Variable configuration lunar rover mobility system

Abstract

The application provides a variable configuration lunar rover moving system, which comprises a bottom plate, four driving wheels and four passive wheels, the passive wheels are symmetrically installed on two sides of the separable surface of the bottom plate, each driving wheel has independent driving and independent steering, when the driving wheels are not faulty, two configurations are included, an unseparated configuration, in which the four passive wheels are pressed on the top of the bottom plate, and the four driving wheels are used for moving work, and a separated configuration, in which all the passive wheels are put down, the bottom plate is separated, each separated vehicle uses two driving wheels and two passive wheels for moving work, when the driving wheels are faulty, two configurations are included, one configuration lifts the faulty driving wheel, and the passive wheel on the same side and closest to the faulty driving wheel is put down, and the other configuration, when a single driving wheel is faulty or two driving wheels at the same end are faulty, the two passive wheels on the non-faulty end of the driving wheel are put down, the bottom plate is separated, and each separated vehicle uses two driving wheels and two passive wheels for moving work.

Description

TECHNICAL FIELD

[0001] The present application relates to a variable configuration manned lunar rover movement system. Passive wheel auxiliary driving and separation into small 4-wheel vehicles for individual return in fault conditions are achieved through configuration transformation between passive wheels and active wheels to improve astronaut safety, and after separation, the system can have the ability of parallel detection and master-slave detection to improve detection efficiency. BACKGROUND

[0002] The manned lunar rover is an important transportation tool for astronauts to perform tasks on the moon in the future. Limited by launch weight and volume requirements, it needs to be given as many functions as possible in a limited design space, mainly including detection functions and safety functions. Detection efficiency is particularly important, and the power and life support resources of the manned lunar rover and spacesuits are limited, so the manned lunar rover needs to have high reliability and return capability in the event of a failure to ensure astronaut safety.

[0003] The manned lunar rover that has successfully landed on the moon many times is the Apollo lunar rover of the United States, which adopts a 4-wheel folding configuration, is folded for launch, and is unfolded on the moon. Its variable configuration is only used to meet the unfolding requirement after launch. The four wheels of the Apollo lunar rover are all active wheels, and when a wheel rotation failure occurs, the drive can be unlocked to turn it into a passive wheel, which relies on the remaining wheels to drive to maintain driving. This method can provide some fault response capability, but when the wheel surface fails or the wheel has no driving capability (such as abnormal jamming), the entire vehicle will not be able to drive, and astronauts will still face a threat to their lives. Therefore, a new type of manned lunar rover needs to improve safety through other means.

[0004] Patent: A separable reconfigurable large foldable manned lunar rover, CN202210930140.3, proposed by Beijing Spacecraft General Design Department, provides a configuration scheme in which a large 4-wheel vehicle is separated into two small 3-wheel vehicles, achieving the separation of the two vehicles when an active wheel fails, using the function of the undamaged small 3-wheel vehicle to return, ensuring astronaut safety, and also having the ability of parallel detection after separation. The passive wheels of this system are folded on the bottom plate of the vehicle and need to be released and supported on the moon surface when separation is required. It has several obvious shortcomings: first, the driving stability of a 3-wheel vehicle is poor, and when two people drive, the smaller passive wheels bear a large weight, which can easily sink into soft lunar soil, causing the required driving force to increase rapidly, and in severe cases, the vehicle may not be able to continue driving; second, it is mainly used for damage to the wheels on the same end, such as single front wheel or double front wheel damage, and the function of the rear part of the vehicle is intact after separation, but when one front and one rear wheel are damaged, it cannot achieve safe return, and the passive wheels are in the middle of the vehicle, so it cannot replace the function of the active wheels by releasing the passive wheels when the two vehicles are not separated. In summary, this patent provides a method to improve safety, but there are still defects and the need for improvement. SUMMARY

[0005] The technical problem solved by the present application is to provide a scheme for separating a large 4-wheel vehicle into two small 4-wheel vehicles, and to solve the problems of insufficient fault mode safety measures and poor driving stability of the existing manned lunar rover scheme.

[0006] The technical solution of the present application is a variable-configuration manned lunar rover moving system, comprising a bottom plate, four active wheels, and four passive wheels, which are symmetrically installed on both sides of the separable surface of the bottom plate, and each active wheel has independent driving and independent steering.

[0007] When the active wheels are fault-free, there are two configurations, an undivided configuration in which the four passive wheels are pressed tightly above the bottom plate, and a divided configuration in which all passive wheels are lowered, the bottom plate is separated, and each separated vehicle moves with two active wheels and two passive wheels.

[0008] When the active wheels are faulty, there are two configurations, one configuration lifts the faulty active wheel and lowers the passive wheel on the same side and closest to the faulty active wheel, and the other configuration lowers the two passive wheels on the non-faulty end of the active wheel when a single active wheel or both active wheels on the same end are faulty, the bottom plate is separated, and the separated vehicle moves with two active wheels and two passive wheels.

[0009] Preferably, each passive wheel is installed on the bottom plate through a rocker arm, and the typical actions in the passive wheel lowering process include pressing, lifting, lowering, and post-rotation after separation.

[0010] The rocker arm comprises a root section and a rocker arm section, and the rotation of the rocker arm section relative to the bottom plate is achieved through two mutually orthogonal rotation axes, and the rotation of the rocker arm section and the wheel relative to the root section is achieved through a third rotation axis; the two gears include a gear for pressing the passive wheel against the bottom plate and a gear for lifting the passive wheel when it is lowered; and the three gears include a fixed gear for pressing and lifting, a lowering gear, and a post-rotation gear.

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

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

[0013] The first rotating shaft comprises a base, a root gear, a gear holder, a rocker arm and a root connector, a root compression spring, a root end cover, a root compression spring end cover, a root pressing plate support, a root pressing plate and a root pressing plate push rod. The rocker arm and the root connector are sleeved on the base. The gear holder is fixed outside the side wall of the rocker arm and the root connector, and two sets of gear slots are formed on the gear holder. The root gear is inserted into the inner cavity of the base from outside the gear holder. The root spring is sleeved in the inner cavity of the root gear and is axially limited by the root compression spring end cover. The root end cover is fixed on the side of the gear holder opposite to the rocker arm and the root connector. The root pressing plate push rod is connected with the end of the root gear through the root end cover, and the root pressing plate push rod and the root gear form the root rotating shaft.

[0014] One end of the root pressing plate push rod outside the root end cover is hinged with the root pressing plate. When the root pressing plate is not pressed by external force, one set of gear slots of the gear holder is engaged with the teeth in the root gear to lock the root rotating shaft. When the root pressing plate is pressed by external force, the root pressing plate pushes the root pressing plate push rod and the root gear to move outward, the teeth on the root gear are disengaged from the gear slots of the gear holder, and the root rotating shaft is unlocked. When the rocker arm segment is lifted to the right position, the teeth on the root gear are aligned with the other set of gear slots of the gear holder. Under the action of the root spring, the root gear is retracted to be locked with the gear holder.

[0015] The second rotating shaft comprises a rocker arm gear, a rocker arm gear holder, a rocker arm compression spring, a rocker arm compression spring cover plate, a rocker arm pressing plate and a rocker arm copper sleeve. The rocker arm gear holder is sleeved on the top end of the rocker arm and the root connector, and the rocker arm copper sleeve is installed between the rocker arm gear holder and the rocker arm and the root connector. Three sets of gear slots are arranged on the rocker arm gear holder. The rocker arm gear is inserted into the rocker arm and the root connector from the top end. The rocker arm compression spring is sleeved in the inserted end of the rocker arm gear and is limited by the rocker arm compression spring cover plate installed at the end. The rocker arm compression spring cover plate is connected with the rocker arm pressing plate installed on the outer wall of the rocker arm and the root connector. When the second rotating shaft is unlocked, the rocker arm pressing plate is pressed downward, the rocker arm compression spring cover plate is moved inward, and the rocker arm gear is moved outward, so that the teeth on the rocker arm gear are disengaged from the gear slots on the rocker arm gear holder, and the rocker arm is rotated around the second rotating shaft. When the rocker arm is rotated to the lower position, the teeth on the rocker arm gear are aligned with the other set of gear slots on the rocker arm gear holder. The rocker arm compression spring pushes the rocker arm gear to move inward, and the teeth are inserted into the gear slots to be locked. The rocker arm pressing plate is automatically reset under the action of the rocker arm compression spring. When the rocker arm needs to be rotated backward, the rocker arm pressing plate is first pressed downward to be unlocked, the rocker arm is rotated to the backward position, the teeth on the rocker arm gear are aligned with the third set of gear slots on the rocker arm gear holder, and the rocker arm gear is locked under the action of the rocker arm compression spring.

[0016] Preferably, a protrusion is arranged on the rocker arm and the root connector near the root pressing plate. When the rocker arm and the root connector are rotated, the protrusion touches the root pressing plate to automatically return to the normal 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 round hole in the side wall of the rocker arm and the root connecting piece, and the two are fixedly connected through the flange, the root copper sleeve is sleeved on the small end of the stepped cylinder, and the structure of the root copper sleeve meets the requirements that the root copper sleeve is between the side wall of the base and the inner wall of the rocker arm and the root connecting piece and between the inner wall of the base and the small end of the stepped cylinder, the root copper sleeve serves as a sliding rotary pair to realize rotation of the first rotating shaft and limited sliding in the axial direction, and the copper material is used to realize a low friction coefficient and a high bearing capacity.

[0018] Preferably, the rocker arm pressing plate has a bent structure, one end of the bent structure is inserted into the side wall of the rocker arm pressing spring cover plate, the other end of the bent structure is an external operation end, the bent structure is installed on the rocker arm pressing plate mounting seat through a rocker arm pressing plate rotating shaft screw, and the rocker arm pressing plate mounting seat is installed on the side wall of the rocker arm and the root connecting piece.

[0019] Preferably, the space where the main rotating shaft is located is ensured to have a working environment through installation of a dustproof ring; and a rocker arm pressing spring dustproof cover is installed between the rocker arm pressing spring cover plate and the inner cavity of the rocker arm and the root connecting piece, and together with the dustproof ring, the working environment of the second rotating shaft is ensured.

[0020] Preferably, the rocker arm section comprises a rocker arm and root connecting section, a rocker arm and wheel connecting section, and a wheel shaft assembly.

[0021] The rocker arm and root connecting section and the rocker arm and wheel connecting section are connected through a rocker arm rotating shaft, and recesses are arranged on the same side of the rocker arm and root connecting section and the rocker arm and wheel connecting section for placing leaf springs; one end of the rocker arm and root connecting section is fixed through a leaf spring fixing plate, a leaf spring sliding plate is installed on the leaf spring, and the leaf spring sliding plate is used to limit the leaf spring so that the leaf spring can only slide in the leaf spring sliding plate, that is, the leaf spring can only move in the pulling mode.

[0022] The end of the rocker arm and wheel connecting section is connected with the wheel through the wheel shaft assembly, and the end of the rocker arm and root connecting section has a circular ring structure for sleeving on the rocker arm tooth seat, the two are fixedly connected, and a hole for operation and rotation is arranged on the circular ring structure; the wheel shaft assembly comprises a shell, a rotating shaft and a pair of angular contact ball bearings, and provides the passive wheel with a rotating degree of freedom.

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

[0024] The beneficial effects of the present application compared with the prior art are: the mobile system of the present application can solve the problem of unstable driving after separation into a double small 3-wheel vehicle, and the passive wheels arranged on both sides of the vehicle body have the ability to replace the active wheels, so that safe return under all failure modes can be realized. At the same time, the present application has multiple variable configurations, and also has the ability of double-vehicle efficient parallel detection and active detection. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 Large 4-wheel vehicle state diagram (with seat)

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

[0027] Figure 3 Large 4-wheel vehicle state diagram (without seat)

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

[0029] Figure 5 Large 4-wheel vehicle lowering 1 passive wheel

[0030] Figure 6 Large 4-wheel vehicle replacing 1 passive wheel with 1 active wheel

[0031] Figure 7 Large 4-wheel vehicle replacing 2 passive wheels with 2 front active wheels

[0032] Figure 8 Large 4-wheel vehicle replacing 2 passive wheels with 2 opposite diagonal active wheels

[0033] Figure 9 Large 4-wheel vehicle replacing 2 passive wheels with 2 same-side non-same-end active wheels

[0034] Figure 10 Bottom plate assembly diagram

[0035] Figure 11 Passive wheel assembly diagram

[0036] Figure 12 Passive wheel root subassembly Figure 1

[0037] Figure 13 Passive wheel root subassembly Figure 2

[0038] Figure 14 Passive wheel root subassembly Figure 3

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

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

[0041] The following description will be made in conjunction with the accompanying drawings Figures 1-16 The embodiments further illustrate the present application.

[0042] The manned lunar rover is composed of a foldable, deployable and separable bottom plate and four sets of suspensions, each set of suspension having one active wheel, and the four wheels being independently driven and independently steered. The four sets of suspensions are connected to the bottom plate, and the four active 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 achieve failure response when the active wheels fail. Two foldable seats that can be repeatedly unlocked and locked are placed on the bottom plate. The present application has the following characteristics:

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

[0044] (2) The auxiliary passive wheels have four states of fixed compression, lifting, lowering and rear swinging;

[0045] (3) The functions of the auxiliary passive wheels are realized by means of a two-rotor multi-gear repeated unlocking and locking mechanism;

[0046] (4) The combination between the passive wheels and the active wheels can cover all working conditions of 1-2 active wheel failures, and fully improve the safety of astronauts;

[0047] (5) The separation of the large four-wheel vehicle into two small four-wheel vehicles can realize both failure return and multifunctional detection;

[0048] (6) The vehicle body can realize middle separation and front and rear elongation, and the seats can realize repeated disassembly and multi-position locking.

[0049] The variable structure scheme proposed in the present application separates the large four-wheel vehicle (as shown in Fig. 1) into two small four-wheel vehicles (as shown in Fig. 2), and the vehicle body is divided into two from the middle surface, and each separated vehicle has two active wheels 4 and two auxiliary passive wheels 3. The four auxiliary passive wheels 3 of the whole vehicle are all pressed on the bottom plate 1 (as shown in Fig. 1) in the state of the large four-wheel vehicle, which does not affect the driving of astronauts, and are only unlocked and lifted (as shown in Figs. 3 and 4), lowered (as shown in Fig. 5) and swung rearward (as shown in Fig. 6) to the right position when separation is needed. Figure 1 Figure 2 Figure 1 Figure 3 Figure 4 Figure 5 Figure 2

[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 comprehensive fault response capabilities. When one or two drive wheels 4 malfunction, two methods can be used to achieve return to the starting point. Method 1: Lift and lock the malfunctioning drive wheel 4 off the ground, while simultaneously releasing the corresponding driven wheel 3 to support it on the side of the vehicle body. In this way, four-wheel travel is achieved through the undamaged drive wheels 4 and the released driven wheels 3, as shown in the attached diagram. Figure 6 Appendix Figure 7 Appendix Figure 8 and attached Figure 9 As shown, this covers four fault conditions: single drive wheel failure, dual drive wheel failure at the same end, and dual drive wheel failures diagonally or on the same side at different ends. This means that even when a maximum of two drive wheels 4 fail, the vehicle still has the ability to return to its starting point. Method Two: If the damaged drive wheels 4 are not located at the front or rear ends of the vehicle (e.g., one in front and one behind, as shown in the attached diagram)... Figure 8 and attached Figure 9 As shown), only one drive wheel 4 is damaged (as attached). Figure 6 (as shown) or single-end 2 drive wheel 4 is damaged (as shown in the attached image) Figure 7 As shown), the two vehicles can be separated, and only the small 4-wheeled vehicle with the undamaged drive wheel 4 can be driven back (as shown in the attached diagram). Figure 2 (As shown).

[0052] This scheme features dual-vehicle parallel detection or master-slave detection capabilities. Even when no drive wheel 4 is damaged, the large 4-wheel vehicle can still be separated into two smaller 4-wheel vehicles using Method Two described above. Both vehicles can then conduct simultaneous or master-slave detection, improving detection efficiency. Furthermore, one vehicle can be driven to a more complex and dangerous detection area, while the other vehicle ensures the return trip, enhancing the overall detection capability of the mission.

[0053] Seat 2 is removable and can be installed in different positions on the vehicle body as needed. Its fore-aft orientation can also be changed, as shown in the attached document. Figure 1 and attached Figure 2 As shown.

[0054] The chassis has the ability to connect and separate at the middle surface and to extend and retract in front of the drive wheel mounting area, as shown in the attached document. Figure 1 Appendix Figure 2 and attached Figure 10 As shown. Specifically, the vehicle floor 1 has a front and rear telescopic mechanism 1-2 for the mounting surface 1-4 of the drive wheel 4, a tilting mechanism 1-3 for the mounting surface 1-4 of the drive wheel 4, and a connecting and separating mechanism 1-5 for the middle surface 1-1, as shown in the attached figure. Figure 1 Appendix Figure 2 and attached Figure 10The active wheel 4 mounting surface 1-4 and the intermediate surface 1-1 are telescopic to provide astronauts with leg movement and support space after the vehicle body is separated. The active wheel 4 mounting surface 1-4 is flipped relative to the intermediate surface 1-1 to meet the launch folding and lunar surface unfolding requirements. The active wheel 4 intermediate surface 1-1 is connected and separated to realize the function of separating the double vehicle.

[0055] The passive wheel assembly 3 adopts a rocker arm (3-1 and 3-2) + wheel 3-3 configuration (as shown in FIG. 3), and the rocker arm is divided into two sections: a root section 3-1 (as shown in FIG. 4) mounted on the vehicle floor 1 to realize fixation, unlocking, and two-gear locking (as shown in FIG. 5 for pressing and as shown in FIG. 6 for lifting), and a rocker arm end 3-2 mounted on the root section 3-1 to realize rotation, unlocking, and three-gear locking (as shown in FIG. 7 for pressing, as shown in FIG. 8 for lowering, and as shown in FIG. 9 for rocking). Figure 11 Figure 12 Figure 13 Figure 14 Figure 3 Figure 4 Figure 3 Figure 4 Figure 5 Figure 2

[0056] The specific structure of the root section 3-1 is shown in FIG. 10, FIG. 11, and FIG. 12, which mainly includes two orthogonal rotation axes, which respectively realize the fixation, unlocking, and two-gear locking (fixation and lifting constitute two gears) of the rocker arm section 3-2 relative to the vehicle floor 1, and the rotation, unlocking, and three-gear locking (fixation, lowering, and rocking constitute three gears) of the rocker arm section 3-2 and the wheel 3-3 relative to the root section 3-1. Figure 12 Figure 13 Figure 14

[0057] ​​​​​​​​​​​​​The first rotating shaft is composed of base 3-1-1, root gear disc 3-1-12, gear seat 3-1-23, rocker arm and root connecting piece 3-1-21, root compression spring 3-1-29, root end cover 3-1-24, root compression spring end cover 3-1-27, root pressing plate support 3-1-20, root pressing plate 3-1-18, root pressing plate push rod 3-1-16, root pressing plate rotating shaft screw 3-1-19, root copper sleeve 3-1-6, root dustproof ring 3-1-7, root dustproof ring 3-1-8, root pressing plate push rod dustproof ring 3-1-14. When the first rotating shaft needs to be unlocked, the root pressing plate 3-1-18 is pressed down by hand or by a tool, and then the root pressing plate push rod 3-1-16 is pushed inward to move, the root gear disc 3-1-12 is pushed outward to move, the teeth on the root gear disc 3-1-12 are out of the tooth groove of the gear seat 3-1-23, and the unlocking of the rotating shaft is realized. Then the hole on the rocker arm rotating shaft 3-2-2 is inserted by hand or using a tool to lift the rocker arm 3-2 with the wheel 3-3. After lifting in place, the teeth of the root gear disc 3-1-12 are just aligned with the second set of tooth grooves of the gear seat 3-1-23, and under the action of the root compression spring 3-1-29, the root gear disc 3-1-12 is retracted inward to realize the locking with the gear seat 3-1-23. The action of lifting the rocker arm 3-2 will drive the rocker arm and root connecting piece 3-1-21 to rotate around the first rotating shaft. There is a protrusion (see the attached drawings) near the root pressing plate 3-1-18 of the rocker arm and root connecting piece 3-1-21, which will touch the root pressing plate 3-1-18 when it rotates, and the design of the protrusion needs to be just right. The design can realize the automatic return of the root pressing plate 3-1-18 and reduce the operation of the astronauts. Figure 13 As can be seen, when it rotates, the protrusion will touch the root pressing plate 3-1-18 to return it to its original position, and the design of the protrusion needs to be just right. The design can realize the automatic return of the root pressing plate 3-1-18 and reduce the operation of the astronauts.

[0058] The second rotating shaft is composed of the rocker arm gear disc 3-1-25, the rocker arm gear base 3-1-22, the rocker arm compression spring 3-1-28, the rocker arm compression spring cover plate 3-1-26, the rocker arm compression spring dust cover 3-1-9, the rocker arm compression plate 3-1-15, the rocker arm compression plate rotating shaft screw 3-1-17, the rocker arm compression plate mounting base 3-1-13, the rocker arm copper sleeve 3-1-4, the rocker arm copper sleeve compression cover 3-1-2, the rocker arm copper baffle 5, the rocker arm lower dustproof ring 3-1-3, the rocker arm upper dustproof ring 3-1-10 and the rocker arm upper dustproof ring 3-1-11. When the second rotating shaft is unlocked, the rocker arm compression plate 3-1-15 is pressed down, which drives the rocker arm compression spring cover plate 3-1-26 to move inward, and then drives the rocker arm gear disc 3-1-25 to move outward, so that the teeth on the rocker arm gear disc 3-1-25 are disengaged from the tooth grooves on the rocker arm gear base 3-1-22, and then the rotation of the rocker arm 3-2 around the second rotating shaft is realized. When it is rotated to the next position, it can be automatically locked. The automatic locking principle is that the rocker arm compression spring 3-1-28 pushes the rocker arm gear disc 3-1-25 to move inward, and when the teeth of the gear disc 3-1-25 are aligned with the tooth grooves of the rocker arm gear base 3-1-22, the teeth can be inserted into the tooth grooves to realize locking. The tooth grooves of the rocker arm gear base 3-1-22 have three pairs, so three positions can be locked. When relocking, the rocker arm compression 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 part from sliding out of the copper sleeve upward, as shown in Figure 13 .

[0059] The specific structure of the rocker arm section 3-2 is shown in the attached Figure 15 and the attached Figure 16 . It is composed of the rocker arm and root connecting section 3-2-9, the rocker arm and wheel connecting section 3-2-10 and the wheel shaft assembly 3-2-1. Between the rocker arm and root connecting section 3-2-9 and the rocker arm and wheel connecting section 3-2-10, there is a rocker arm rotating shaft assembly. The rocker arm rotating shaft assembly is composed of the rocker arm rotating shaft 3-2-2, the rocker arm rotating shaft cover plate 3-2-3, the rocker arm rotating shaft copper sleeve 3-2-5 and the rocker arm rotating shaft copper gasket 3-2-4, which provides the rotating freedom between the two sections of the rocker arm. There are also the plate spring 3-2-7, the plate spring fixing plate 3-2-8 and the plate spring sliding plate 3-2-6 between the two sections of the rocker arm, which provide the bending elasticity and damping between the two sections of the rocker arm. The rocker arm rotating shaft 3-2-2, the rocker arm and root connecting section 3-2-9 and the rocker arm and wheel connecting section 3-2-10 have many pits at the position of the rocker arm rotating shaft, and graphite powder is placed in the pits for solid lubrication of the rotating shaft. The plate spring 3-2-7 can realize the bending elasticity on the rocker arm, and the plate spring 3-2-7 has multiple pieces, which will rub between different pieces when fully deformed, so it can realize the damping effect of bending. The rocker arm and root connecting section 3-2-9 has two holes for the operation lever (as shown in the attached Figure 15The operation lever is inserted into the hole to easily rotate the rocker arm for lifting, lowering and rear rocking of the wheel. The operation lever is a round tube.

[0060] Although the present application has been disclosed with reference to the preferred embodiments, it is not intended to limit the present application, and any person skilled in the art can make possible changes and modifications to the technical solutions of the present application using the disclosed methods and technical contents without departing from the spirit and scope of the present application. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application without departing from the technical solutions of the present application are within the protection scope of the present application.

Claims

1. A variable-configuration manned lunar rover mobility system, comprising a base plate, four active wheels, and passive wheels, characterized in that: There are four passive wheels; they are symmetrically installed in pairs on both sides of the separable surface of the base plate; each driving wheel has independent drive and independent steering. When the drive wheels are functioning properly, there are two configurations: a non-separated configuration, in which all four driven wheels are pressed against the base plate and the four drive wheels are used for movement; and a separated configuration, in which all driven wheels are lowered, the base plate is separated, and each separated vehicle uses two drive wheels and two driven wheels for movement. When the drive wheel fails, there are two configurations. One configuration lifts the failed drive wheel and lowers the nearest driven wheel on the same side as the failed drive wheel. The other configuration, when a single drive wheel fails or two drive wheels at the same end fail, lowers the two driven wheels at the end of the drive wheel that is not failed, the base plate separates, and the separation vehicle moves and works using two drive wheels and two driven wheels. Each passive wheel is mounted on the base plate via a rocker arm. The typical actions during the lowering process of the passive wheel include pressing, lifting, lowering, and rocking back after separation. The rocker arm includes a root section and a rocker arm section, wherein the root section includes a first rotating shaft and a second rotating shaft that are orthogonal to each other; The first rotating shaft includes a base, a root gear disc, a gear seat, a rocker arm and a root connector, a root compression spring, a root end cap, a root compression spring end cap, a root pressure plate bracket, a root pressure plate, and a root pressure plate push rod. The rocker arm and the root connector are fitted onto the base. The gear seat is fixedly mounted on the outer side of the side wall of the rocker arm and the root connector, and the gear seat has two sets of tooth grooves. The root gear disc is inserted into the inner cavity of the base from outside the gear seat. The root spring is fitted onto the inner cavity end of the root gear disc and is axially limited by the root compression spring end cap. The root end cap is fixedly mounted on the side of the gear seat opposite to the rocker arm and the root connector. The root pressure plate push rod passes through the root end cap and connects to the end of the root gear disc, forming the main rotating shaft formed by the root pressure plate push rod and the root gear disc. The root pressure plate push rod is hinged to the root pressure plate at one end outside the root end cover. When the root pressure plate is in a state without external pressure, a set of tooth grooves on the gear seat meshes with the teeth in the root gear disc to lock 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 gear disc to move outward. The teeth on the root gear disc disengage from the tooth grooves of the gear seat, thus unlocking the main shaft. When the rocker arm section is raised to the position, the teeth on the root gear disc are aligned with another set of tooth grooves on the gear seat. Under the action of the root compression spring, the root gear disc retracts inward to lock with the gear seat. The second rotating shaft includes a rocker arm gear plate, 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 fitted onto the top of the rocker arm and the root connector, with the rocker arm copper sleeve installed between them. The rocker arm gear seat has three sets of tooth grooves. The rocker arm gear plate is inserted into the rocker arm and the root connector from the top. The rocker arm compression spring is fitted onto the insertion end of the rocker arm gear plate 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 connector. When the second rotating shaft is unlocked, the rocker arm pressure plate is pressed down, which moves the rocker arm. The spring cover moves outward, which in turn drives the rocker arm gear plate to move outward, so that the teeth on the rocker arm gear plate disengage from the tooth grooves on the rocker arm gear seat, thus realizing the rotation of the rocker arm around the second axis. When it rotates to the lower position, the teeth of the gear plate are aligned with another set of tooth grooves on the rocker arm gear seat. The rocker arm spring pushes the rocker arm gear plate inward, and the teeth insert into the tooth grooves to lock. The rocker arm pressure plate automatically resets under the push of the rocker arm spring. When it is necessary to rock back, first press down the rocker arm pressure plate to unlock it. Then rotate to the rocker back position, the teeth of the gear plate are aligned with the third set of tooth grooves on the rocker arm gear seat, and locked under the action of the rocker arm spring.

2. The variable-configuration manned lunar rover mobility system according to claim 1, characterized in that: The rocker arm section is fixed, unlocked, and locked in two positions relative to the base plate by two mutually orthogonal rotating shafts. The rocker arm section and wheel are rotated, unlocked, and locked in three positions relative to the root section. The two positions include the position when the driven wheel is pressed against the base plate and the position when the driven wheel is lowered and raised to the position. The three positions include the fixed position, the lowering position, and the rocker back position during the pressing and lifting action.

3. The variable-configuration manned lunar rover mobility system according to claim 2, characterized in that: The rocker arm section is designed with a rotating joint and leaf spring, which makes the passive wheel rocker arm elastic and damped, providing buffering of terrain fluctuations and vibration attenuation during driving, thereby improving driving comfort.

4. The variable-configuration manned lunar rover mobility system according to claim 1, characterized in that: There is a protrusion near the root pressure plate on the rocker arm and root connector. When it rotates, the protrusion touches the root pressure plate and automatically returns it to its original position.

5. The variable-configuration manned lunar rover mobility system according to claim 1, characterized in that: The stepped cylindrical structure with a flange at the root end cap has its large end passing through a circular hole in the side wall of the rocker arm and the root connector, and the two are fixedly connected by the flange. The root copper sleeve is fitted onto the small end of the stepped cylinder. The structure of the root copper sleeve satisfies the following conditions: the root copper sleeve is located 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 limiting sliding. It achieves a low coefficient of friction and a high load-bearing capacity by relying on the copper material.

6. The variable-configuration manned lunar rover mobility system according to claim 1, characterized in that: The rocker arm pressure plate has a bent structure. One end of the bent structure is inserted into the side wall of the rocker arm compression spring cover plate, and the other end of the bent structure is the external operating end. The bent structure is installed on the rocker arm pressure plate mounting seat by the rocker arm pressure plate pivot screw. The rocker arm pressure plate mounting seat is installed on the side wall of the rocker arm and the root connector.

7. The variable-configuration manned lunar rover mobility system according to claim 1, characterized in that: The space where the main shaft is located is protected by a dustproof ring to ensure the working environment; a rocker arm compression spring dustproof 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 dustproof ring, ensures the working environment of the second shaft.

8. The variable-configuration manned lunar rover mobility system according to claim 1, 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 is connected to the root section and the rocker arm is connected to the wheel section by a rocker arm pivot. The rocker arm and root section and the rocker arm and wheel section are provided with grooves on the same side for placing the leaf spring. The leaf spring is located at one end of the rocker arm and root section and is fixed by a leaf spring fixing plate. A leaf spring sliding plate is installed on the leaf spring. The purpose of the leaf spring sliding plate is to provide a limit for the leaf spring, so that the leaf spring can only slide within the leaf spring sliding plate, i.e., pull-pull movement. The end of the rocker arm and the wheel connection section is connected to the wheel through the wheel axle assembly. The end of the rocker arm and the root connection section is a ring structure, which is used to fit on the rocker arm gear seat. The connection between the two is a fixed connection. The ring structure is provided with holes for operation rotation. The wheel axle assembly includes a housing, a shaft and a pair of angular contact ball bearings, which provide rotational freedom for the driven wheel.

9. The variable-configuration manned lunar rover mobility system according to claim 8, characterized in that: 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. Graphite powder is placed in the pits to achieve solid lubrication of the shaft.

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