A constant tension suspension mechanism for lunar rover

Abstract

This invention belongs to the field of lunar rover weight reduction and suspension technology, specifically a constant tension suspension mechanism for a lunar rover. It includes a mounting plate, a winch wheel mounting frame A, a balanced winch motor, winch wheel A, a winch wheel mounting frame B, a fine-tuning winch motor, winch wheel B, winch wheel C, wire rope A, wire rope B, a tension sensor, a spring, and wire rope C. This invention achieves weight reduction by continuously providing a preset constant torque through the balanced winch motor, effectively balancing 5 / 6 of the lunar rover's weight. The tension sensor monitors and obtains the spring deformation in real time, allowing the fine-tuning winch motor to make immediate compensations, further maintaining the spring deformation in dynamic equilibrium and ensuring constant tension in the suspension mechanism, enabling the lunar rover to move stably. The overall structure of this invention is relatively simple and highly reliable, effectively avoiding weight reduction failures and inconsistent suspension forces during lunar rover movement.

Description

Technical Field

[0001] This invention belongs to the field of lunar rover weight reduction suspension technology, specifically a lunar rover constant tension suspension mechanism. Background Technology

[0002] Due to the unique characteristics of the lunar surface, lunar rovers often encounter deep craters or protrusions during exploration, causing changes in wheel pressure and impacting engineering exploration. Currently, some lunar rovers typically require a supporting rig or other spacecraft located above the rover to connect to it via a hoisting mechanism to balance 5 / 6 of the rover's gravity.

[0003] The existing suspension mechanisms cannot solve the problem of tension changes caused by wheel pressure variations during lunar rover movement. In other words, when the lunar rover suddenly encounters deep craters or protruding slopes, it may experience weight reduction failure and inconsistent suspension force during movement. Summary of the Invention

[0004] To address the aforementioned problems, the present invention aims to provide a constant tension suspension mechanism for lunar rovers.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A constant tension suspension mechanism for a lunar rover includes a mounting plate, a winch wheel mounting frame A, a balanced winch motor, a winch wheel A, a winch wheel mounting frame B, a fine-tuning winch motor, a winch wheel B, a winch wheel C, a wire rope A, a wire rope B, a tension sensor, a spring, and a wire rope C. The mounting plate is mounted on an external lifting device.

[0007] The winch mounting bracket A and winch mounting bracket B are respectively mounted on the mounting plate. The axle of the winch A is rotatably connected to the winch mounting bracket A. The housing of the balancing winch motor is mounted on the winch mounting bracket A. The drive end of the balancing winch motor is connected to the axle of the winch A. The shafts of the winch B and the winch C are respectively rotatably connected to the winch mounting bracket B. The winch B and the winch C are coaxially connected. The housing of the fine-tuning winch motor is mounted on the winch mounting bracket B. The drive end of the fine-tuning winch motor is connected to the axle of the winch C.

[0008] One end of the wire rope A is fixed to the winch A. The other end of the wire rope A is first wound around the winch A several times, then around the winch B several times, and then fixed to the winch B. One end of the wire rope B is fixed to the winch C. The other end of the wire rope B is wound around the winch C several times and then connected to the tension sensor. The tension sensor is connected to the upper end of the spring. The lower end of the spring is connected to one end of the wire rope C. The other end of the wire rope C is connected to the lunar rover.

[0009] The winch B is coaxially connected to the winch C via a coupling.

[0010] The axial centerline of the balanced winch motor is collinear with the axial centerline of the winch wheel A. The axial centerlines of the fine-tuning winch motor, the winch wheel B, and the winch wheel C are all collinear. The axial centerlines of the winch wheel A and the winch wheel B are parallel to each other and are both parallel to the horizontal plane.

[0011] The lunar rover constant tension suspension mechanism of the present invention also includes an angle adjustment component and a clamping wheel component. The other end of the wire rope B is wound around the winch C several times and then passes through the angle adjustment component and the clamping wheel component in sequence before being connected to the tension sensor.

[0012] The tilt adjustment assembly includes a fixed base frame, a connecting frame, a rotating frame A, and a rotating frame B. The upper end of the fixed base frame is mounted on the mounting plate, and the lower end of the fixed base frame is connected to the upper end of the connecting frame. Two fixed rotating shafts A are symmetrically arranged on the rotating frame A, and the axial center lines of the two fixed rotating shafts A are collinear. The two fixed rotating shafts A are rotatably connected to the lower end of the connecting frame. The rotating frame B is located inside the rotating frame A, and two fixed rotating shafts B are symmetrically arranged on the rotating frame B, and the axial center lines of the two fixed rotating shafts B are collinear. The two fixed rotating shafts B are rotatably connected to the rotating frame A. The clamping wheel assembly is fixed to the inner side of the rotating frame B.

[0013] After the wire rope B has been wound around the winch C several times, the other end passes through the clamping wheel assembly inside the fixed base frame, the connecting frame, and the rotating frame B in sequence.

[0014] The axial center lines of the two fixed rotating shafts A and the two fixed rotating shafts B are all parallel to the horizontal plane, and the projection of the axial center line of each fixed rotating shaft A in the horizontal plane is perpendicular to the projection of the axial center lines of all fixed rotating shafts B in the horizontal plane.

[0015] The clamping wheel assembly includes two clamping plates and at least two clamping wheel groups. The two clamping plates are respectively fixed to the inner side of the rotating frame B. The clamping wheel groups are arranged sequentially in the vertical direction between the two clamping plates. Each clamping wheel group includes two symmetrically arranged clamping wheels for clamping the wire rope B. The axial center lines of the two clamping wheels in each clamping wheel group are parallel to each other and located in the same plane. The plane containing the axial center lines of the two clamping wheels in each clamping wheel group is parallel to the horizontal plane.

[0016] The axial centerline of all the clamping wheels is parallel to the axial centerline of the winch wheel C.

[0017] The lunar rover constant tension suspension mechanism of the present invention also includes a fixed pulley assembly, which includes several sets of fixed pulleys and fixed pulley frames arranged in cooperation. The fixed pulley frames of each set are respectively mounted on the mounting plate, and the fixed pulleys of each set are respectively rotatably mounted on the fixed pulley frames of the same set. The other end of the steel wire rope B, which has been wrapped around the winch C several times, first wraps around each of the fixed pulleys in sequence, and then passes vertically downward through the tilt adjustment assembly and the clamping wheel assembly to connect with the tension sensor.

[0018] The axial centerline of all the fixed pulleys is parallel to the axial centerline of the winch C.

[0019] The advantages and positive effects of this invention are as follows:

[0020] 1. This invention uses a balanced winch motor to continuously provide a preset constant torque, thereby essentially balancing 5 / 6 of the lunar rover's weight and achieving the purpose of weight reduction during hoisting. Furthermore, by using a tension sensor to convert the changes in spring force into the amount of spring deformation for real-time monitoring, the winch motor can be controlled to make immediate compensation, further maintaining the spring deformation in dynamic balance, ensuring constant tension in the hoisting mechanism, and enabling the lunar rover to move stably.

[0021] 2. The overall structure of this invention is relatively simple and highly reliable, which can effectively avoid the problems of weight reduction failure and inconsistent hanging force that occur during the lunar rover's movement. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the arrangement structure of the balanced winch motor, the fine-tuning winch motor, winch A, winch B, and winch C of the present invention.

[0024] Figure 3 This is a schematic diagram of the arrangement structure of the tilt adjustment assembly, clamping wheel assembly, and fixed pulley assembly of the present invention;

[0025] Figure 4 This is a schematic diagram of the connection structure of the rotating frame A, rotating frame B and clamping wheel assembly of the present invention;

[0026] Figure 5 This is a schematic diagram of the clamping wheel assembly of the present invention.

[0027] In the diagram: 1 is the mounting plate, 2 is the winch wheel mounting bracket A, 3 is the balanced winch motor, 4 is the winch wheel A, 5 is the winch wheel mounting bracket B, 6 is the fine-tuning winch motor, 7 is the winch wheel B, 8 is the winch wheel C, 9 is the wire rope A, 10 is the wire rope B, 11 is the tension sensor, 12 is the spring, 13 is the wire rope C, 14 is the fixed base frame, 15 is the connecting frame, 16 is the rotating frame A, 1601 is the fixed rotating shaft A, 17 is the rotating frame B, 1701 is the fixed rotating shaft B, 1702 is the mounting ear B, 18 is the clamping plate, 1801 is the mounting ear A, 19 is the clamping wheel, 20 is the fixed pulley, and 21 is the fixed pulley bracket. Detailed Implementation

[0028] The following is in conjunction with the appendix Figure 1-5 The present invention will be described in further detail below.

[0029] A constant tension suspension mechanism for a lunar rover, such as Figure 1-5 As shown, this embodiment includes a mounting plate 1, a winch wheel mounting bracket A 2, a balanced winch motor 3, a winch wheel A 4, a winch wheel mounting bracket B 5, a fine-tuning winch motor 6, a winch wheel B 7, a winch wheel C 8, a wire rope A 9, a wire rope B 10, a tension sensor 11, a spring 12, and a wire rope C 13. The mounting plate 1 is mounted on an external lifting device. In this embodiment, the connection method between the mounting plate 1 and the external lifting device adopts existing technology.

[0030] like Figure 1 and Figure 2 As shown, winch mounting bracket A2 and winch mounting bracket B5 are respectively mounted on the bottom surface of mounting plate 1. The axle of winch A4 is rotatably connected to winch mounting bracket A2. The housing of the balancing winch motor 3 is mounted on winch mounting bracket A2. The drive end of the balancing winch motor 3 is connected to the axle of winch A4. The shafts of winch B7 and winch C8 are rotatably connected to winch mounting bracket B5. Winch B7 and winch C8 are coaxially connected by a coupling. The housing of the fine-tuning winch motor 6 is mounted on winch mounting bracket B5. The drive end of the fine-tuning winch motor 6 is connected to the axle of winch C8.

[0031] One end of wire rope A9 is fixed to winch A4. The other end of wire rope A9 is first wound several times around winch A4, then several times around winch B7, and then fixed to winch B7. One end of wire rope B10 is fixed to winch C8. The other end of wire rope B10 is wound several times around winch C8 and then connected to tension sensor 11. Tension sensor 11 is connected to the upper end of spring 12. The lower end of spring 12 is connected to one end of wire rope C13. The other end of wire rope C13 is connected to the lunar rover. The connection method between wire rope C13 and the lunar rover adopts existing technology.

[0032] In this embodiment, the axial center line of the balance hoist motor 3 is collinear with the axial center line of the hoist wheel A 4. The axial center lines of the fine-tuning hoist motor 6, hoist wheel B 7, and hoist wheel C 8 are all collinear. The axial center lines of the hoist wheel A 4 and the hoist wheel B 7 are parallel to each other and both parallel to the horizontal plane, which makes the overall structure compact.

[0033] In this embodiment, both the balancing winch motor 3 and the fine-tuning winch motor 6 are commercially available products, and their operation is controlled by an external controller. In this embodiment, the spring 12 is connected to the lunar rover via the steel cable C13 and senses the force exerted on the lunar rover. In this embodiment, the tension sensor 11 is a commercially available product and communicates with the external controller. The tension sensor 11 is responsible for monitoring the force on the spring 12 in real time.

[0034] The balancing winch motor 3 transmits force to the winch wheel C8 via the winch wheel A4, wire rope A9, and winch wheel B7, continuously providing a preset constant torque. The winch wheel C8 transmits the hoisting force to the lunar rover through the connected wire rope B10 and subsequent springs 12 and wire rope C13, essentially balancing 5 / 6 of the lunar rover's weight and achieving the purpose of weight reduction during hoisting. The fine-tuning winch motor 6 drives the winch wheel C8 to finely adjust the release length of the wire rope B10, further precisely maintaining the constant tension of the hoisting mechanism.

[0035] Due to the rugged terrain of the lunar surface, the lunar rover will experience up-and-down motion during its operation. Considering the possibility of error, the constant torque provided by the balancing winch motor 3 alone cannot accurately balance 5 / 6 of the lunar rover's gravity in real time. However, the constant torque provided by the balancing winch motor 3 can generally achieve real-time accurate balancing of approximately 90% of the 5 / 6 gravity on the lunar rover, with an error margin of 10%. This error is precisely controlled by the fine-tuning winch motor 6. The external controller calculates the change in the extension and contraction of the spring 12 based on the feedback signal from the tension sensor 11 and sends it to the fine-tuning winch motor 6 in real time. The fine-tuning winch motor 6 compensates for the change in the extension and contraction of the spring 12, keeping the deformation of the spring 12 fixed and ensuring constant tension in the suspension mechanism. This, in conjunction with the balancing winch motor 3, achieves real-time accurate balancing of 5 / 6 of the lunar rover's gravity.

[0036] For example, when the lunar rover encounters cratered terrain, spring 12 will stretch under the rover's gravity. At this time, the fine-tuning winch motor 6 will drive the winch pulley C8 to extend the length of the wire rope B10 accordingly, restoring the original length of spring 12. Conversely, when the lunar rover travels on a slope, spring 12 will shorten due to compression. The fine-tuning winch motor 6 will drive the winch pulley C8 to shorten the length of the wire rope B10, again restoring the original length of spring 12. Through the coordinated setup of the fine-tuning winch motor 6, spring 12, and tension sensor 11, the overall tension can be further precisely controlled to remain constant, ensuring the lunar rover can travel smoothly on various terrains. This more effectively achieves real-time and precise balance of 5 / 6 of the lunar rover's gravity and avoids problems such as weight reduction failure and inconsistent suspension force during the rover's movement.

[0037] Specifically, such as Figure 3 As shown, the constant tension suspension mechanism for the lunar rover in this embodiment also includes a fixed pulley assembly. The fixed pulley assembly includes two sets of fixed pulleys 20 and fixed pulley frames 21 that are configured to cooperate. The fixed pulley frames 21 of each set are respectively installed on the bottom surface of the mounting plate 1. The fixed pulleys 20 of each set are respectively rotatably installed on the fixed pulley frames 21 of the same set. The axial center lines of all fixed pulleys 20 are parallel to the axial center line of the winch C8.

[0038] Specifically, such as Figure 3-5 As shown, the lunar rover constant tension suspension mechanism in this embodiment also includes an angle adjustment assembly and a clamping wheel assembly.

[0039] In this embodiment, the tilt adjustment assembly includes a fixed base frame 14, a connecting frame 15, a rotating frame A 16, and a rotating frame B 17. The upper end of the fixed base frame 14 is mounted on the bottom surface of the mounting plate 1, and the lower end of the fixed base frame 14 is connected to the upper end of the connecting frame 15. Two fixed rotating shafts A 1601 are symmetrically arranged on the rotating frame A 16, with their axial center lines collinear. The two fixed rotating shafts A 1601 are rotatably connected to the lower end of the connecting frame 15. The rotating frame B 17 is located inside the rotating frame A 16, and two fixed rotating shafts B 1701 are symmetrically arranged on the rotating frame B 17, with their axial center lines collinear. The two fixed rotating shafts B 1701 are rotatably connected to the rotating frame A 16. The clamping wheel assembly is fixedly connected to the inner side of the rotating frame B 17. In this embodiment, the axial center lines of the two fixed rotating shafts A 1601 and the two fixed rotating shafts B 1701 are parallel to the horizontal plane, and the projection of the axial center line of each fixed rotating shaft A 1601 in the horizontal plane is perpendicular to the projection of the axial center lines of all fixed rotating shafts B 1701 in the horizontal plane.

[0040] In this embodiment, the clamping wheel assembly includes two clamping plates 18 and two clamping wheel groups. The two clamping plates 18 are respectively fixed to the inner side of the rotating frame B17. The clamping wheel groups are arranged in sequence along the vertical direction between the two clamping plates 18. Each clamping wheel group includes two symmetrically arranged clamping wheels 19 for clamping the wire rope B10. The axial center lines of the two clamping wheels 19 in each clamping wheel group are parallel to each other and located in the same plane. The plane containing the axial center lines of the two clamping wheels 19 in each clamping wheel group is parallel to the horizontal plane. The axial center lines of all clamping wheels 19 are parallel to the axial center line of the winch wheel C8. In this embodiment, each clamping plate 18 has a mounting ear A 1801 protruding on the upper part of the side away from the clamping wheel 19. The inner side of the rotating frame B 17 is provided with mounting ears B 1702 that cooperate with the mounting ears A 1801. The mounting ears A 1801 of each clamping plate 18 can be connected to a corresponding mounting ear B 1702 on the rotating frame B 17 by bolts, which is convenient for disassembly and assembly.

[0041] The other end of the wire rope B10, after wrapping several times around the winch C8, first passes through each fixed pulley 20 in sequence, and then vertically downwards through the two clamping wheels 19 of each clamping wheel assembly on the inner side of the fixed base frame 14, the inner side of the connecting frame 15, and the inner side of the rotating frame B17. The other end of the wire rope B10 then passes through the tilt adjustment assembly and the clamping wheel assembly before connecting to the tension sensor 11. The fixed pulleys 20 reduce friction on the wire rope B10 as it wraps around them, and change the extension direction and tension direction of the wire rope B10 to facilitate the operation of other components. The clamping wheel assembly also guides the wire rope B10 and reduces friction. During the lunar rover's movement, it may encounter various obstacles, causing the force on the wire ropes C13 and B10 to shift. When the wire rope B10 is subjected to force and tends to deviate, it will cause the clamping wheel assembly to tilt. At this time, by rotating the rotating frame A16 and rotating frame B17 respectively, the tilt of the clamping wheel assembly can be counteracted by the pitch and torsion of the rotating frame A16 and rotating frame B17, ensuring that the clamping wheel assembly remains vertical. This ensures that the wire rope B10 remains vertical at all times, ensuring reliable weight reduction for suspending the lunar rover and improving the stability and safety of the lunar rover in complex terrain.

Claims

1. A lunar rover constant tension hoist mechanism, characterized in that: The utility model relates to a kind of wire rope tension measuring devices, including mounting plate (1), winch mounting frame A (2), balance winch motor (3), winch A (4), winch mounting frame B (5), fine adjustment winch motor (6), winch B (7), winch C (8), steel wire rope A (9), steel wire rope B (10), tension sensor (11), spring (12), steel wire rope C (13), the mounting plate (1) is installed on external connection spreader; The winch mounting frame A (2) and winch mounting frame B (5) are respectively installed on the mounting plate (1), the wheel shaft of the winch A (4) is rotatably connected with the winch mounting frame A (2), the shell of the balance winch motor (3) is installed on the winch mounting frame A (2), the driving end of the balance winch motor (3) is connected with the wheel shaft of the winch A (4), the rotating shaft of the winch B (7) and the rotating shaft of the winch C (8) are rotatably connected with the winch mounting frame B (5) respectively, the winch B (7) is coaxially connected with the winch C (8), the shell of the fine adjustment winch motor (6) is installed on the winch mounting frame B (5), the driving end of the fine adjustment winch motor (6) is connected with the wheel shaft of the winch C (8); One end of the steel wire rope A (9) is fixedly connected with the winch A (4), the other end of the steel wire rope A (9) is first wound around several turns on the winch A (4), then wound around several turns on the winch B (7) and fixedly connected with the winch B (7), one end of the steel wire rope B (10) is fixedly connected with the winch C (8), the other end of the steel wire rope B (10) is wound around several turns on the winch C (8) and connected with the tension sensor (11), the tension sensor (11) is connected with the upper end of the spring (12), the lower end of the spring (12) is connected with one end of the steel wire rope C (13), the other end of the steel wire rope C (13) is connected with the lunar rover; It also includes a tilt angle adjusting assembly and a wheel clamping assembly, the other end of the steel wire rope B (10) is wound around several turns on the winch C (8) and sequentially passes through the tilt angle adjusting assembly and the wheel clamping assembly and is connected with the tension sensor (11); The inclination adjusting assembly comprises a fixed base frame (14), a connecting frame (15), a rotating frame A (16) and a rotating frame B (17). The upper end of the fixed base frame (14) is mounted on the mounting plate (1), the lower end of the fixed base frame (14) is connected with the upper end of the connecting frame (15), two fixed rotating shafts A (1601) are symmetrically arranged on the rotating frame A (16), the axial center lines of the two fixed rotating shafts A (1601) are collinear, the two fixed rotating shafts A (1601) are respectively rotationally connected with the lower end of the connecting frame (15), the rotating frame B (17) is located on the inner side of the rotating frame A (16), two fixed rotating shafts B (1701) are symmetrically arranged on the rotating frame B (17), the axial center lines of the two fixed rotating shafts B (1701) are collinear, the two fixed rotating shafts B (1701) are respectively rotationally connected with the rotating frame A (16), and the clamping wheel assembly is fixedly connected to the inner side of the rotating frame B (17). The other end of the steel wire rope B (10) after winding around the winding wheel C (8) passes through the clamping wheel assembly on the inner side of the fixed base frame (14), the inner side of the connecting frame (15) and the inner side of the rotating frame B (17) in sequence. The axial center lines of the two fixed rotating shafts A (1601) and the axial center lines of the two fixed rotating shafts B (1701) are parallel to the horizontal plane, and the projection of the axial center line of each fixed rotating shaft A (1601) in the horizontal plane is perpendicular to the projection of the axial center line of each fixed rotating shaft B (1701) in the horizontal plane.

2. The constant tension hoist mechanism of claim 1, wherein: The winding wheel B (7) is coaxially connected with the winding wheel C (8) through a shaft coupling.

3. The constant tension hoist mechanism of claim 1, wherein: The axial center line of the balance winding motor (3) is collinear with the axial center line of the winding wheel A (4), the axial center line of the fine adjustment winding motor (6), the axial center line of the winding wheel B (7) and the axial center line of the winding wheel C (8) are collinear, and the axial center line of the winding wheel A (4) and the axial center line of the winding wheel B (7) are parallel to each other and parallel to the horizontal plane.

4. The constant tension hoist mechanism of claim 1, wherein: The clamping wheel assembly comprises two clamping plates (18) and at least two clamping wheel groups. The two clamping plates (18) are fixedly connected to the inner side of the rotating frame B (17), and each clamping wheel group is arranged in the vertical direction between the two clamping plates (18) in sequence. Each clamping wheel group comprises two symmetrically arranged clamping wheels (19) for clamping the steel wire rope B (10). The axial center lines of the two clamping wheels (19) of each clamping wheel group are parallel to each other and located in the same plane. The plane where the axial center lines of the two clamping wheels (19) of each clamping wheel group are located is parallel to the horizontal plane.

5. The lunar rover constant tension hoist mechanism of claim 4, wherein: The axial center lines of all the clamping wheels (19) are parallel to the axial center line of the winding wheel C (8).

6. The constant tension hoist mechanism of claim 1, wherein: Also included is a fixed pulley assembly, which includes several groups of fixed pulleys (20) and fixed pulley frames (21), each group of fixed pulley frames (21) is mounted on the mounting plate (1), and each group of fixed pulleys (20) is rotatably mounted on the same group of fixed pulley frames (21); the other end of the steel wire rope B (10) after winding several turns on the winding wheel C (8) is first sequentially wound around each fixed pulley (20), and then vertically downward sequentially passes through the inclination angle adjusting assembly and the clamping wheel assembly and is connected with the tension sensor (11).

7. The lunar rover constant tension hoist mechanism of claim 6, wherein: The axial center lines of all the fixed pulleys (20) are parallel to the axial center line of the winding wheel C (8).

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