Braking device for a lunar rover and design method

Abstract

This invention relates to the field of lunar rover braking technology, specifically to a braking device and design method for a lunar rover. The braking device includes: a brake drum, an annular base plate, a cover plate, a brake assembly, and a drive assembly. The annular base plate is disposed on the side of the brake drum, and a support assembly is provided on the annular base plate. The cover plate is disposed on the outer ring of the brake drum, connected to the annular base plate, and a sealing assembly is provided between the cover plate and the annular base plate. The brake assembly is slidably disposed on the annular base plate along its radial direction, and a disc spring is provided between the brake assembly and the support assembly. The drive assembly drives the brake assembly to slide radially along the annular base plate, so that the arcuate surface of the brake assembly contacts or separates from the inner arcuate surface of the brake drum. This device can achieve the requirement of stopping the rotation of the lunar rover wheels without consuming the lunar rover's energy, thus saving energy reserves for the launch and transportation of the lunar rover.

Description

Technical Field

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

[0002] Currently, my country's unmanned lunar exploration technology is basically mature, 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 foldable wheels, which are then deployed by astronauts upon arrival on the lunar surface. During the journey from Earth to the Moon, the lunar rover needs to remain relatively stationary to ensure the stability of the lunar lander; therefore, the wheels must be kept stationary. The lunar rover also requires braking capabilities while traveling on the lunar surface, necessitating the design of braking devices on its wheels. Furthermore, these braking devices must be suitable for the vacuum environment of the lunar surface.

[0004] Since the gravity on the moon is about 1 / 6 that of Earth, astronauts wearing spacesuits find it difficult to apply force, so they need to generate a large braking capacity with a small braking force.

[0005] Therefore, there is a need to provide a braking device and design method for lunar rovers to solve the above problems. Summary of the Invention

[0006] This invention provides a braking device and design method for a lunar rover, to solve the problem that existing braking devices require a large braking capacity with a small braking force because the gravity on the lunar surface is about 1 / 6 that of Earth, and astronauts wearing spacesuits cannot easily apply force.

[0007] The present invention provides a braking device and design method for a lunar rover, comprising the following technical solution: Brake drum, used to connect to the movable end of the wheel axle; An annular base plate is concentrically arranged on one side of the brake drum, and a support assembly is provided on one side of the brake drum. The support assembly is located inside the brake drum. The cover plate is concentrically mounted on the outer ring of the brake drum. It is connected to the side of the annular base plate away from the support assembly, and a sealing assembly is provided between the cover plate and the annular base plate. The brake assembly is slidably mounted on the annular base plate along the radial direction. A disc spring is provided between one side of the assembly and the support assembly. The side away from the support assembly is an arc-shaped surface, and the radius of the arc-shaped surface is the same as the radius of the brake drum. And a drive assembly for driving the brake assembly to slide radially along the annular base plate, so that the arcuate surface of the brake assembly contacts or separates from the inner arcuate surface of the brake drum.

[0008] Preferably, the brake assembly includes: The arc-shaped block has its outer arc surface facing the inner arc surface of the brake drum, and its outer arc surface is provided with a layer of powder alloy material. And a transmission block, which is connected to the end opposite to the arc block, and a trapezoidal region is formed between the transmission block and the arc block; The disc spring is located between the transmission block and the support assembly.

[0009] Preferably, the support assembly includes: an arc-shaped support plate with its concave surface facing the center of the annular base plate, and a hinged square platform is provided on the annular base plate in the trapezoidal area near the convex surface of the arc-shaped support plate.

[0010] Preferably, the driving component includes: The crank comprises a short rod and a long rod. The free end of the short rod is hinged to a hinge platform and contacts the transmission block. The other end of the short rod is connected to the long rod via a diagonal rod. The short rod and the long rod are perpendicular to each other. A connecting hole is provided on the free end of the long rod for connecting to the control cable of the control panel.

[0011] Preferably, a support column is provided on the convex surface of the arc-shaped support plate, and the disc spring is installed on the support column.

[0012] Preferably, each end of the arc-shaped block is provided with a slider, and an elongated through groove is provided on the slider along the radial direction of the annular base plate. Two guide limiting posts are provided on the annular base plate, and the guide limiting posts are correspondingly inserted into the elongated through groove.

[0013] Preferably, both the annular base plate and the cover plate are provided with multiple connecting ears on their outer periphery, and the annular base plate and the cover plate are connected to each other by screws.

[0014] A design method for a braking device for a lunar rover, comprising: Based on the reserved space of the lunar rover wheels, determine the external interface of the braking device and the friction radius; Determine the minimum normal force required from the disc spring based on the friction radius and the set maximum braking torque; Select the disc spring specification based on the minimum positive force provided by the disc spring; The force amplification ratio of the crank is obtained based on the positive force provided by the disc spring and the braking force provided by the control panel. The size of the crank is determined based on the crank's force amplification ratio.

[0015] Preferably, the expression for the minimum positive force provided by the disc spring is:

[0016] This indicates the positive pressure provided by the disc spring; Indicates the setting of the braking torque; Indicates the friction radius; This indicates the coefficient of friction between the brake assembly and the brake drum.

[0017] Preferably, the expression for the force amplification ratio of the crank is:

[0018] In the formula, Indicates the force amplification ratio of the crank; Indicates the minimum normal force required for the disc spring; This indicates the braking force provided by the control panel.

[0019] Preferably, the formula for calculating the crank size is as follows:

[0020] In the formula, Indicates the force amplification ratio of the crank; This indicates the length of the line connecting the two free ends of the crank. This indicates the distance between the connecting hole on the long side of the crank and the end of the long side of the connecting diagonal bar; Indicates the length of the short side of the crank; This indicates the angle between the slant bar and the long bar of the crank.

[0021] The beneficial effects of this invention are: This invention requires only an astronaut to operate a control panel to apply driving force to the crank, thereby activating the braking device to stop the lunar rover's wheels from rotating. This saves a significant amount of energy reserves for the launch and transportation of the lunar rover. Specifically, this invention utilizes the lever principle when driving the crank to rotate, thus greatly reducing the astronaut's operating force and improving the convenience of braking operation. Secondly, this invention allows for adjustment of the disc spring's preload as needed, thereby controlling the braking torque and making the braking device suitable for lunar surface travel and braking with different braking capacity requirements. Furthermore, the crank length can be designed as needed, utilizing the lever principle to adjust the lever length, thereby reducing the operating force required by the astronaut.

[0022] Secondly, current braking systems in aircraft and automobiles do not concern themselves with dust splashing during braking because the braking system is surrounded by hydraulic or pneumatic lines. Brake dust adheres to the lines or structural components without affecting the operation of other parts. However, for lunar rovers operating in a vacuum environment, dust splashing and adhering to the inside of the braking system would severely affect its operation. Therefore, to prevent brake dust from splashing and polluting the lunar surface environment, and to prevent lunar dust from entering the braking system structure and affecting the operation of other structural components, this invention provides a cover plate on the annular base plate. A sealing component is installed between the cover plate and the annular base plate to prevent dust from entering the braking system, thereby ensuring the proper operation of the braking system. Attached Figure Description

[0023] 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.

[0024] Figure 1 This is a schematic diagram of the overall structure of a braking device for a lunar rover according to the present invention; Figure 2 for Figure 1 The main view; Figure 3 This is a partial cross-sectional view of a braking device for a lunar rover according to the present invention; Figure 4 This is a schematic diagram showing the connection between the crank and the control cable of a braking device for a lunar rover according to the present invention. Figure 5 for Figure 4 Enlarged image in the image; Figure 6 For the present invention Figure 1 Schematic diagram of the structure of the middle brake drum; Figure 7 For the present invention Figure 1 Schematic diagram of the structure of the central ring-shaped base plate; Figure 8 For the present invention Figure 2 Schematic diagram A of the middle brake assembly; Figure 9 For the present invention Figure 2 Schematic diagram B of the middle brake assembly; Figure 10 For the present invention Figure 1 Schematic diagram of the middle cover plate; Figure 11 For the present invention Figure 10A partial sectional view of the middle cover plate; Figure 12 For the present invention Figure 1 A schematic diagram of the middle crank mechanism; Figure 13 This is a schematic diagram of the guide and limiting post of the present invention.

[0025] In the diagram: 1. Brake drum; 2. Annular base plate; 3. Brake assembly; 4. Cover plate; 5. Crank; 6. Guide limit post; 7. Disc spring; 8. Sealing ring; 9. Pin; 10. Screw; 11. Braking device; 12. Control cable; 21. Arc-shaped support plate; 22. Hinge platform. Detailed Implementation

[0026] 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.

[0027] An embodiment of the braking device for a lunar rover according to the present invention, such as... Figures 1 to 3 As shown, the assembly includes: a brake drum 1, an annular base plate 2, a cover plate 4, a brake assembly 3, and a drive assembly. The brake drum 1 is used to connect to the movable end of the wheel axle. The annular base plate 2 is concentrically disposed on one side of the brake drum 1, and a support assembly is provided on one side of the annular base plate 2. The support assembly is located inside the brake drum 1. The cover plate 4 is concentrically disposed on the outer ring of the brake drum 1. The cover plate 4 is connected to the side of the annular base plate 2 away from the support assembly, and a sealing assembly is provided between the cover plate 4 and the annular base plate 2. The sealing assembly uses a sealing ring 8. The brake assembly 3 is slidably disposed on the annular base plate 2 along the radial direction. A disc spring 7 is provided between one side of the brake assembly 3 and the support assembly. The side away from the support assembly is an arc-shaped surface, and the radius of the arc-shaped surface is the same as the radius of the brake drum 1. The drive assembly is used to drive the brake assembly 3 to slide radially along the annular base plate 2, so that the arc-shaped surface of the brake assembly 3 contacts or separates from the inner arc surface of the brake drum 1.

[0028] Specifically, the brake assembly 3 includes an arc-shaped block and a transmission block. The outer arc surface of the arc-shaped block faces the inner arc surface of the brake drum 1, and a layer of powder alloy material is provided on its outer arc surface. The center of the transmission block is concentric with the arc center of the arc-shaped block, and the opposite ends of the transmission block and the arc-shaped block are connected, and a trapezoidal area is formed between the transmission block and the arc-shaped block. The disc spring 7 is disposed between the transmission block and the support assembly.

[0029] Specifically, the support components include: an arc-shaped support plate 21 with its concave surface facing the center of the annular base plate 2, and a hinged square platform 22 provided on the annular base plate 2 in the trapezoidal area near the convex surface of the arc-shaped support plate 21.

[0030] Specifically, the drive assembly includes: a crank 5, which includes a short rod and a long rod. The free end of the short rod is hinged to the hinge platform 22 and contacts the transmission block. The other end of the short rod is connected to the long rod through a diagonal rod. The short rod and the long rod are perpendicular. A connection hole is provided on the free end of the long rod for connecting to the control cable 12 of the control panel.

[0031] Specifically, a support column is provided on the convex surface of the arc-shaped support plate 21, and the disc spring 7 is installed on the support column.

[0032] Specifically, each end of the arc-shaped block is provided with a slider, and an elongated through groove is provided on the slider along the radial direction of the annular base plate 2. Two guide limiting posts 6 are provided on the annular base plate 2, and the guide limiting posts 6 are correspondingly inserted into the elongated through groove.

[0033] Specifically, the outer periphery of both the annular base plate 2 and the cover plate 4 is provided with multiple connecting ears, and the annular base plate 2 and the cover plate 4 are connected to each other by screws.

[0034] It should be noted that, in combination Figures 1 to 13 The braking device for a lunar rover according to the present invention will be described.

[0035] like Figure 1 and Figure 6 As shown, in this embodiment, the brake drum 1 is a thin-walled, bowl-shaped rotating body structure made of titanium alloy. The bowl wall and the bottom of the bowl are at a 90° angle. It is fixed to the wheel axle through a specified external interface or fasteners, and the brake drum 1 rotates synchronously with the wheel. The outer diameter of the brake drum 1 is φ1, the inner diameter is φ2, and the friction radius is R. m The inner diameter is half of φ2, and the inner hole depth is L1; in this embodiment, the outer diameter φ1 of the brake drum 1 is 590mm, the inner diameter φ2 is 580mm, and the friction radius R is... m The diameter is 290mm, and the inner hole depth L1 is 45mm.

[0036] like Figure 1 and Figure 7As shown, the annular base plate 2 is a circular structure made of titanium alloy. The outer diameter φ3 of the annular base plate 2 is 5mm to 10mm larger than the outer diameter φ1 of the brake drum 1. n1 connecting ears are evenly distributed on the outer circumference, and screw holes are present on the connecting ears. The connecting ears of the annular base plate 2 and the cover plate 4 are screwed together by screws. The arc-shaped support plate 21 on its side is approximately the shape of an inverted square bracket. The width L2 of the arc-shaped support plate 21 is 1mm to 4mm smaller than the inner hole depth L1 of the brake drum 1. This arc-shaped support plate 21 is used to install the disc spring 7 and bear the pressure transmitted by the disc spring 7. The concave surface of the arc-shaped support plate 21 faces the center, and a support column is set at the center of the convex surface of the arc-shaped support plate 21. The disc spring 7 is installed... On the support column; a hinged square platform 22 is set directly above the support column. The hinged square platform 22 is a symmetrical square boss with pin holes. The middle bottom plate of the square boss is hollow, with a side length L3, for installing the pin shaft 9 of the hinged crank 5. The crank 5 can move in an arc around the center of the pin shaft 9. The gap L4 between the hinged square platform 22 and the support column is 0.1mm to 0.2mm larger than the free height of the disc spring 7. Two through holes with a diameter of φ4 are evenly distributed on the annular bottom plate 2 on both sides of the hinged square platform 22. The position of the through holes is consistent with the position of the waist-shaped hole on the slider of the brake assembly 3. The brake assembly 3 can be riveted to the annular bottom plate 2 through the guide limiting post 6. In this embodiment, the guide limiting post 6 adopts Figure 13 The step rivet shown; in this embodiment, the outer diameter φ3 of the annular base plate 2 is 600mm, 6 connecting ears are evenly distributed on the outer circumference of the annular base plate 2, the width L2 of the arc-shaped support plate 21 is 42mm, the side length L3 of the hinged square platform 22 is 20mm, the gap L4 between the hinged square platform 22 and the arc-shaped support plate 21 is 26mm, and the diameter of the through hole φ4 is 6mm.

[0037] like Figure 8 and Figure 9 As shown, the brake assembly 3 is a symmetrical structure of approximately isosceles trapezoid made of titanium alloy. The thickness of the brake assembly 3 is the same as the width L2 of the arc-shaped support plate 21 on the annular base plate 2. The longer upper base is an arc-shaped block, and a layer of powder alloy material is sintered on the arc surface of the arc-shaped block. The friction coefficient between the powder alloy material and the titanium alloy brake drum 1 is μ. The arc diameter of the arc surface of the arc-shaped block is the same as the inner diameter φ2 of the brake drum 1. Each end of the arc-shaped block is connected to a slider. The slider has an elongated through groove, which is a waist-shaped hole. The thickness of the slider is L5, and the center distance between the two waist-shaped holes is L6. The brake assembly 3 is fixed on the annular base plate 2, as shown. Figure 8 and Figure 9 As shown, the shorter bottom edge is the transmission block. A square boss is located in the center of the transmission block, adjacent to the free end of the short side rod of crank 5. After crank 5 moves around pin 9, the free end of the short side rod of crank 5 presses towards the center of the annular base plate 2 to release the brake. The included angle formed by the two symmetrical straight edges... α , α=40°~90°. In this embodiment, the friction coefficient μ of the brake drum 1 made of powder alloy material and titanium alloy material is 0.4, the thickness L5 of the slider where the waist-shaped hole is located is 4mm, and the distance L6 between the two waist-shaped holes is 144mm.

[0038] like Figure 10 As shown, cover plate 4 is a rotating structure made of titanium alloy, as... Figure 11 As shown, the cover plate 4 has an L-shaped cross-section, and its maximum outer diameter is the same as the outer diameter φ3 of the annular base plate 2. Connecting ears of the same specifications and number as those on the annular base plate 2 are evenly distributed around the outer circumference of the cover plate 4. The connecting ears have screw holes, and the connecting ears of the cover plate 4 and the connecting ears of the annular base plate 2 are screwed together by screws 10. The minimum diameter φ5 of the cover plate 4 is 0.2mm to 1mm larger than the outer diameter φ1 of the brake drum 1. The thickness of the cover plate 4 is L7, where L7 = 10mm to 15mm. The cover plate 4 is installed on the annular base plate 2, and the space formed by the annular base plate 2 and the cover plate 4 is used to install a sealing ring. In this embodiment, the minimum diameter φ5 of the cover plate 4 is 591mm, and the thickness L7 of the cover plate 4 is 10mm.

[0039] like Figure 1 and Figure 12 As shown, crank 5 is an L-shaped structure made of titanium alloy, including a long side rod, a diagonal rod, and a short side rod. The long side rod and the vertical short side rod are connected by the diagonal rod. The outer diagonal side of the diagonal rod is L8 in length, and the acute angle between the outer diagonal side and the long side rod is β, where β = 120°~135°. There is a connecting hole at the center of the side of the long side rod near the end. The connecting hole is used to connect to the operating cable 12 of the operating lever as the force application end. The distance between the connecting hole and the end of the long side rod connecting the diagonal rod is L9. The short side rod is square, and the side length of the short side rod is L. 10 The side length of the hinged square platform 22 with the pin hole on the annular base plate 2 is 1mm to 2mm longer. The center of the short side of the crank 5 has a through hole through which the pin 9 can pass, limiting the crank 5 to the annular base plate 2. In this embodiment, the length L8 of the inclined rod is 38mm, the distance L9 between the connecting hole on the long side of the crank 5 and the end of the long side of the inclined rod is 235mm, and the length L of the short side rod is... 10 The length is 21mm, and the side length L of the short side rod is... 10 It is 21mm, β=130°.

[0040] like Figure 13 As shown, the guide limiting post 6 in this embodiment adopts a stepped rivet structure. The stepped rivet is an axisymmetric three-layer frustum structure with gradually decreasing outer diameter. The largest frustum is the rivet head, and the middle frustum is the support part. The thickness L of the support part is... 11The thickness L5 of the step rivet is 0.1mm to 0.2mm greater than the thickness of the slider on the brake assembly 3. The smallest frustum of the step rivet is the riveting part. During riveting, the original head of the step rivet is located on one side of the brake assembly 3, and the support part is located in the oblong hole of the slider of the brake assembly 3. Since the thickness of the support part is slightly larger than the thickness of the slider, after riveting from the direction of the annular base plate 2, the brake assembly 3 can still move within a small range without becoming fixed. In this embodiment, the thickness L5 of the support part in the step rivet is... 11 It is 4.2mm.

[0041] like Figure 3 As shown, the disc spring 7 is installed between the arc-shaped support plate 21 of the annular base plate 2 and the transmission block of the brake assembly. The disc spring 7 generates elastic force when compressed, and the maximum outer diameter of the disc spring 7 does not exceed the width L2 of the arc-shaped support plate 21 on the annular base plate 2. In this embodiment, the disc spring specification is A40GB / T1972, the outer diameter is 40mm, and the maximum elastic force F1 that the disc spring 7 can provide is 2620N.

[0042] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown, when assembling the braking device 11, the brake assembly 3 is riveted to the annular base plate 2 using guide limiting post 6. The arc-shaped block of the brake assembly 3 has an arc surface made of powder alloy material away from the center. After the brake assembly 3 is riveted, the waist-shaped hole and guide limiting post 6 allow the brake assembly 3 to move slightly radially along the annular base plate 2. The disc spring 7 is installed between the arc-shaped support plate 21 of the annular base plate 2 and the middle of the transmission block of the brake assembly 3. The crank 5 is installed on the annular base plate 2 and hinged with pin 9, allowing the crank 5 to rotate around the center of pin 9. The sealing ring 8 is installed into the inner groove of the cover plate 4, and the cover plate 4 and the annular base plate 2 are connected. Then, the central mounting hole of the annular base plate 2 (such as...) is... Figure 1 The central mounting hole shown is polygonal (approximately circular) and is installed at the stationary end of the lunar rover's wheel axle to achieve circumferential constraint with the lunar rover's wheel axle. The annular base plate 2 can be fixed to the lunar rover's wheel axle by other fasteners to achieve axial constraint. The device is then installed at the stationary end of the lunar rover's wheel axle. The brake drum 1 is installed at the movable end of the wheel axle. The crank 5 is rotated to press the disc spring 7. The brake drum 1 and the brake device 11 are then assembled together. The crank 5 is released, and the elastic force generated by the disc spring 7 returns the crank 5 to its original position. The brake device 11 is now installed.

[0043] This embodiment also discloses a design method for a braking device for a lunar rover, including: determining the external interface of the braking device and the friction radius based on the reserved space of the lunar rover wheels, wherein, based on the reserved space of the lunar rover, the largest inscribed circle of the reserved space is theoretically the maximum outer diameter of the brake drum 1. The maximum outer diameter of the brake drum 1 can be reduced according to weight requirements, so in this embodiment, the maximum outer radius of the brake drum 1 minus the wall thickness of the brake drum 1 is used as the friction radius; determining the minimum normal force required to be provided by the disc spring 7 based on the friction radius and the set maximum braking torque; determining the specification of the disc spring 7 based on the minimum normal force provided by the disc spring 7; obtaining the force amplification ratio of the crank 5 based on the normal force provided by the disc spring 7 and the braking force provided by the control panel; and determining the size of the crank 5 based on the force amplification ratio of the crank 5.

[0044] In this embodiment, when the required braking torque is 300 N·m, the outline dimensions of the braking device do not exceed 600 mm x 50 mm, the length of the rocker arm does not exceed 400 mm, and the operating force provided by the operator does not exceed 60 N. The main design process of the braking device is as follows: Based on the outline dimensions of the braking device, the outer diameter of the brake drum 1 is designed to be 600 mm, the thickness of the brake drum 1 is 5 mm, and the friction radius R is 295 mm; according to With a friction coefficient of 0.4, the spring force required by disc spring 7 is calculated to be no less than 2543N. Based on the total profile thickness minus the thickness of brake drum 1 (5m) and the reserved thickness of the base plate (5m), the diameter of disc spring is estimated to be no more than 40m. Following GB / T 1972, series A standard is selected. When the maximum outer diameter of disc spring 7 is 28mm, the maximum spring force it can provide is 2850N, which can meet the braking force requirements. Based on the maximum outer diameter of the disc spring 7 (28mm), the size of the arc-shaped support plate 21 should be greater than 28mm and less than 36mm, and is designed to be 30mm. The force amplification ratio K of the crank needs to be no less than 2543N ÷ 60N = 42.4 times. The short side rod of the crank is designed to be 10mm long, the diagonal rod to be 15mm long, and the angle formed by the diagonal rod and the long side rod to be 135°. Therefore, the length of the long side rod is calculated to be at least 289mm, and in this embodiment it is 350mm. At this time, the actual amplification ratio K of the crank is 51.0 > 42.4, which meets the usage requirements, and the crank length meets the requirements.

[0045] Specific working principle The control panel causes the control cable 12 to rotate the crank 5 around the pin 9, thereby causing the free end of the short side rod of the crank 5 to move the brake assembly 3 radially towards the outer periphery of the annular base plate 2, so that the outer arc surface of the arc block of the brake assembly 3 contacts the inner ring of the brake drum 1, thereby braking the wheel.

[0046] 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 braking device for a lunar rover, characterized in that, include: Brake drum (1) is used to connect to the movable end of the wheel axle; An annular base plate (2) is concentrically arranged on one side of the brake drum (1), and a support assembly is provided on one side of the brake drum (1). The cover plate (4) is concentrically set on the outer ring of the brake drum (1), and it is connected to the side of the annular base plate (2) away from the support assembly. A sealing assembly is provided between the cover plate (4) and the annular base plate (2). The brake assembly (3) is slidably mounted on the annular base plate (2) along the radial direction of the annular base plate (2). A disc spring (7) is provided between one side of the assembly and the support assembly. The side away from the support assembly is an arc surface, and the radius of the arc surface is the same as the radius of the brake drum (1). And a drive assembly for driving the brake assembly (3) to slide radially along the annular base plate (2) so that the arcuate surface of the brake assembly (3) contacts or separates from the inner arcuate surface of the brake drum (1); Brake assembly (3) includes: The arc-shaped block has its outer arc surface facing the inner arc surface of the brake drum (1), and its outer arc surface is provided with a layer of powder alloy material; And a transmission block, which is connected to the end opposite to the arc block, and a trapezoidal area is formed between the transmission block and the arc block; wherein, a disc spring (7) is disposed between the transmission block and the support assembly; The support assembly includes: an arc-shaped support plate (21) with its concave surface facing the center of the annular base plate (2), and a hinged square platform (22) is provided on the annular base plate (2) in the trapezoidal area near the convex surface of the arc-shaped support plate (21). The drive assembly includes a crank (5), which includes a short rod and a long rod. The free end of the short rod is hinged to the hinged platform (22) and the free end of the short rod is in contact with the transmission block. The other end of the short rod is connected to the long rod through a diagonal rod. The short rod and the long rod are perpendicular. A connection hole is provided on the free end of the long rod. The connection hole is used to connect to the control cable (12) of the control panel.

2. A braking device for a lunar rover according to claim 1, characterized in that, Each end of the arc-shaped block is provided with a slider. A long circular groove is provided on the slider along the radial direction of the annular base plate (2). Two guide limit posts (6) are provided on the annular base plate (2), and the guide limit posts (6) are correspondingly inserted into the long circular groove.

3. A braking device for a lunar rover according to claim 1, characterized in that, Multiple connecting ears are provided on the outer periphery of the annular base plate (2) and the cover plate (4), and the connecting ears of the annular base plate (2) and the cover plate (4) are connected by screws.

4. A design method for a braking device for a lunar rover according to any one of claims 1-3, characterized in that, include: Based on the reserved space of the lunar rover wheels, determine the external interface of the braking device and the friction radius; Based on the friction radius and the set maximum braking torque, determine the minimum normal force required to be provided by the disc spring (7); The specifications of the disc spring (7) are determined based on the minimum positive pressure provided by the disc spring (7); Based on the positive force provided by the disc spring (7) and the braking force provided by the control panel, the force amplification ratio of the crank (5) is obtained; The dimensions of crank (5) are determined based on the force amplification ratio of crank (5).

5. The design method of a braking device for a lunar rover according to claim 4, characterized in that, The expression for the minimum positive force provided by the disc spring (7) is: This indicates the minimum positive force provided by the disc spring (7); This indicates that the maximum braking torque is set. Indicates the friction radius; The coefficient of friction is indicated between the brake assembly (3) and the brake drum (1).

6. The design method of a braking device for a lunar rover according to claim 4, characterized in that, The expression for the force amplification ratio of crank (5) is: In the formula, Indicates the force amplification ratio of the crank (5); This indicates the minimum normal force of the disc spring (7); This indicates the braking force provided by the control panel.

7. The design method of a braking device for a lunar rover according to claim 4, characterized in that, The formula for calculating the dimensions of crank (5) is: In the formula, Indicates the force amplification ratio of the crank (5); The length of the line connecting the two free ends of the crank (5) is indicated; This indicates the distance between the connecting hole on the long side of the crank (5) and the end of the long side of the connecting diagonal bar; Indicates the length of the short side rod of the crank (5); This indicates the angle between the inclined rod of the crank (5) and the long side rod.

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