the rolling shaft (15-4-1) and the inner shaft adapter (15-4-4) is installed in the large rocker arm (15-3) through the rolling shaft bearing (15-4-7); the first outer end cover (15-4-6) and the second outer end cover (15-4-13) are respectively fixed to the two ends of the large rocker arm (15-3) to axially limit the outer ring of the rolling shaft bearing (15-4-7); the inner end cover (15-4 -5) is fixed on the inner shaft adapter (15-4-4) and is used to axially limit the inner ring of the inner end face rolling shaft bearing (15-4-7); the output adapter (15-4-2) is installed at the output end of the rolling shaft (15-4-1) and is used to axially limit the inner ring of the rolling shaft bearing (15-4-7) at the output end; the output adapter (15-4-2) is fixedly connected to the small rocker arm (15-5) by screws; the output adapter (15-4-2) and the small rocker arm (15-5) are designed with connected pin holes; Limiting grooves are designed on the rolling shaft (15-4-1) and the large rocker arm (15-3), and two ends of the torsion spring (15-4-3) are respectively installed in the limiting grooves of the rolling shaft (15-4-1) and the large rocker arm (15-3); Rolling locking shells (15-4-9) are fixed to opposite sides of the outer wall of the large rocker arm (15-3) by screws, a locking sleeve (15-4-8) is installed on the rolling locking shell (15-4-9), a rolling locking pin (15-4-11) is installed in the locking sleeve (15-4-8), the rolling locking pin (15-4-11) comprises a body and a tip, the body comprises two cylinders with different diameters, the diameter of the cylinder connected to the tip is larger than the diameter of the rear end cylinder, the rolling locking spring (15-4-10) is sleeved on the rear end cylinder of the rolling locking pin (15-4-11), and the end face of the rolling locking spring (15-4-10) is in contact with the rear end face of the front end cylinder of the rolling locking pin (15-4-11), thereby applying spring force to the rolling locking pin (15-4-11); Before the lunar rover is disassembled, the pin hole on the output adapter (15-4-2) is not opposite to the roll locking pin (15-4-11). When the lunar rover is disassembled, the output adapter (15-4-2) rotates with the roll shaft (15-4-1). When the pin hole on the output adapter (15-4-2) rotates to the position opposite to the roll locking pin (15-4-11), the roll locking pin (15-4-11) is inserted into the pin hole on the output adapter (15-4-2) to achieve locking.

5. The detachable and reconfigurable large-foldable manned lunar rover according to claim 4, characterized in that: It also includes an unlocking rod (15-4-12), which is installed at the end of the rolling locking pin (15-4-11) and is used to pull out the rolling locking pin (15-4-11) to achieve unlocking.

6. The detachable and reconfigurable large-foldable manned lunar rover according to claim 5, characterized in that: The passive wheel assembly (15-6) comprises a passive rotating shaft (15-6-1), a passive shaft bearing (15-6-2), an outer sleeve (15-6-3), an inner sleeve (15-6-4), a first end cover (15-6-5), a second end cover (15-6-6), and a passive wheel (15-7); The passive rotating shaft (15-6-1) is installed in the small rocker arm (15-5) via a pair of passive shaft bearings (15-6-2), and the passive rotating shaft (15-6-1) is fixedly connected to the passive wheel assembly (15-6) clamping device via screws. When the passive wheel assembly (15-6) clamping device is locked, the dual-axle suspension (15) is pressed under the front bottom plate (2) and the rear bottom plate (4); The inner sleeve (15-6-4) is sleeved on the passive shaft (15-6-1), the outer sleeve (15-6-3) is sleeved on the outside of the inner sleeve (15-6-4), the end faces of the inner sleeve (15-6-4) and the outer sleeve (15-6-3) are in contact with the passive shaft bearing (15-6-2), the first end cover (15-6-5) is fixed on the end face of the passive shaft (15-6-1), the second end cover (15-6-6) is fixed on the end face of the small rocker arm (15-5), the passive shaft bearing (15-6-2) is axially limited by the first end cover (15-6-5), the second end cover (15-6-6), the inner sleeve (15-6-4) and the outer sleeve (15-6-3); the passive wheel (15-7) is fixedly connected to the passive shaft (15-6-1) by screws.

7. The method for deploying a detachable and reconfigurable large-foldable manned lunar rover according to claim 1, characterized in that include: The manned lunar rover is in an initial state of a folded state. In the folded state, the front suspension mounting plate (1) is perpendicular to the front bottom plate (2), the rear suspension mounting plate (3) is perpendicular to the rear bottom plate (4), the rear wheels are located on both sides of the seat on the rear bottom plate (4), and the front wheels are located on both sides of the seat on the front bottom plate (2); When receiving the deployment command, the clamping seats (16) on the front suspension mounting plate (1) and the rear suspension mounting plate (3) are unlocked, and the folding fixing mechanism connecting the front suspension mounting plate (1) and the front bottom plate (2) has its suspension mounting plate connecting flange passively rotated around the front bottom plate (2) following the front suspension mounting plate (1); and the folding fixing mechanism connecting the rear suspension mounting plate (3) and the rear bottom plate (4) has its suspension mounting plate connecting flange passively rotated around the rear bottom plate (4) following the rear suspension mounting plate (3); When the suspension mounting plate connecting flange rotates to contact with the bottom plate connecting flange, the suspension mounting plate connecting flange overcomes the spring force of the pin hole stopper spring under the action of gravity and pushes the pin hole stopper to move until the pin hole on the suspension mounting plate connecting flange is aligned with the opening of the fixed pin housing. The fixed pin enters the pin hole in the front suspension mounting plate flange under the push of the spring to achieve locking. At this time, the front suspension mounting plate (1) is unfolded to be on the same horizontal plane as the front bottom plate (2), and the rear suspension mounting plate (3) is unfolded to be on the same horizontal plane as the rear bottom plate (4); the hinge on the suspension system (5) unfolds the suspension system installed on the front suspension mounting plate (1) to both sides of the front suspension mounting plate (1), and unfolds the suspension system installed on the rear suspension mounting plate (3) to both sides of the rear suspension mounting plate (3).

8. The separation and reconstruction method of a separable and reconfigurable large-scale foldable manned lunar rover according to claim 1 is characterized in that include: When the lunar rover is in the unfolded state and receives the disassembly command, the passive wheel assembly clamping device is unlocked, and the pitch axis assembly and the roll axis assembly are unfolded and locked at the same time; The process of deploying and locking the pitch axis assembly is as follows: When the passive wheel assembly clamping device is not unlocked, the first groove on the sliding toothed disc (15-2-4) and the first protrusion on the rocker arm toothed disc (15-2-3) are staggered in position; After the passive wheel assembly clamping device is unlocked, the large rocker arm (15-3) drives the rocker arm toothed disc (15-2-3) fixed thereto to rotate around the pitch axis (15-2-2) due to the action of gravity, thereby achieving deployment; when the large rocker arm (15-3) rotates to a predetermined angle, the first protrusion on the rocker arm toothed disc (15-2-3) rotates to the position of the first groove on the sliding toothed disc (15-2-4), and slides into the groove on the sliding toothed disc under the action of the pitch locking spring (15-2-5), thereby completing locking; The roll axis assembly deployment and locking process is as follows: After the passive wheel assembly clamping device is unlocked, the rolling shaft (15-4-1) rotates around the large rocker arm (15-3) under the action of the spring force of the torsion spring (15-4-3), and the output adapter (15-4-2) and the small rocker arm (15-5) rotate simultaneously, thereby achieving deployment; when the output adapter (15-4-2) and the small rocker arm (15-5) rotate to a predetermined angle driven by the rolling shaft (15-4-1), the rolling locking pin (15-4-11) will be aligned with the pin holes on the output adapter (15-4-2) and the small rocker arm (15-5), and the rolling locking pin (15-4-11) is inserted into the above-mentioned pin hole under the action of the rolling locking spring (15-4-10), thereby completing locking; After the pitch axis assembly and the roll axis assembly are simultaneously unfolded and locked, the passive wheel (15-7) is turned straight and moved to a position close to the ground, and the lunar rover becomes two tricycles; The connection fixing mechanism is unlocked; The two tricycles drove in the separation direction to achieve the separation and reconstruction of the lunar rover.

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