Mechanical damping device for deploying wheels of a lunar rover and design method

Abstract

The present application relates to the technical field of lunar rover, and particularly relates to a mechanical damping device for unfolding wheels of a lunar rover and a design method, comprising: an open-ended shell, a supporting threaded column, a plurality of static friction sheets, a limiting assembly and a plurality of transmission discs; the supporting threaded column is fixed in the shell, and the supporting threaded column is provided with a supporting assembly after penetrating through the open end of the shell; the plurality of static friction sheets are sleeved on the supporting threaded column in the shell; the limiting assembly is arranged between the outer circumferential surface of the static friction sheet and the inner wall of the shell; the plurality of transmission discs are sleeved on the supporting threaded column between every two adjacent static friction sheets, and the outer circumferential surface of the transmission disc is provided with a transmission tab, and the transmission tab is used for transmission connection with a driving rod of a wheel unfolding mechanism of the lunar rover. The damping device generates a braking torque, thereby generating a damping effect on the unfolding wheels of the lunar rover, and then the unfolding process of the mechanism is stable and controllable, and the impact on the lunar rover when the wheels are unfolded to the position is avoided.

Description

Technical Field

[0001] This invention relates to the field of lunar rover technology, specifically to a mechanical damping device and design method for deploying wheels on a lunar rover. Background Technology

[0002] With the launch of Chang'e-3 and Chang'e-4, my country's unmanned lunar exploration technology has basically matured, and manned lunar landing has been put on the agenda. In order to facilitate the smooth implementation of the manned lunar landing project and to build up technical reserves for the long-term goal of subsequent lunar base construction, it is necessary to conduct preliminary research and design of manned lunar rovers.

[0003] To minimize the space occupied by manned lunar rovers during transport, many currently announced lunar rovers feature folding wheels, which are then deployed by astronauts upon arrival on the lunar surface. Many of these wheel deployment mechanisms utilize elastic elements as a power source, unfolding by springing open. Without damping measures, the wheels inevitably generate some impact on the lunar rover when fully deployed. This impact could affect the performance and control accuracy of high-precision and high-resolution equipment on the rover, and could also cause a decrease in the strength or even damage to critical components.

[0004] Therefore, there is a need to provide a mechanical damping device and design method for deploying wheels on a lunar rover to solve the above problems. Summary of the Invention

[0005] This invention provides a mechanical damping device and design method for deploying wheels on a lunar rover. By designing a damping device and driving its input end through a transmission rod in the deployment mechanism, the device provides a damping effect on the deployed wheels. This addresses the problem that existing lunar rover wheel deployment mechanisms use elastic elements as a power source, deploying by springing open. Without damping measures, this inevitably causes an impact on the lunar rover when the wheels are fully deployed. This impact may affect the performance and control accuracy of high-precision and high-resolution equipment on the lunar rover, and may also cause a decrease in the strength or even damage to critical components.

[0006] The mechanical damping device for deploying wheels of a lunar rover according to the present invention adopts the following technical solution: including:

[0007] The housing has an opening at one end for connection to the stationary rod of the deployment mechanism;

[0008] The support threaded column is fixed inside the shell. One end of the column protrudes through the open end of the shell and is equipped with a support assembly. The other end of the column protrudes through the closed end of the shell and is used to connect with the reserved interface on the lunar rover wheel deployment mechanism.

[0009] Multiple static friction plates are fitted onto supporting threaded posts inside the housing;

[0010] A limiting component is disposed between the outer peripheral surface of the static friction plate and the inner wall of the housing to limit the rotation of the static friction plate within the housing;

[0011] It also includes multiple transmission discs, which are fitted onto the support threaded posts between every two adjacent static friction discs, and transmission paddles are provided on their outer circumferential surfaces. The end of the transmission paddle that is away from the transmission disc passes through the notch provided on the outer circumferential surface of the housing, and the transmission paddle is used for transmission connection with the drive rod of the lunar rover wheel deployment mechanism.

[0012] Preferably, the limiting component includes a limiting boss and a limiting groove. The limiting boss is disposed on the outer peripheral surface of the static friction plate, and the limiting groove is opened on the inner wall of the housing. The opening direction of the limiting groove is the same as the axial direction of the supporting threaded column. The limiting boss is slidably disposed in the limiting groove.

[0013] Preferably, the sides of all drive levers are designed to contact the outer peripheral surface of the drive lever.

[0014] Preferably, all transmission paddles along the direction of the supporting threaded column are provided with connecting holes for the drive rod to pass through.

[0015] Preferably, the static friction plate between two adjacent transmission discs is a double-sided static friction plate, and a friction layer is provided on both sides of the double-sided static friction plate.

[0016] Preferably, the static friction pad that contacts the top surface of the support component or housing is a single-sided static friction pad. The single-sided static friction pad has a friction layer on only one side, and the friction layer of the single-sided static friction pad contacts the transmission disk.

[0017] Preferably, the support assembly includes: a stepped shaft, which is concentrically arranged at the end of the support threaded column; the small step of the stepped shaft is used to support the static friction plate at the opening end of the housing; a support disc spring is provided between the end face of the large step of the stepped shaft and the static friction plate at the opening end of the housing; the support disc spring is sleeved on the small step; and the end face of the large step facing away from the small step is a hexagonal boss.

[0018] Preferably, the section of the support threaded post that extends out of the housing is a threaded section, which is used for threaded connection with the reserved interface on the lunar rover wheel deployment mechanism.

[0019] A design method for a mechanical damping device for deploying wheels of a lunar rover, comprising:

[0020] Based on the reserved space for the lunar rover wheel deployment mechanism, determine the outer diameter of the shell and the total length of the damping device along the axial direction of the supporting threaded column;

[0021] Determine the thread specifications of the supporting threaded column based on the reserved interface on the lunar rover wheel deployment mechanism;

[0022] Determine the outer diameter and inner diameter of the static friction plate and the transmission disc based on the outer diameter of the housing and the thread specification of the supporting threaded column.

[0023] The specifications of the supporting disc spring are determined based on the friction median diameter of the static friction plate and the transmission disc.

[0024] Based on the friction radius of the static friction plate and the transmission disc, the elastic force provided by the supporting disc spring, and the braking torque of the preset damping device, obtain the corresponding number of static friction plates and transmission discs.

[0025] Determine the lengths of the housing and the corresponding threaded support columns based on the corresponding quantities of static friction plates and transmission discs.

[0026] Preferably, the step of obtaining the corresponding number of static friction plates and transmission discs is as follows:

[0027] The expression for calculating the number of transmission discs is:

[0028] M = F × μ m ×R m ×2n

[0029] In the formula, n represents the number of transmission discs;

[0030] M represents the preset braking torque of the damping device;

[0031] F represents the elastic force provided by the disc spring when it is working;

[0032] μ m This indicates the coefficient of friction between the static friction plate and the transmission disc;

[0033] R m Indicates the friction radius between the static friction plate and the transmission disc;

[0034] The number of static friction plates is the number of transmission discs plus 1.

[0035] The beneficial effects of this invention are:

[0036] The damping device of this invention does not require power or hydraulic power to drive it. It is driven by the drive rod of the deployment mechanism through the transmission disc. The shell is connected to the stationary rod of the deployment mechanism. The shell, the static friction plate and the support threaded column are relatively stationary. The elastic force generated by the pre-compressed support disc spring presses all the transmission discs and static friction plates together to generate braking torque, thereby producing a damping effect on the lunar rover's deployed wheels. This makes the deployment process of the mechanism stable and controllable, and avoids the impact on the lunar rover when the wheels are deployed in place.

[0037] Secondly, the preload of the support disc spring and the number of static friction plates and transmission discs are adjusted as needed. That is, by tightening and loosening the support threaded column, the compression height of the support disc spring is controlled, thereby adjusting the elastic force of the support disc spring and thus adjusting the magnitude of the braking torque, so that the deployment process of the lunar rover wheels is stable and controlled. During this process, the elastic potential energy of the lunar rover wheel deployment mechanism is converted into internal energy and dissipated into the surrounding environment. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the overall structure of an embodiment of a mechanical damping device for deploying wheels of a lunar rover according to the present invention;

[0040] Figure 2 for Figure 1 A sectional view;

[0041] Figure 3 This is a schematic diagram of the structure and transmission of the damping device and the drive rod of the lunar rover deployment mechanism of the present invention.

[0042] Figure 4 This is a cross-sectional view of the structure of the damping device and the drive rod of the lunar rover deployment mechanism of the present invention.

[0043] Figure 5 for Figure 1 Schematic diagram of the middle shell structure;

[0044] Figure 6 for Figure 5 A bottom view;

[0045] Figure 7 for Figure 5 Top view;

[0046] Figure 8 for Figure 2 A schematic diagram of the structure of a single-sided static friction plate;

[0047] Figure 9 for Figure 8 Side view;

[0048] Figure 10 for Figure 2 A schematic diagram of the structure of the double-sided static friction plate;

[0049] Figure 11 for Figure 2 A schematic diagram of the transmission disc in the diagram;

[0050] Figure 12 for Figure 2 A schematic diagram of the supporting threaded rod and supporting assembly in the diagram;

[0051] Figure 13 for Figure 12 The main view.

[0052] In the diagram: 1. Housing; 2. Single-sided static friction plate; 3. Double-sided static friction plate; 4. Transmission disc; 5. Support threaded column; 6. Support disc spring; 7. Damping device; 8. Drive rod. Detailed Implementation

[0053] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] An embodiment of the mechanical damping device for deploying wheels of a lunar rover according to the present invention, such as... Figure 1 and Figure 2 As shown, it includes: a housing 1 with one open end, a supporting threaded post 5, multiple static friction plates, a limiting assembly, and multiple transmission discs 4; the supporting threaded post 5 is fixed inside the housing 1, one end of the supporting threaded post 5 protrudes through the open end of the housing 1 and is provided with a supporting assembly, and the other end of the supporting threaded post 5 protrudes through the closed end of the housing 1 and is used to connect with a reserved interface on the lunar rover wheel deployment mechanism; multiple static friction plates are sleeved on the supporting threaded post 5 inside the housing 1; the limiting assembly is set between the outer peripheral surface of the static friction plates and the inner wall of the housing 1 to limit the rotation of the static friction plates inside the housing 1. Multiple transmission discs 4 are mounted on the support threaded post 5 between every two adjacent static friction plates, and a transmission paddle 41 is provided on the outer peripheral surface of the transmission disc 4. The end of the transmission paddle 41 facing away from the transmission disc 4 passes through the notch provided on the outer peripheral surface of the housing 1, and the transmission paddle 41 is used to drive the drive rod 8 of the lunar rover wheel deployment mechanism. The number of transmission discs 4 is one less than the number of static friction plates. Every n transmission discs 4 and n+1 static friction plates form 2n friction surfaces. The n+1 static friction plates include 2 single-sided static friction plates and n-1 double-sided static friction plates.

[0055] It should be noted that housing 1 is used to connect to the stationary rod of the deployment mechanism, such as... Figure 2 Appendix Figure 3 and attached Figure 5A square groove is designed on the top of the housing 1, and a circular boss is designed on the stationary rod of the unfolding mechanism. The center of the circular boss has a square groove (the square groove has a threaded hole for screwing the support threaded column). During installation, the square boss on the stationary rod is inserted into the square groove of the housing. The square boss and square groove can achieve circumferential constraint, and the thread can achieve axial constraint.

[0056] like Figure 5 , Figure 6 and Figure 7 As shown, the shell 1 is a notched steel or titanium cylindrical structure with an outer diameter φ1, φ1 = 46mm to 60mm, and an inner cavity depth L1, L1 = 10mm to 55mm. Figure 6 As shown, the inner wall of the housing 1 is evenly distributed with straight bosses connecting the cylinder opening and the cylinder bottom. A limiting groove is formed between adjacent straight bosses. The limiting groove is used to cooperate with the limiting bosses on the outer circle of the static friction plate, so that the static friction plate can only move axially along the supporting threaded column inside the housing 1. The number of straight bosses is n1, n1 = 6 to 12, the boss width is L2, L2 = 4mm to 8mm, the top dividing circle diameter of the boss is φ2, φ2 = 36mm to 40mm, the bottom dividing circle diameter of the boss is φ3, φ3 = 40mm to 44mm, and there is a through hole at the top center of the housing 1. The diameter of the through hole is 0.1mm to 0.2mm larger than the outer thread diameter of the supporting threaded column 5. m, the depth of the through hole is L3, L3 = 3mm ~ 5mm, there is a circular boss at the outer center of the inner top of the shell 1, the diameter of the circular boss is φ4, φ4 = 18mm ~ 24mm, there is a square groove at the center of the circular boss, the groove depth of the square groove is L4, L4 = 3mm ~ 5mm, the groove width of the square groove is L5, L5 = 10mm ~ 15mm; the included angle α formed by the two lines connecting the two sides of the notch on the circumferential surface of the shell 1 to the center is 90° ~ 150°, the notch depth is L6, L6 = L1 - L7; L7 represents the thickness of the single-sided static friction plate 2. Specifically, the body structure parameters in this embodiment are shown in Table 1.

[0057] Table 1

[0058]

[0059]

[0060] The limiting component includes a limiting boss and a limiting groove. The limiting boss is disposed on the outer circumferential surface of the static friction plate, and the limiting groove is formed on the inner wall of the housing 1. The opening direction of the limiting groove is the same as the axial direction of the supporting threaded column 5. The limiting boss is slidably disposed within the limiting groove. Figure 1 , Figure 8 and Figure 9As shown, the static friction pad that contacts the top surface of the support assembly or housing 1 is a single-sided static friction pad 2. The single-sided static friction pad 2 has a friction layer on only one side, and this friction layer contacts the transmission disc 4. Specifically, as shown... Figure 8 and Figure 9 As shown, the single-sided static friction plate 2 is a steel disc-shaped structure with a thickness of L7, L7 = 3.5mm to 5.5mm. It has a through hole in the center with the same diameter as the hole in the center of the top of the shell 1. The outer edge is evenly distributed with limiting bosses, which fit into the limiting groove formed by the straight bosses inside the shell 1. The single-sided static friction plate 2 has only one side as a friction surface. A powder metallurgy friction layer (the powder alloy in this embodiment is composed of iron powder, graphite, and molybdenum disulfide) is sintered on the friction surface. The friction layer forms a friction couple with the friction surface of the transmission disc 4. In this embodiment, the number of single-sided static friction plates 2 is 2. Specifically, the structural parameters of the single-sided static friction plate 2 are shown in Table 2.

[0061] Table 2

[0062] <![CDATA[L7]]> 3.5 4.5 5.5

[0063] like Figure 2 and Figure 10 As shown, the static friction pad between two adjacent transmission discs 4 is a double-sided static friction pad 3, and both sides of the double-sided static friction pad 3 are provided with friction layers; as Figure 4 and Figure 6 As shown, the double-sided static friction plate 3 in this embodiment is a steel disc structure with a disc thickness L8 of 4mm to 6mm. It has a through hole in the center with the same diameter as the central hole at the top of the shell 1. Limiting bosses are evenly distributed on the outer edge, and these bosses fit into the limiting groove formed by the straight bosses inside the shell 1. Both sides of the double-sided static friction plate 3 are friction surfaces, and a powder metallurgy friction layer (the powder alloy in this embodiment consists of iron powder, graphite, and molybdenum disulfide) is sintered on the friction surface. The friction layer forms a friction couple with the friction surface of the transmission disc 4. The number of double-sided static friction plates 3 is n2 of 0 to 6. The specific structural parameters of the double-sided static friction plate in this embodiment are shown in Table 3.

[0064] Table 3 Structural parameters of double-sided static friction pads (unit: mm)

[0065] <![CDATA[L8]]> 4 5 6 <![CDATA[n2]]> 0 1 5

[0066] like Figure 10 As shown, the transmission disc 4 is a steel disc-shaped structure with a thickness of L9, L9 = 3mm to 4mm. The outer diameter of the transmission disc 4 is the same as the diameter φ2 of the top part of the straight boss on the inner wall of the housing 1. The inner diameter of the middle part of the transmission disc 4 is the same as the center diameter of the top of the cylinder of the housing 1. There is a transmission paddle 41 on the outer circle, and the width of the transmission paddle 41 is L. 10 L 10=3mm~5mm, the distance L from the top of the transmission paddle 41 to the center of the inner circle 11 L 11 =25mm~40mm, the number of transmission discs 4 is n3, n3=n2+1, and the specific structural parameters of the transmission discs 4 in this embodiment are shown in Table 4.

[0067] Table 4

[0068] <![CDATA[L9]]> 3 4 4 <![CDATA[L 10 ]]> 3 4 5 <![CDATA[L 11 ]]> 25 30 40 <![CDATA[n3]]> 1 2 6

[0069] like Figure 2 As shown, the support assembly includes: a stepped shaft, concentrically arranged at the end of the supporting threaded post 5; the small step of the stepped shaft supports the static friction plate at the open end of the housing 1; a supporting disc spring 6 is provided between the end face of the large step 51 of the stepped shaft and the static friction plate at the open end of the housing 1, the supporting disc spring 6 is sleeved on the small step; the end face of the large step 51 facing away from the small step is a hexagonal boss; the section of the supporting threaded post 5 that extends out of the housing 1 is a threaded section, which is used for threaded connection with the reserved interface on the lunar rover wheel deployment mechanism; specifically, as... Figure 2 , Figure 12 , Figure 13 As shown, the supporting threaded column 5 and the stepped shaft form a titanium umbrella-shaped structure with a total length L. 12 L 12 =45mm~60mm, the rod is a threaded rod, the thread specification M1 is consistent with the thread specification of the reserved interface on the lunar rover wheel deployment mechanism, M1=M8~M12, the umbrella-shaped head is a stepped shaft with three layers of bosses; the round boss near the threaded rod is a guide post (i.e., a small step), used to guide the installation of the support disc spring 6, the outer diameter of the small step is 0.2mm smaller than the minimum inner diameter of the support disc spring 6, and the height of the small step is 0.2mm~0.5mm lower than the height of the support disc spring 6 in the working position; the large step 51 in the middle of the umbrella-shaped head is the support part, which plays the role of supporting the disc spring 6, the outer diameter of the large step 51 is 1mm~4mm larger than the inner diameter of the support disc spring 6, and the thickness L of the large step 51 is... 13 L 13 =3mm~5mm; the outermost part of the umbrella-shaped head is a hexagonal boss, the side length of the hexagonal boss is L 14 L 14 =9mm~12mm, height L of hexagonal boss 15 L 15 =4mm~6mm. Specifically, the structural parameters of the supporting threaded column 5 and the stepped shaft in this embodiment are shown in Table 5.

[0070] Table 5

[0071] <![CDATA[L 12 ]]> 45 53 60 <![CDATA[L 13 ]]> 3 4 5 <![CDATA[L 14 ]]> 9 10 12 <![CDATA[L 15 ]]> 4 5 6 <![CDATA[M1]]> 8 10 12

[0072] like Figure 2As shown, the support disc spring 6 is located between the single-sided static friction plate 2 and the support threaded column 5, wherein the small end of the support disc spring 6 faces the side of the large step 51 of the stepped shaft connected to the support threaded column 5. The specifications of the support disc spring 6 are in accordance with the GB / T1972 standard. When selecting the support disc spring 6, the outer diameter of the support disc spring 6 is smaller than the diameter φ2 of the top part of the straight boss on the inner wall of the housing 1.

[0073] like Figure 2 and Figure 3 As shown, when assembling the damping device 7, the supporting disc spring 6 is fitted between the large step 51 and the single-sided static friction plate 2 at the open end of the housing 1, and then onto the small step. The small end of the supporting disc spring 6 faces the supporting frustum, and the non-friction surface of the single-sided static friction plate 2 faces the supporting disc spring 6. The transmission disc 4 and the double-sided static friction plate 3 are alternately fitted onto the supporting threaded column 5. The single-sided static friction plate 2 is installed above the transmission disc 4, with the friction layer of the single-sided static friction plate 2 facing the transmission disc 4. After aligning the limiting bosses of all the static friction plates, they are fitted into the limiting grooves formed by the two straight bosses on the inner wall of the housing 1 to form a fit. After aligning the transmission paddles 41 of all the transmission discs 4, they are fitted into the notch of the housing 1. The threaded part of the supporting threaded column 5 passes through the inner holes of all the transmission discs 4, static friction plates, and housing 1, and exposes the circular boss on the outer side of the housing 1. The damping mechanism 7 is now assembled.

[0074] In the first embodiment, the transmission paddle 41 is connected to the drive rod 8 of the lunar rover wheel deployment mechanism. Specifically, in this embodiment, the sides of all transmission paddles 41 are used to contact the outer peripheral surface of the drive rod 8; specifically, as shown... Figure 3 and Figure 4 As shown, the damping device 7 is installed on the deployment mechanism of the lunar rover wheel. The drive rod 8 of the lunar rover wheel is close to all the transmission paddles 41. A universal wrench can be used to apply force to the hexagonal boss on the stepped shaft to control the depth of the support threaded post 5 screwed into the reserved interface of the deployment mechanism, thereby controlling the compression height and elasticity of the support disc spring 6.

[0075] In the first embodiment, the transmission paddle 41 and the drive rod 8 of the lunar rover wheel deployment mechanism are connected by transmission. Specifically, in this embodiment, all transmission paddles 41 along the direction of the support threaded column 5 are provided with connecting holes for the drive rod 8 to pass through.

[0076] A design method for a mechanical damping device for lunar rover wheel deployment includes: determining the outer diameter of the housing 1 and the total length of the damping device along the axial direction of the supporting threaded post 5 based on the reserved space of the lunar rover wheel deployment mechanism; determining the thread specification of the supporting threaded post 5 based on the reserved interface on the lunar rover wheel deployment mechanism; specifically, the supporting threaded post is connected to the reserved interface by threads, and the effective number of threaded connections is generally 5. According to the specified pitch, the thread length at the installation interface can be calculated to be no less than 6P, where P is the pitch; the extra thread is the number of shallow thread machining turns; and determining the static friction plate and transmission... The outer diameter and inner diameter of disc 4 (the inner diameter of the static friction plate is slightly larger than the maximum outer diameter of the threaded support column); based on the friction mean diameter of the static friction plate and transmission disc 4 (the friction mean diameter is half the sum of the outer diameter and inner diameter of the static friction plate), the specifications of the support disc spring 6 are determined. The specifications of the support disc spring 6 are: the maximum diameter of the support disc spring 6 is slightly larger than the friction mean diameter; based on the friction radius of the static friction plate and transmission disc 4, the elastic force provided by the support disc spring 6, and the braking torque of the preset damping device 7, the corresponding quantities of static friction plates and transmission disc 4 are obtained; based on the corresponding quantities of static friction plates and transmission disc 4, the corresponding lengths of housing 1 and support threaded column 5 are determined.

[0077] Specifically, the steps for obtaining the corresponding quantities of static friction plates and transmission disc 4 are as follows:

[0078] The expression for calculating the number of transmission discs 4 is as follows:

[0079] M = F × μ m ×R m ×2n

[0080] In the formula, n represents the number of transmission discs 4;

[0081] M represents the braking torque of the preset damping device 7;

[0082] F represents the elastic force supporting disc spring 6 during operation;

[0083] μ m This represents the coefficient of friction between the static friction plate and the transmission disc 4;

[0084] R m This indicates that the friction radius between the static friction plate and the transmission disc 4 is equal to half the outer diameter of the supporting disc spring 6;

[0085] The number of static friction plates is the number of transmission discs 4 plus 1.

[0086] Specifically, with a required braking torque of 40 N·m, a reserved M10 threaded interface, a housing outer diameter ≤ (not greater than) 27 mm, and a total length not exceeding 40 mm, the main design process of the damping device is as follows:

[0087] Based on the reserved threaded interface M10, the thread specification of the supporting threaded column is determined to be M10; therefore, the inner diameter of the transmission disc 4 and the static friction plate is not less than 10mm; according to the space dimensions, the outer diameter of the shell is 27mm, the maximum wall thickness of the shell is 3mm, and the maximum wall thickness at the bottom is 5mm. Therefore, the maximum outer diameter of the transmission disc 4 and the static friction plate does not exceed 21mm, and the maximum outer diameter of the supporting disc spring 6 does not exceed 21mm. According to GB / T 1972, series A springs are selected. For diameters below 21mm, the disc spring specification is A20-1 GB / T 1972, with a free height of 1.55mm and an outer diameter of 20mm. Therefore, the friction radius R... m =0.010m, the maximum spring force of a single disc spring is 1530N. When stacked, the free height of two disc springs is 2.65mm, and the combined spring force is 3060N. The coefficient of friction between the transmission disc 4 and the static friction plate is 0.4. The number of friction surfaces required by the damping device 11 is 2n. The calculation process for n is as follows:

[0088] n=M÷F÷μ m ÷R m ÷2=40N·m÷3060N÷0.4÷0.010m÷2=1.63

[0089] It should be noted that the number of transmission discs, n, must be an integer, therefore n is at least 2. When the number of transmission discs is 2, the number of static friction plates is n+1=3. The thickness of transmission disc 4 is 3mm. The 3 static friction plates include 2 single-sided static friction plates and 1 double-sided friction plate. The thickness of the single-sided static friction plate is 3.5mm, and one friction surface is sintered with a powder alloy friction material whose main component is iron powder. The thickness of the double-sided static friction plate is 4.5mm, and both friction surfaces are sintered with a powder alloy friction material whose main component is iron powder. The connection length between the supporting threaded column and the reserved interface is 6 times the thread pitch, which is 4.8mm; the total thickness of the bottom wall of the housing, the disc spring, the transmission disc, and the static friction plate is 25.15mm; the total length of the supporting and connecting parts of the supporting threaded column 5 is 25.15mm + 4.8mm = 29.95mm, rounded to 30mm; the total thickness of the supporting frustum and hexagonal platform is 5mm; the total length of the damping device in this embodiment is 35mm, the outer diameter of the housing 1 is 27mm, and the maximum braking torque that can be generated is M = F × μ. m ×R m ×2n=3060N×0.4×0.010m×2×2=48.96N·m>40N·m, which meets the requirements.

[0090] like Figure 4 As shown, when the drive rod 8 of the lunar rover unfolds the wheel drives the transmission paddle 41 of the transmission disk 4, the rotation angle does not exceed the notch angle α of the housing 1, that is, it must not exceed 150°.

[0091] When assembling the damping device 11 of the present invention, the supporting disc spring 6 is installed on the supporting threaded post 5 on the large step 51 of the stepped shaft of the supporting threaded post 5, as follows: Figure 2 As shown, the small end of the supporting disc spring 6 faces the side of the large step 51 of the stepped shaft. The static friction plates and transmission discs 4 are alternately fitted onto the supporting disc spring 6 of the supporting threaded column 5. The single-sided static friction plate 2 is close to the side of the supporting disc spring 6. The limiting bosses of the outer ring of all static friction plates are aligned. A guide fit is formed in the limiting groove of the inner wall of the housing 1 along the axial direction of the supporting threaded column 5. The transmission paddles 41 of all transmission discs 4 are aligned. The transmission paddles 41 are installed at the notch on the side of the housing 1 and the end of the transmission paddles 41 extends out of the notch. The threaded part of the supporting threaded column 5 inside the housing 1 passes through the through hole at the top of the housing 1, all transmission discs and all transmission paddles 41. At this time, the supporting assembly of the supporting threaded column 5 is located on the outside of the opening end of the housing 1. The upper damping device 11 is installed on the deployment mechanism of the lunar rover wheel. That is, a universal wrench is used to apply force to the hexagonal platform set on the large step end face of the support threaded column 5, thereby controlling the depth of the support threaded column 5 into the reserved interface of the deployment mechanism, and thus controlling the compression height and elastic force of the support disc spring 6, and thus controlling the elastic force provided by the support disc spring 6, that is, the required elastic force.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A mechanical damping device for deploying wheels of a lunar rover, characterized in that, include: The housing (1) has an opening at one end for connection to the stationary rod of the unfolding mechanism; A support threaded column (5) is fixed inside the housing (1). One end of the column passes through the open end of the housing (1) and is provided with a support assembly. The other end of the column passes through the closed end of the housing (1) and is used to connect with the reserved interface on the lunar rover wheel deployment mechanism. The support assembly includes a stepped shaft, which is concentrically set at the end of the support threaded column (5). The small step of the stepped shaft is used to support the static friction plate at the open end of the housing (1). A support disc spring (6) is provided between the end face of the large step (51) of the stepped shaft and the static friction plate at the open end of the housing (1). The support disc spring (6) is sleeved on the small step. The end face of the large step (51) facing away from the small step is a hexagonal boss. Multiple static friction plates are fitted onto the support threaded column (5) inside the housing (1); A limiting component is provided between the outer peripheral surface of the static friction plate and the inner wall of the housing (1) to limit the rotation of the static friction plate within the housing (1). The limiting component includes a limiting boss and a limiting groove. The limiting boss is provided on the outer peripheral surface of the static friction plate, and the limiting groove is opened on the inner wall of the housing (1). The opening direction of the limiting groove is the same as the axial direction of the supporting threaded column (5). The limiting boss is slidably provided in the limiting groove. And multiple transmission discs (4) are sleeved on the support threaded column (5) between each two adjacent static friction plates, and a transmission paddle (41) is provided on its outer peripheral surface. The end of the transmission paddle (41) away from the transmission disc (4) passes through the notch provided on the outer peripheral surface of the housing (1), and the transmission paddle (41) is used to drive the drive rod (8) of the lunar rover wheel deployment mechanism. The design steps of the mechanical damping device are as follows: Based on the reserved space of the lunar rover wheel deployment mechanism, determine the outer diameter of the shell (1) and the total length of the damping device along the axial direction of the supporting threaded column (5); Based on the reserved interface on the lunar rover wheel deployment mechanism, determine the thread specification of the supporting threaded column (5); Based on the outer diameter of the shell (1) and the thread specification of the supporting threaded column (5), determine the outer diameter and inner diameter of the static friction plate and the transmission disc (4); Based on the friction mid-diameter of the static friction plate and the transmission disc (4), determine the specification of the supporting disc spring (6); Based on the friction radius of the static friction plate and the transmission disc (4), the elastic force provided by the supporting disc spring (6), and the braking torque of the preset damping device (7), obtain the corresponding quantity of the static friction plate and the transmission disc (4); Based on the corresponding quantity of the static friction plate and the transmission disc (4), determine the corresponding length of the shell (1) and the supporting threaded column (5); The steps for obtaining the corresponding quantity of the static friction plate and the transmission disc (4) are as follows: The expression for calculating the number of transmission discs (4) is as follows: In the formula, Indicates the number of transmission discs (4); This indicates the braking torque of the preset damping device (7); This indicates the elastic force provided when the disc spring (6) is in operation; The coefficient of friction between the static friction plate and the transmission disc (4) is indicated; The friction radius of the static friction plate and the transmission disk (4) is indicated; the number of static friction plates is the number of transmission disks (4) plus 1.

2. The mechanical damping device for deploying wheels of a lunar rover according to claim 1, characterized in that, The sides of all the drive levers (41) are used to contact the outer peripheral surface of the drive lever (8).

3. A mechanical damping device for deploying wheels of a lunar rover according to claim 1, characterized in that, All transmission paddles (41) along the direction of the support threaded column (5) have connection holes for the drive rod (8) to pass through.

4. A mechanical damping device for deploying wheels of a lunar rover according to claim 1, characterized in that, The static friction plate between two adjacent transmission discs (4) is a double-sided static friction plate (3), and friction layers are provided on both sides of the double-sided static friction plate (3).

5. A mechanical damping device for deploying wheels of a lunar rover according to claim 1, characterized in that, The static friction plate that contacts the top surface of the support component or housing (1) is a single-sided static friction plate (2). The single-sided static friction plate (2) has a friction layer on only one side, and the friction layer of the single-sided static friction plate (2) contacts the transmission disk (4).

6. A mechanical damping device for deploying wheels of a lunar rover according to claim 1, characterized in that, The section after the support threaded column (5) protrudes from the shell (1) is the threaded section, which is used to connect with the reserved interface threaded connection on the lunar rover wheel deployment mechanism.

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