Manned lunar rover moving system with variable structure

Abstract

The invention provides a variable-structure manned lunar rover moving system which comprises a bottom plate, four driving wheels and four driven wheels. The two fixing plates are symmetrically mounted on the two sides of the separable surface of the bottom plate in pairs; each driving wheel has an independent driving function and an independent steering function; when the driving wheels have no fault, two configurations are included, namely an unseparated configuration, the four driven wheels are all pressed above the bottom plate, and the four driving wheels are adopted to move and work; in the separation structure, all the driven wheels are put down, the bottom plate is separated, and each separation vehicle adopts two driving wheels and two driven wheels to move and work; when the driving wheel breaks down, two types of configurations are included, in one type of configuration, the broken-down driving wheel is lifted, and the driven wheel closest to the broken-down driving wheel on the same side is put down; according to the other structure, when a single driving wheel breaks down or two driving wheels at the same end break down, the two driven wheels at the non-fault end of the driving wheels are lowered, the bottom plate is separated, and the separation trolley adopts the two driving wheels and the two driven wheels to move and work.

Description

Technical Field

[0001] The present invention relates to a manned lunar rover mobile system with variable configuration. Through the configuration transformation between the passive wheel and the active wheel, the passive wheel can assist in driving under fault conditions and separate into small four-wheeled vehicles for independent return to improve the safety of astronauts. At the same time, after separation, the system can have the capabilities of dual-vehicle parallel detection and master-slave detection to improve detection efficiency. Background Art

[0002] The manned lunar rover is an important means of transportation for future astronauts to perform missions on the moon. Limited by the launch weight and volume requirements, it is necessary to give it as many functions as possible within the limited design space, mainly divided into detection and safety functions. Detection efficiency is particularly important. At the same time, the power and life support resources of the manned lunar rover and space suit are limited. Therefore, the manned lunar rover needs to be reliable enough to still have the ability to return in the event of a failure to ensure the safety of astronauts.

[0003] The only manned lunar rover that has successfully landed on the moon multiple times is the American Apollo lunar rover, which adopts a 4-wheel folding configuration, which is folded during launch and unfolded on the lunar surface. Its configuration is only used to meet the needs of unfolding after launch. The four wheels of the Apollo lunar rover are all active wheels. When a wheel rotation fails, the drive can be unlocked to turn it into a passive wheel, and the remaining wheels are driven to maintain driving. This method can provide a certain fault response capability, but when the wheel surface fails and the wheel is completely unable to drive (such as abnormal jamming), the entire vehicle will be unable to drive, and the astronauts will still face life threats. Therefore, the new manned lunar rover needs to improve safety through other means.

[0004] Patent: A detachable and reconfigurable manned lunar rover, CN202210930140.3 Beijing Space Vehicle General Design Department proposed a configuration scheme for separating a large 4-wheel vehicle into two small 3-wheel vehicles, which realizes the separation of the two vehicles when the active wheel fails, and uses the undamaged small 3-wheel vehicle to return to the home position, ensuring the safety of the astronauts. At the same time, it also has the parallel detection capability after separation into two vehicles. The passive wheels of this system are folded on the bottom plate of the vehicle, and when separation is required, they are released and supported to the lunar surface. It has several obvious disadvantages: First, the driving stability of the three-wheeled vehicle is poor, and when two people are driving, the smaller passive wheel bears a larger weight and is easy to sink into the soft lunar soil, which rapidly increases the required driving traction. In serious cases, it may not be able to continue driving; second, it is mainly used for wheel damage at the same end, such as damage to a single front wheel or double front wheels. After separation, the rear part of the vehicle functions intact, but when one front and one rear wheel is damaged, it will not be possible to return safely. The passive wheel is in the middle of the vehicle body, so it is impossible to release the passive wheel to replace the active wheel function when the two vehicles are not separated. Comprehensive analysis shows that this patent provides a method to improve safety, but it still has defects and needs to be improved. Summary of the invention

[0005] The technical problem solved by the present invention is: to propose a solution for separating a large four-wheel vehicle into two small four-wheel vehicles, so as to solve the problems of insufficient safety measures for failure modes and poor driving stability of the existing manned lunar rover solution.

[0006] The technical solution of the present invention is: a variable configuration manned lunar rover mobile system, comprising a base plate, four driving wheels and a passive wheel, wherein the passive wheels are four; two of the passive wheels are symmetrically installed on both sides of the detachable surface of the base plate; each driving wheel has independent drive and independent steering;

[0007] When the driving wheels are not faulty, there are two configurations: the unseparated configuration, in which the four passive wheels are pressed tightly above the bottom plate, and the four driving wheels are used to move the vehicle; the separated configuration, in which all the passive wheels are lowered, the bottom plate is separated, and each separated vehicle uses two driving wheels and two passive wheels to move the vehicle.

[0008] When the driving wheel fails, there are two types of configurations. One type of configuration lifts the failed driving wheel and lowers the passive wheel that is on the same side as the failed driving wheel and closest to it. The other type of configuration, when a single driving wheel fails, or two driving wheels at the same end fail, lowers the two passive wheels at the non-failed end of the driving wheel, separates the bottom plate, and the separation vehicle uses two driving wheels and two passive wheels to move.

[0009] Preferably, each passive wheel is mounted on the bottom plate via a rocker arm, and typical actions during the lowering process of the passive wheel include pressing, lifting, lowering, and rearward rocking after separation;

[0010] The rocker arm includes a root section and a rocker arm section, and the rocker arm section is fixed, unlocked, and locked in two gears relative to the base plate through two mutually orthogonal rotation axes, and the rocker arm section and the wheel are rotated, unlocked, and locked in three gears relative to the root section; the two gears include the gear position when the passive wheel is pressed against the base plate, and the gear position when the passive wheel is lowered and lifted into place; the three gears include the fixed gear position, the lowering gear position, and the rear rocking gear position in the pressing and lifting action.

[0011] Preferably, the rocker arm section is designed with a revolute pair and a leaf spring, so that the passive wheel rocker arm has elasticity and damping, provides terrain fluctuation buffering and vibration attenuation during driving, and improves driving comfort.

[0012] Preferably, the root section comprises a first rotation axis and a second rotation axis which are orthogonal to each other;

[0013] The first rotating shaft comprises a base, a root toothed disc, a tooth seat, a rocker arm and a root connecting piece, a root compression spring, a root end cover, a root compression spring end cover, a root pressure plate bracket, a root pressure plate, and a root pressure plate push rod; the rocker arm and the root connecting piece are sleeved on the base; the tooth seat is fixedly mounted on the outer side of the side wall of the rocker arm and the root connecting piece, and the tooth seat has two groups of tooth grooves; the root toothed disc is inserted into the inner cavity of the base from the outside of the tooth seat, and the root spring is sleeved on the inner cavity end of the root toothed disc and axially limited by the root compression spring end cover; the root end cover is fixedly mounted on the side of the tooth seat opposite to the rocker arm and the root connecting piece, and the root pressure plate push rod passes through the root end cover and is connected to the end of the root toothed disc to form a main rotating shaft formed by the root pressure plate push rod and the root toothed disc;

[0014] The root pressure plate push rod is located at one end of the outer side of the root end cover and is hinged to the root pressure plate. When the root pressure plate is in a state without external pressure, a group of tooth grooves of the gear seat mesh with the teeth in the root toothed disc to achieve locking of the main shaft. When the root pressure plate is subjected to pressure, the root pressure plate pushes the root pressure plate push rod and the root toothed disc to move outward, and the teeth on the root toothed disc are disengaged from the tooth grooves of the gear seat, thereby unlocking the main shaft. When the rocker arm section is lifted into place, the teeth on the root toothed disc are just aligned with another group of tooth grooves of the gear seat. Under the action of the root compression spring, the root toothed disc shrinks inward to achieve locking with the gear seat.

[0015] The second rotating shaft includes a rocker arm gear disc, a rocker arm gear seat, a rocker arm compression spring, a rocker arm compression spring cover plate, a rocker arm pressure plate, and a rocker arm copper sleeve; the rocker arm gear seat is sleeved on the top end of the rocker arm and the root connecting piece, and the rocker arm copper sleeve is installed between the two. Three sets of tooth grooves are arranged on the rocker arm gear seat, and the rocker arm gear disc is inserted into the rocker arm and the root connecting piece from the top end. The rocker arm compression spring is sleeved on the insertion end of the rocker arm gear disc and is limited by the rocker arm compression spring cover plate installed at the end. The rocker arm compression spring cover plate is connected to the rocker arm pressure plate installed on the outer wall of the rocker arm and the root connecting piece. When the second rotating shaft is unlocked, the rocker arm pressure plate is pressed down, which moves the rocker arm. The compression spring cover plate moves inward, thereby driving the rocker sprocket plate to move outward, so that the teeth on the rocker sprocket plate are disengaged from the tooth grooves on the rocker gear seat, that is, the rocker arm is rotated around the second rotating shaft. When it is rotated to the lowered position, the teeth of the sprocket plate and the other set of tooth grooves of the rocker gear seat are aligned, and the rocker arm compression spring pushes the rocker sprocket plate to move inward, and the teeth are inserted into the tooth grooves to achieve locking, and the rocker arm pressure plate is automatically reset under the push of the rocker arm compression spring; when it is necessary to rock back, first press down the rocker arm pressure plate to unlock it, and rotate it to the rear rocking position, so that the teeth of the sprocket plate and the third set of tooth grooves of the rocker gear seat are aligned and locked under the action of the rocker arm compression spring.

[0016] Preferably, there is a protrusion at a position of the rocker arm and the root connecting member close to the root pressure plate, and when it rotates, the protrusion will touch the root pressure plate to automatically return it to the original position.

[0017] Preferably, the root end cover has a stepped cylindrical structure with a flange, the large end of the stepped cylinder passes through the circular holes in the side walls of the rocker arm and the root connector, and the two are fixedly connected by the flange, and the root copper sleeve is sleeved on the small end of the stepped cylinder. The structure of the root copper sleeve satisfies that the root copper sleeve is between the side wall of the base and the inner wall of the rocker arm and the root connector, and between the inner wall of the base and the small end of the stepped cylinder. It acts as a sliding rotating pair to realize the rotation of the first rotating shaft and the axial limited sliding, and relies on the copper material to achieve a lower friction coefficient and a higher load-bearing capacity.

[0018] Preferably, the rocker pressure plate is a bending structure, one end of the bending structure is inserted into the side wall of the rocker spring cover plate, and the other end of the bending structure is the external operating end. The bending structure is installed on the rocker pressure plate mounting seat through the rocker pressure plate shaft screw, and the rocker pressure plate mounting seat is installed on the side wall of the rocker arm and the root connecting member.

[0019] Preferably, the space where the main shaft is located ensures the working environment by installing a dust ring; a rocker arm compression spring dust cover is installed between the rocker arm compression spring cover plate and the inner cavity of the rocker arm and the root connector, which together with the dust ring ensures the working environment of the second shaft.

[0020] Preferably, the rocker arm section includes a rocker arm and root connecting section, a rocker arm and wheel connecting section and a wheel axle assembly;

[0021] The rocker arm and the root connecting section and the rocker arm and the wheel connecting section are connected by a rocker arm rotating shaft. A groove is arranged on the same side of the rocker arm and the root connecting section and the rocker arm and the wheel connecting section for placing a leaf spring. One end of the leaf spring located at the rocker arm and the root connecting section is fixed by a leaf spring fixing plate. A leaf spring sliding plate is installed on the leaf spring. The leaf spring sliding plate is used to provide a limit for the leaf spring so that the leaf spring can only slide in the leaf spring sliding plate, that is, a pulling movement.

[0022] The end of the rocker arm and the wheel connecting section is connected to the wheel through the wheel axle assembly. The end of the rocker arm and the root connecting section is a circular ring structure, which is used to be mounted on the rocker arm gear seat. The connection between the two is a fixed connection. The circular ring structure is provided with holes for operating rotation. The wheel axle assembly includes a housing, a rotating shaft and a pair of angular contact ball bearings, which provide rotational freedom for the passive wheel.

[0023] Preferably, the rocker arm shaft, the rocker arm and root connection section, and the rocker arm and wheel connection section all have many pits at the rocker arm shaft position, and graphite powder is placed in the pits to achieve solid lubrication of the shaft.

[0024] Compared with the prior art, the invention has the following beneficial effects: the mobile system of the invention can solve the problem of unstable driving after being separated into two small three-wheeled vehicles, and the passive wheels are arranged on both sides of the vehicle body so that they can replace the active wheels, so that safe return can be achieved in all fault modes. At the same time, the scheme of the invention has a variety of variable configurations and also has the ability of high-efficiency parallel detection and active detection of two vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 Big 4-wheel vehicle status diagram (with seat)

[0026] Figure 2 Separated double 4-wheel vehicle status diagram (with seat)

[0027] Figure 3 Big 4-wheel vehicle status diagram (without seat)

[0028] Figure 4 Large 4-wheel vehicle lifts 1 passive wheel

[0029] Figure 5 A large 4-wheel vehicle has one passive wheel placed below it

[0030] Figure 6 Large 4-wheel vehicle broken 1 active wheel replaced 1 passive wheel

[0031] Figure 7 The front 2 active wheels of the large 4-wheel vehicle are broken and the 2 passive wheels are replaced

[0032] Figure 8 Big 4 wheel vehicle broken diagonal 2 active wheels 2 passive wheels

[0033] Fig. 9 Large 4-wheel vehicle broken, 2 active wheels on the same side but not on the same end, 2 passive wheels

[0034] Fig.10 Bottom plate assembly diagram

[0035] Fig.11 Passive wheel assembly diagram

[0036] Fig.12 Passive wheel root subassembly Figure 1

[0037] Fig.13 Passive wheel root subassembly Figure 2

[0038] Fig.14 Passive wheel root subassembly Figure 3

[0039] Fig.15 Passive wheel rocker arm subassembly Figure 1

[0040] Fig.16Passive wheel rocker arm subassembly Figure 2 DETAILED DESCRIPTION

[0041] The following is combined with Figure 1-16 The present invention is further described with reference to the examples.

[0042] The manned lunar rover consists of a foldable, unfoldable, and separable base plate and four sets of suspensions. Each of the four sets of suspensions has a driving wheel, and the four wheels are independently driven and independently steered. The four sets of suspensions are connected to the base plate, and the four driving wheels are connected to the corresponding suspensions. In order to cope with failures, the manned lunar rover also carries four sets of passive wheels, which can be relied on to cope with failures when the driving wheels fail. Two foldable seats that can be repeatedly unlocked and locked are placed on the base plate. The present invention has the following characteristics:

[0043] (1) The large four-wheel vehicle is separated into two small four-wheel vehicles through auxiliary passive wheels;

[0044] (2) The auxiliary passive wheel has four states: fixed pressing, lifting, lowering and backward swinging;

[0045] (3) The function of the auxiliary passive wheel is realized by a 2-shaft multi-gear repeated unlocking and locking mechanism;

[0046] (4) The combination of passive and active wheels can cover all operating conditions where 1 to 2 active wheels fail, fully improving astronaut safety;

[0047] (5) The large 4-wheel vehicle can be separated into two small 4-wheel vehicles to achieve fault return and multi-functional detection;

[0048] (6) The vehicle body can be separated in the middle and extended front and back, and the seats can be repeatedly disassembled and locked in multiple positions.

[0049] The variable configuration scheme proposed by the present invention is to convert a large four-wheel vehicle (such as the attached Figure 1 As shown) separate into two small 4-wheel vehicles (as shown in the attached Figure 2 As shown in the figure, the vehicle body is divided into two parts from the front and rear middle surfaces, and each separated vehicle has two driving wheels 4 and two auxiliary driven wheels 3. The four auxiliary driven wheels 3 of the whole vehicle are pressed tightly on the bottom plate 1 when in the large four-wheel vehicle state (as shown in the figure). Figure 1 It will not affect the astronauts' driving and will be unlocked and lifted only when separation is required (as shown in the attached figure). Figure 3 and attached Figure 4 as shown), decentralization (as shown in the attached Figure 5 As shown), after swing (as shown in the attached Figure 2 as shown) in place.

[0050] The front and rear parts of the vehicle are highly consistent, and the base plate 1 is equipped with integrated electronics, batteries and communication units. Therefore, the dual-vehicle separation scheme also achieves double redundancy of key equipment, further improving the safety of astronauts.

[0051] This solution has perfect fault response capability. When one or two of the driving wheels 4 fail, two methods can be used to achieve return. Method 1: lift and lock the failed driving wheel 4 away from the ground, and release the passive wheel 3 at the corresponding position to support it on the side of the vehicle body. In this way, four-wheel travel can be achieved through the undamaged driving wheel 4 and the released passive wheel 3, as shown in the attached figure. Figure 6 , Attachment Figure 7 , Attachment Figure 8 and attached Fig. 9 As shown in the figure, it covers four fault conditions: single driving wheel failure, double driving wheel failure at the same end, and double driving wheel failure at diagonal and side of non-same end. That is, when at most two driving wheels 4 fail, the vehicle still has the ability to return. Method 2: If the damaged driving wheels 4 are not distributed at the front and rear ends of the vehicle (for example, one front and one rear, as shown in the attached figure), the vehicle can still return to the destination. Figure 8 and attached Fig. 9 As shown), only one driving wheel 4 is damaged (as shown in the attached Figure 6 as shown) or the single-end 2 driving wheel 4 is damaged (as shown in the attached Figure 7 As shown), the two vehicles can be separated and only the small 4-wheeled vehicle without damaged driving wheel 4 can be driven back (as shown in the attached Figure 2 shown).

[0052] This solution has the ability of dual-vehicle parallel detection or master-slave detection. When no active wheel 4 is damaged, the large 4-wheel vehicle can still be separated into two small 4-wheel vehicles according to the above method 2, and the two vehicles can detect simultaneously or master-slave detection to improve the detection efficiency. In addition, one of the vehicles can be driven to a more complex and dangerous detection area, and the other vehicle can be used to ensure return, thereby improving the detection capability of the overall task.

[0053] The seat 2 is detachable and can be installed at different positions of the vehicle body as required, and the front and rear directions can be changed. Figure 1 and attached Figure 2 shown.

[0054] The vehicle floor has the ability to connect and separate in the middle and to extend and retract in front of the driving wheel installation surface. Figure 1 , Attachment Figure 2 and attached Fig.10 Specifically, the vehicle floor 1 has a front and rear telescopic mechanism 1-2 for the mounting surface 1-4 of the driving wheel 4, a flip mechanism 1-3 for the mounting surface 1-4 of the driving wheel 4 and a connecting and separating mechanism 1-5 for the middle surface 1-1, as shown in the attached Figure 1 , Attachment Figure 2 and attached Fig.10As shown. The extension and retraction of the mounting surface 1-4 of the driving wheel 4 and the middle surface 1-1 is to achieve the function of lengthening the vehicle body after the vehicle body is separated, and to provide space for the astronauts' legs to move and support. The flipping of the mounting surface 1-4 of the driving wheel 4 relative to the middle surface 1-1 is used to meet the requirements of launch folding and lunar surface unfolding. The connection and separation of the middle surface 1-1 of the driving wheel 4 is used to achieve the double vehicle separation function.

[0055] The passive wheel assembly 3 adopts the configuration of rocker arm (3-1 and 3-2) + wheel 3-3 (as shown in the attached Fig.11 The rocker arm is divided into two sections: the root section 3-1 (as shown in the attached Fig.12 , Attachment Fig.13 And attached Fig.14 As shown) is installed on the vehicle floor 1 to achieve fixation, unlocking and 2-position locking (attached Figure 3 Press and attach as shown Figure 4 The rocker arm end 3-2 is mounted on the root section 3-1 to achieve rotation, unlocking, and 3-position locking (see attached Figure 3 , Attachment Figure 4 The pressing posture shown, Figure 5 The lowered posture and attached Figure 2 The rocker arm section 3-2 is connected to the wheel 3-3.

[0056] The specific structure of the root section 3-1 is shown in the attached Fig.12 , Attachment Fig.13 and attached Fig.14 As shown, it mainly includes two orthogonal rotation axes, which respectively realize the fixing, unlocking, and two-speed locking of the rocker arm section 3-2 relative to the vehicle bottom plate 1 (fixing and lifting constitute 2 gears) and the rotation, unlocking and three-speed locking of the rocker arm section 3-2 and the wheel 3-3 relative to the root section 3-1 (fixing, lowering and rearward swing constitute 3 gears).

[0057] The first rotating shaft is composed of a base 3-1-1, a root gear disc 3-1-12, a gear seat 3-1-23, a rocker arm and a root connecting piece 3-1-21, a root compression spring 3-1-29, a root end cover 3-1-24, a root compression spring end cover 3-1-27, a root pressure plate bracket 3-1-20, a root pressure plate 3-1-18, a root pressure plate push rod 3-1-16, a root pressure plate rotating shaft screw 3-1-19, a root copper sleeve 3-1-6, a root dust ring 3-1-7, a root dust ring 3-1-8, and a root pressure plate push rod dust ring 3-1-14. When the first rotating shaft needs to be unlocked, the root pressure plate 3-1-18 is pressed down by hand or by a tool, thereby pushing the root pressure plate push rod 3-1-16 to move inward, pushing the root toothed disc 3-1-12 to move outward, and the teeth on the root toothed disc 3-1-12 are disengaged from the tooth grooves of the tooth seat 3-1-23, thereby unlocking the main rotating shaft. Then, insert the hand or use a tool into the hole on the rocker arm rotating shaft 3-2-2 to lift the rocker arm 3-2 with the wheel 3-3. After lifting into place, the teeth of the root toothed disc 3-1-12 are just aligned with the second set of tooth grooves of the tooth seat 3-1-23. Under the action of the root compression spring 3-1-29, the root toothed disc 3-1-12 shrinks inward to achieve locking with the tooth seat 3-1-23. The lifting action of the rocker arm 3-2 will drive the rocker arm and the root connecting member 3-1-21 to rotate around the first rotation axis. There is a protrusion (attached) at the position of the rocker arm and the root connecting member 3-1-21 close to the root pressure plate 3-1-18. Fig.13 As can be seen in the figure, when it rotates, the protrusion will touch the root pressure plate 3-1-18 to make it return to the center, and the design of the protrusion needs to be just right. This design can achieve automatic return of the root pressure plate 3-1-18 and reduce the operation of astronauts.

[0058] The second rotating shaft is composed of a rocker arm gear disc 3-1-25, a rocker arm gear seat 3-1-22, a rocker arm compression spring 3-1-28, a rocker arm compression spring cover plate 3-1-26, a rocker arm compression spring dust cover 3-1-9, a rocker arm pressure plate 3-1-15, a rocker arm pressure plate rotating shaft screw 3-1-17, a rocker arm pressure plate mounting seat 3-1-13, a rocker arm copper sleeve 3-1-4, a rocker arm copper sleeve clamping cover 3-1-2, a rocker arm copper baffle 5, a rocker arm lower dust ring 3-1-3, a rocker arm upper dust ring 3-1-10 and a rocker arm upper dust ring 3-1-11. When the second rotating shaft is unlocked, the rocker arm pressure plate 3-1-15 is pressed down, which moves the rocker arm compression spring cover plate 3-1-26 inward, and then drives the rocker arm toothed disc 3-1-25 outward, so that the teeth on the rocker arm toothed disc 3-1-25 are disengaged from the tooth grooves on the rocker arm tooth seat 3-1-22, and then the rocker arm 3-2 can be rotated around the second rotating shaft, and it can be automatically locked when it rotates to the next position. The automatic locking principle is that the rocker arm compression spring 3-1-28 pushes the rocker arm toothed disc 3-1-25 to move inward, and when the teeth of the toothed disc 3-1-25 and the tooth grooves of the rocker arm tooth seat 3-1-22 are aligned, the teeth can be inserted into the tooth grooves to achieve locking. There are 3 pairs of tooth grooves on the rocker arm tooth seat 3-1-22, so 3 positions can be locked. When re-locking, the rocker arm pressure plate 3-1-15 can be automatically reset under the push of the compression spring, and the rocker arm copper baffle 5 only plays a limiting role to prevent the 3-1-22 parts from sliding upward from the copper sleeve. Fig.13 shown.

[0059] The specific structure of the rocker arm section 3-2 is shown in the attached Fig.15 and attached Fig.16 As shown. It consists of a rocker arm and root connection section 3-2-9, a rocker arm and wheel connection section 3-2-10 and a wheel shaft assembly 3-2-1. There is a rocker arm shaft assembly between the rocker arm and root connection section 3-2-9 and the rocker arm and wheel connection section 3-2-10. The rocker arm shaft assembly consists of a rocker arm shaft 3-2-2, a rocker arm shaft cover plate 3-2-3, a rocker arm shaft copper sleeve 3-2-5, and a rocker arm shaft copper gasket 3-2-4, which provides the rotational freedom between the two sections of the rocker arm. There are also leaf springs 3-2-7, leaf spring fixing plates 3-2-8 and leaf spring sliding plates 3-2-6 between the two sections of the rocker arm, and the leaf springs provide bending elasticity and damping between the two sections of the rocker arm. There are many pits on the rocker arm shaft 3-2-2, the rocker arm and root connection section 3-2-9, and the rocker arm and wheel connection section 3-2-10. Graphite powder is placed in the pits to achieve solid lubrication of the shaft. The leaf spring 3-2-7 can achieve bending elasticity on the rocker arm. The leaf spring 3-2-7 has multiple pieces. When it is fully deformed, different pieces will rub against each other, so it can achieve a bending damping effect. There are two holes for operating levers on the rocker arm and root connection section 3-2-9 (see attached Fig.15As shown in the figure, the operating rod is inserted into the hole to realize the easy rotation of the rocker arm, which is used to realize the lifting, lowering and rearward swinging of the wheel. The use of the operating rod is also convenient for astronauts to operate and exert force. The operating rod can be made of a round tube.

[0060] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. A variable configuration manned lunar rover mobile system, comprising a base plate, four driving wheels and a passive wheel, characterized in that: There are four passive wheels, which are symmetrically installed on both sides of the detachable surface of the bottom plate in pairs; each active wheel has independent drive and independent steering; When the driving wheels are not faulty, there are two configurations: the unseparated configuration, in which the four passive wheels are pressed tightly above the bottom plate, and the four driving wheels are used to move the vehicle; the separated configuration, in which all the passive wheels are lowered, the bottom plate is separated, and each separated vehicle uses two driving wheels and two passive wheels to move the vehicle. When the driving wheel fails, there are two types of configurations. One type of configuration lifts the failed driving wheel and lowers the passive wheel that is on the same side as the failed driving wheel and closest to it. The other type of configuration, when a single driving wheel fails, or two driving wheels at the same end fail, lowers the two passive wheels at the non-failed end of the driving wheel, separates the bottom plate, and the separation vehicle uses two driving wheels and two passive wheels to move.

2. The variable configuration manned lunar rover mobile system according to claim 1 is characterized in that: Each passive wheel is mounted on the bottom plate through a rocker arm. The typical actions of the passive wheel lowering process include pressing, lifting, lowering, and shaking after separation; The rocker arm includes a root section and a rocker arm section, and the rocker arm section is fixed, unlocked, and locked in two gears relative to the base plate through two mutually orthogonal rotation axes, and the rocker arm section and the wheel are rotated, unlocked, and locked in three gears relative to the root section; the two gears include the gear position when the passive wheel is pressed against the base plate, and the gear position when the passive wheel is lowered and lifted into place; the three gears include the fixed gear position, the lowering gear position, and the rear rocking gear position in the pressing and lifting action.

3. The variable configuration manned lunar rover mobile system according to claim 2 is characterized in that: The rocker arm section is designed with a revolving pair and a leaf spring, so that the passive wheel rocker arm has elasticity and damping, provides terrain fluctuation buffering and vibration attenuation during driving, and improves driving comfort.

4. The variable configuration manned lunar rover mobile system according to claim 2 or 3, characterized in that: The root section includes a first rotation axis and a second rotation axis which are orthogonal to each other; The first rotating shaft comprises a base, a root toothed disc, a tooth seat, a rocker arm and a root connecting piece, a root compression spring, a root end cover, a root compression spring end cover, a root pressure plate bracket, a root pressure plate, and a root pressure plate push rod; the rocker arm and the root connecting piece are sleeved on the base; the tooth seat is fixedly mounted on the outer side of the side wall of the rocker arm and the root connecting piece, and the tooth seat has two groups of tooth grooves; the root toothed disc is inserted into the inner cavity of the base from the outside of the tooth seat, and the root spring is sleeved on the inner cavity end of the root toothed disc and axially limited by the root compression spring end cover; the root end cover is fixedly mounted on the side of the tooth seat opposite to the rocker arm and the root connecting piece, and the root pressure plate push rod passes through the root end cover and is connected to the end of the root toothed disc to form a main rotating shaft formed by the root pressure plate push rod and the root toothed disc; The root pressure plate push rod is located at one end of the outer side of the root end cover and is hinged to the root pressure plate. When the root pressure plate is in a state without external pressure, a group of tooth grooves of the gear seat mesh with the teeth in the root toothed disc to achieve locking of the main shaft. When the root pressure plate is subjected to pressure, the root pressure plate pushes the root pressure plate push rod and the root toothed disc to move outward, and the teeth on the root toothed disc are disengaged from the tooth grooves of the gear seat, thereby unlocking the main shaft. When the rocker arm section is lifted into place, the teeth on the root toothed disc are just aligned with another group of tooth grooves of the gear seat. Under the action of the root compression spring, the root toothed disc shrinks inward to achieve locking with the gear seat. The second rotating shaft includes a rocker arm gear disc, a rocker arm gear seat, a rocker arm compression spring, a rocker arm compression spring cover plate, a rocker arm pressure plate, and a rocker arm copper sleeve; the rocker arm gear seat is sleeved on the top end of the rocker arm and the root connecting piece, and the rocker arm copper sleeve is installed between the two. Three sets of tooth grooves are arranged on the rocker arm gear seat, and the rocker arm gear disc is inserted into the rocker arm and the root connecting piece from the top end. The rocker arm compression spring is sleeved on the insertion end of the rocker arm gear disc and is limited by the rocker arm compression spring cover plate installed at the end. The rocker arm compression spring cover plate is connected to the rocker arm pressure plate installed on the outer wall of the rocker arm and the root connecting piece. When the second rotating shaft is unlocked, the rocker arm pressure plate is pressed down, which moves the rocker arm. The compression spring cover plate moves inward, thereby driving the rocker sprocket plate to move outward, so that the teeth on the rocker sprocket plate are disengaged from the tooth grooves on the rocker gear seat, that is, the rocker arm is rotated around the second rotating shaft. When it is rotated to the lowered position, the teeth of the sprocket plate and the other set of tooth grooves of the rocker gear seat are aligned, and the rocker arm compression spring pushes the rocker sprocket plate to move inward, and the teeth are inserted into the tooth grooves to achieve locking, and the rocker arm pressure plate is automatically reset under the push of the rocker arm compression spring; when it is necessary to rock back, first press down the rocker arm pressure plate to unlock it, and rotate it to the rear rocking position, so that the teeth of the sprocket plate and the third set of tooth grooves of the rocker gear seat are aligned and locked under the action of the rocker arm compression spring.

5. The variable configuration manned lunar rover mobile system according to claim 4 is characterized in that: There is a protrusion at the position of the rocker arm and the root connecting piece close to the root pressure plate. When it rotates, the protrusion will touch the root pressure plate to automatically return it to the center.

6. The variable configuration manned lunar rover mobile system according to claim 4, characterized in that: The root end cover has a stepped cylindrical structure with a flange, the large end of the stepped cylinder passes through the circular holes in the side walls of the rocker arm and the root connector, and the two are fixedly connected by the flange. The root copper sleeve is sleeved on the small end of the stepped cylinder. The structure of the root copper sleeve satisfies that the root copper sleeve is between the side wall of the base and the inner wall of the rocker arm and the root connector, and between the inner wall of the base and the small end of the stepped cylinder. It acts as a sliding rotating pair to realize the rotation of the first rotating shaft and the axial limited sliding, and relies on the copper material to achieve a lower friction coefficient and a higher load-bearing capacity.

7. The variable configuration manned lunar rover mobile system according to claim 4, characterized in that: The rocker pressure plate is a bending structure, one end of the bending structure is inserted into the side wall of the rocker spring cover plate, and the other end of the bending structure is the external operating end. The bending structure is installed on the rocker pressure plate mounting seat through the rocker pressure plate shaft screw, and the rocker pressure plate mounting seat is installed on the side wall of the rocker arm and the root connecting piece.

8. The variable configuration manned lunar rover mobile system according to claim 4 is characterized by: The space where the main shaft is located ensures the working environment by installing a dust ring; a rocker arm compression spring dust cover is installed between the rocker arm compression spring cover plate and the inner cavity of the rocker arm and the root connecting piece, which together with the dust ring ensures the working environment of the second shaft.

9. The variable configuration manned lunar rover mobile system according to claim 4, characterized in that: The rocker arm section includes a rocker arm and root connection section, a rocker arm and wheel connection section and a wheel axle assembly; The rocker arm and the root connecting section and the rocker arm and the wheel connecting section are connected by a rocker arm rotating shaft. A groove is arranged on the same side of the rocker arm and the root connecting section and the rocker arm and the wheel connecting section for placing a leaf spring. One end of the leaf spring located at the rocker arm and the root connecting section is fixed by a leaf spring fixing plate. A leaf spring sliding plate is installed on the leaf spring. The leaf spring sliding plate is used to provide a limit for the leaf spring so that the leaf spring can only slide in the leaf spring sliding plate, that is, a pulling movement. The end of the rocker arm and the wheel connecting section is connected to the wheel through the wheel axle assembly. The end of the rocker arm and the root connecting section is a circular ring structure, which is used to be mounted on the rocker arm gear seat. The connection between the two is a fixed connection. The circular ring structure is provided with holes for operating rotation. The wheel axle assembly includes a housing, a rotating shaft and a pair of angular contact ball bearings, which provide rotational freedom for the passive wheel.

10. The variable configuration manned lunar rover mobile system according to claim 9, characterized in that: There are many pits on the rocker arm shaft, the rocker arm and root connection section, and the rocker arm and wheel connection section. Graphite powder is placed in the pits to achieve solid lubrication of the shaft.

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