A novel low-dof wheel-legged switching lunar rover

Abstract

The application discloses a novel low-freedom wheel-foot switching moon car, and particularly relates to the field of moon surface material transfer vehicles. The moon car comprises a main body provided with a storage space, symmetrical solar cell panels arranged on the main body, storage batteries electrically connected to the solar cell panels, the storage batteries arranged on the main body, a target recognition device arranged on the main body and used for recognizing objects on the moon surface, a plurality of top plates arranged at intervals on the bottom of the main body, two connecting rods arranged at intervals on all the top plates, two fixed rods arranged in parallel and connected to the two connecting rods, and a leg device connected between the two fixed rods, wherein the leg device can drive the main body to move and to pass over obstacles through lifting. The application solves the problem of poor obstacle passing capability of the existing moon surface material transfer vehicles, and improves the safety and stability of moon surface material transfer.

Description

Technical Field

[0001] This invention relates to the field of lunar material transport vehicles, and in particular to a novel low-degree-of-freedom wheel-foot switching lunar rover. Background Technology

[0002] With the development of space technology, human exploration of the moon is becoming increasingly in-depth. Deep space exploration plays a significant role in scientific and technological progress and the development of human civilization, directly promoting the overall improvement of aerospace technology and driving the development of science and technology in electronics, information, materials, and energy.

[0003] Currently, various countries around the world have proposed different structural types of lunar cargo transport rovers, which has become one of the hot topics in the research field of manned lunar exploration programs. my country is one of the world's major space powers, and lunar and planetary exploration have become important research topics in my country's aerospace field. Lunar exploration will be my country's first step towards planetary exploration, laying the foundation for further deep space exploration.

[0004] Due to the high vacuum, strong radiation, and large temperature differences on the moon, lunar surface exploration is difficult and dangerous. Lunar cargo transport rovers can replace astronauts in performing highly hazardous tasks, improving the safety and reliability of lunar surface operations, reducing the risks and costs of lunar exploration and development, and facilitating the achievement of objectives such as lunar exploration, transporting effective scientific payloads, and collecting samples. However, the prerequisite for a lunar cargo transport rover to complete various tasks is its ability to safely navigate the lunar surface and overcome relatively small obstacles. Given the loose and soft lunar regolith, complex and rugged terrain, and the abundance of exposed rocks and weathered debris, the rover's obstacle-crossing and maneuverability are fundamental guarantees for mission success.

[0005] Most of the existing lunar material transport vehicles are single-wheeled. Due to the complex and rugged environment on the lunar surface, when these vehicles encounter such terrain, they have difficulty overcoming obstacles, which affects their space operations.

[0006] Therefore, it is necessary to design a lunar rover that does not rely solely on wheeled motion to solve the aforementioned technical problems. Summary of the Invention

[0007] The present invention aims to provide a novel low-degree-of-freedom wheel-foot switching lunar rover, which solves the problem of poor obstacle-crossing ability of existing lunar material transport rovers.

[0008] To achieve the above objectives, the technical solution of the present invention is as follows: A novel low-degree-of-freedom wheel-leg switching lunar rover includes a vehicle body with storage space. Solar panels are symmetrically arranged on the vehicle body, and batteries are electrically connected to the solar panels. The batteries are mounted on the vehicle body. A target recognition device is provided on the vehicle body for identifying objects on the lunar surface. Multiple spaced-apart top plates are provided at the bottom of the vehicle body. Each top plate has two spaced-apart connecting rods. The two connecting rods are connected to two parallel fixed rods. A leg device is connected between the two fixed rods. The leg device can drive the vehicle body to move and overcome obstacles by lifting and lowering it.

[0009] Furthermore, the target recognition device includes a first camera and a second camera. The first camera is electrically connected to a first infrared sensor, and the second camera is electrically connected to a second infrared sensor. A microcontroller is electrically connected to the first camera, the second camera, the first infrared sensor, and the second infrared sensor.

[0010] Furthermore, the connecting rod is composed of multiple consecutive V-shaped connecting rods connected to each other.

[0011] Furthermore, the number of leg devices is not less than two, and each leg device includes a main rod. Each end of the main rod is provided with a first movable rod and a guide rod. A first motor is connected to each of the two first movable rods and is rotatably connected to the main rod. A first leg rod is rotatably connected to each of the first movable rods. A fixed shaft is slidably connected to the end of each first leg rod and to the guide rod. A tripod is rotatably connected to one end of the fixed shaft. Two second leg rods are symmetrically arranged at the two vertices of the tripod. A bracket is connected to both second leg rods, and a wheel is rotatably connected to the bracket. The tripod is equipped with a drive motor. A third leg is rotatably connected to the third vertex of the tripod. A second movable rod is rotatably connected to the end of the third leg. Two second movable rods are rotatably connected to a connecting frame. The connecting frame is mounted on the main body. A second motor is also connected to the second movable rod and mounted on the connecting frame. The ends of the two second movable rods and the end of the third leg are connected to a connecting shaft. A fourth leg is rotatably connected to the connecting shaft. The fourth leg is rotatably connected to the end of the adjacent second leg. Two guide rods and the first movable rod are symmetrically arranged on the main body. The two guide rods are fixedly connected to both ends of the main body.

[0012] Furthermore, the initial positions of the two first movable rods in each of the leg devices are different, and the rotational speeds of the first motor and the second motor are the same.

[0013] Furthermore, the bracket has a first sliding groove, a cylinder is provided in the first sliding groove, and a flat key is provided on the cylinder and slidably connected in the first sliding groove. The wheel has multiple pin slots circumferentially, and the pin slots can engage with the flat key.

[0014] Compared with existing technologies, the beneficial effects of this solution are:

[0015] This design presents a novel low-degree-of-freedom wheel-leg switching lunar rover. Its leg mechanism is based on a Theo-Jansen link, with added movable rods. Guide rods restrict the first leg to only reciprocating up-and-down movement, significantly enhancing its obstacle-crossing ability. Simultaneously, the first and second movable rods maintain the same rotational speed, ensuring that the three motor drive shafts of the same leg mechanism rotate at the same speed. Furthermore, controlling the initial phase of the left and right first movable rods to differ allows for alternating up-and-down movement of the legs, resulting in simple control, efficient movement, and good motion coordination. Wheels are added to the ends of the legs, allowing for better obstacle crossing when terrain conditions are challenging. When the vehicle is in good condition, the flat pin on the wheel bracket will separate from the pin groove on the wheel, at which point the wheel is in an unlocked state. The lunar material transport vehicle moves forward by rolling on the wheels fixed to the ends of the legs, greatly improving the vehicle's mobility and transport efficiency on smooth surfaces. When encountering uneven surfaces, the flat pin on the wheel bracket will insert into the pin groove on the wheel, at which point the wheel is in a locked state. The lunar material transport vehicle then moves forward using the leg mechanism, greatly improving the vehicle's obstacle-crossing ability. At the same time, the leg mechanism is composed of a series of rods, so it has a folding function. When transporting the vehicle to the moon, the leg rods will fold, reducing the overall size of the vehicle and facilitating its transport to the moon. Attached Figure Description

[0016] Figure 1 This invention relates to a novel axonometric view of a low-degree-of-freedom wheel-foot switching lunar rover. Figure 1 ;

[0017] Figure 2 This invention relates to a novel axonometric view of a low-degree-of-freedom wheel-foot switching lunar rover. Figure 2 ;

[0018] Figure 3 This is a schematic diagram of the structure at the bottom of the vehicle body in this embodiment;

[0019] Figure 4 This is a schematic diagram of the leg device in this embodiment when it is stationary;

[0020] Figure 5 This is a schematic diagram of the leg device in one motion situation in this embodiment;

[0021] Figure 6 This is a schematic diagram of the wheel-locked state in this embodiment;

[0022] Figure 7 This is a schematic diagram of the wheel unlocked state in this embodiment. Detailed Implementation

[0023] The present invention will be further described in detail below through specific embodiments:

[0024] The reference numerals in the accompanying drawings include: vehicle body 1, first support rod 2, solar panel 3, first camera 4, second camera 5, roof plate 6, connecting rod 7, fixing rod 8, main rod 9, groove 10, first movable rod 11, guide rod 12, first motor 13, first leg rod 14, fixed shaft 15, second slide rail 16, triangular frame 17, second leg rod 18, bracket 19, wheel 20, drive motor 21, first slide rail 22, cylinder 23, flat key 24, pin groove 25, third leg rod 26, second movable rod 27, connecting frame 28, second motor 29, connecting shaft 30, and fourth leg rod 31.

[0025] Example

[0026] like Figures 1 to 7 As shown, a novel low-degree-of-freedom wheel-foot switching lunar rover includes a main body 1 with an open top and storage space. First support rods 2 are symmetrically welded to the left and right sides of the main body 1. A solar panel 3 is fixedly connected to each first support rod 2, and a battery is electrically connected to both solar panels 3. The battery is located within the storage space of the main body 1. A target recognition device is installed on the main body 1 to identify objects on the lunar surface. In this embodiment, the target recognition device includes a first camera 4 and a second camera 5. The first camera 4 is mounted on the front side of the vehicle body 1 via a second support rod. A first infrared sensor is electrically connected to the first camera 4. The second camera 5 is mounted on the front side of the vehicle body 1 and below the first camera 4. A second infrared sensor is electrically connected to the second camera 5. A microcontroller is electrically connected to the first camera 4, the second camera 5, the first infrared sensor, and the second infrared sensor. The microcontroller is embedded in the vehicle body 1. In this embodiment, the first and second infrared sensors are used for near-field and long-field measurements. Simultaneously, the first camera 4 and the second camera 5 are used to identify objects on the lunar surface. Finally, the microcontroller performs coordinated control. The bottom of the vehicle body 1 has four spaced-apart top plates 6. Two spaced-apart connecting rods 7 are welded to the middle of all the top plates 6. The connecting rods 7 are formed by multiple continuous V-shaped connecting rods connected to each other. The two connecting rods 7 are connected to two parallel fixed rods 8. A leg device is connected between the two fixed rods 8. The leg device can drive the vehicle body 1 to move and lift to overcome obstacles.

[0027] In this embodiment, there are four leg devices, each including a main body rod 9. Both sides of the main body rod 9 are bolted between two fixed rods 8. Grooves 10 are formed at both ends of the main body rod 9. Each groove 10 has a first movable rod 11 and a guide rod 12 at its end. A first motor 13, mounted on the main body rod 9, is coaxially connected to each of the two first movable rods 11. Each first movable rod 11 is rotatably connected to the groove 10. The length of the first movable rod 11 is less than the distance between its rotation point and the inner wall of the far end of the groove 10, thus ensuring that the movement of the first movable rod 11 is undisturbed. A first leg rod 14 is rotatably connected to the free end of the first movable rod 11. A fixed shaft 15, slidably connected to the guide rod 12, is welded to the free end of the first leg rod 14. A second sliding groove 16 is formed on the guide rod 12, and the fixed shaft 15 is slidably connected within the second sliding groove 16. One end of the fixed shaft 15 is rotatably connected to a tripod 17 located outside the first leg 14 and guide rod 12. Two second leg rods 18 are symmetrically rotatably connected to the two vertices of the tripod 17. The free ends of the two second leg rods 18 are rotatably connected to a bracket 19. A wheel 20 is rotatably connected to the lower side of the bracket 19 via a rotating shaft. A drive motor 21, which is mounted on the side wall of the bracket 19, is coaxially connected to the rotating shaft. A first sliding groove 22 is also provided on the side wall of the bracket 19. A cylinder 23 is bolted to the end of the first sliding groove 22. A flat key 24, which is slidably connected within the first sliding groove 22, is fixedly connected to the piston rod of the cylinder 23. The wheel 20 has multiple pin slots 25 equidistantly spaced circumferentially, which can engage with the flat key 24. A third leg 26 is rotatably connected to the third vertex of the tripod 17. A second movable rod 27 is rotatably connected to the free end of each third leg 26. Two second movable rods 27 are rotatably connected to a connecting frame 28, which is welded to the main body rod 9. A second motor 29, mounted on the connecting frame 28, is coaxially connected to the second movable rod 27 located on the rear side. A connecting shaft 30 passes through the ends of the two second movable rods 27 that are connected to their respective third leg 26. Two fourth leg rods 31 are rotatably connected to the connecting shaft 30. The two fourth leg rods 31 are rotatably connected to the ends of their respective second leg rods 18. The rotation point of the fourth leg rod 31 and the second leg rod 18 is located at the same point as the rotation point of the second leg rod 18 and the support 19. In this embodiment, the structures of the fourth leg rod 31 and the third leg rod 26 are identical. Two guide rods 12 and the first movable rod 11 are symmetrically arranged on the main body rod 9. The two guide rods 12 are fixedly connected to the left and right ends of the main body rod 9, respectively.

[0028] In this embodiment, the initial positions of the two first movable rods 11 in each leg device are different, the rotation speeds of the first motor 13 and the second motor 29 are the same, and the cylinder 23, the first motor 13, the second motor 29 and the drive motor 21 are all electrically connected to the microcontroller.

[0029] The working process of this embodiment:

[0030] When the lunar rover is moving on a normal road, the cylinder 23 slides the flat key 24 out of the corresponding pin groove 25. At this time, the microcontroller directly drives the wheel 20 to rotate, thereby directly driving the rover body 1 to move. When an obstacle needs to be overcome, the microcontroller activates cylinder 23, which pushes key 24 into the corresponding slot 25, locking wheel 20 and preventing it from rotating. At this time, the microcontroller activates first motor 13 and second motor 29, whose rotation drives first movable rod 11 and second movable rod 27. The rotation of first movable rod 11 and second movable rod 27 drives first leg 14, third leg 26, and fourth leg 31 to rotate respectively. The rotation of first leg 14 causes fixed shaft 15 to slide within second slide groove 16, simultaneously moving tripod 17. The rotation of third leg 26 and fourth leg 31 causes tripod 17 to rotate, which in turn drives second leg 18 to move bracket 19 and wheel 20, allowing the rover body 1 to move and overcome obstacles. This lunar rover can freely switch between wheeled and legged movement, enhancing its obstacle-crossing capabilities. In this embodiment, in order to ensure that the flat key 24 can slide smoothly into the corresponding pin groove 25, the microcontroller will calculate the time when the drive motor 21 is turned on when each pin groove 25 is aligned with the first slide groove 22. Thus, when the wheel 20 needs to be limited, the microcontroller controls the corresponding drive motor 21 to drive the nearest pin groove 25 on the wheel 20 to rotate to the position aligned with the first slide groove 22.

[0031] In this design, the leg mechanism uses guide rod 12 to restrict the first leg 14 to reciprocating up and down movement. Simultaneously, the first movable rod 11 and the second movable rod 27 are controlled by the first motor 13 and the second motor 29, ensuring that the two motors of the same leg mechanism rotate at the same speed. Furthermore, the initial phases of the first movable rod 11 and the second movable rod 27 are controlled to achieve alternating up and down movement of the legs. Through these functions, the mobility and transportation efficiency of the lunar material transport vehicle on smooth surfaces are significantly improved, and its obstacle-crossing ability on rough terrain is greatly enhanced.

[0032] The above are merely embodiments of the present invention, and common knowledge such as specific structures and / or characteristics in the solutions are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A novel low-degree-of-freedom wheel-foot switching lunar rover, characterized in that: The vehicle includes a main body with storage space, solar panels symmetrically arranged on the main body, batteries electrically connected to the solar panels, the batteries mounted on the main body, a target recognition device on the main body for identifying objects on the lunar surface, multiple spaced-apart top plates on the bottom of the main body, two spaced-apart connecting rods on each top plate, two parallel fixed rods connected to the two connecting rods, and a leg device connected between the two fixed rods. The leg device can move the main body and lift it to overcome obstacles. The number of leg devices is not less than two, and each leg device includes a main rod. Each end of the main rod has a first movable rod and a guide rod. A first motor is connected to each of the two first movable rods and is rotatably connected to the main rod. A first leg rod is rotatably connected to each of the first movable rods. A fixed shaft is slidably connected to the end of each first leg rod and to the guide rod. A tripod is rotatably connected to one end of the fixed shaft. Two second leg rods are symmetrically arranged at the two vertices of the tripod. A bracket is connected to both second leg rods, and a wheel is rotatably connected to the bracket. A drive mechanism is connected to the wheel. The tripod has a motor, a third leg rotatably connected to the third vertex, a second movable rod rotatably connected to the end of the third leg, two second movable rods rotatably connected to a connecting frame, the connecting frame being mounted on the main body, a second motor mounted on the connecting frame being connected to the second movable rod, a connecting shaft being connected to the ends of the two second movable rods and the end of the third leg, a fourth leg rotatably connected to the connecting shaft, the fourth leg rotatably connected to the end of the adjacent second leg, two guide rods and the first movable rod being symmetrically arranged on the main body, and the two guide rods being fixedly connected to both ends of the main body.

2. A novel low-degree-of-freedom wheel-foot switching lunar rover according to claim 1, characterized in that: The target recognition device includes a first camera and a second camera. The first camera is electrically connected to a first infrared sensor, and the second camera is electrically connected to a second infrared sensor. A microcontroller is electrically connected to the first camera, the second camera, the first infrared sensor, and the second infrared sensor.

3. A novel low-degree-of-freedom wheel-foot switching lunar rover according to claim 1, characterized in that: The connecting rod is composed of multiple consecutive V-shaped connecting rods connected to each other.

4. A novel low-degree-of-freedom wheel-foot switching lunar rover according to any one of claims 1-3, characterized in that: The initial positions of the two first movable rods in each of the leg devices are different, and the rotational speeds of the first motor and the second motor are the same.

5. A novel low-degree-of-freedom wheel-foot switching lunar rover according to claim 4, characterized in that: The bracket has a first sliding groove, and a cylinder is provided in the first sliding groove. The cylinder is provided with a flat key that is slidably connected in the first sliding groove. The wheel has multiple pin slots circumferentially, and the pin slots can engage with the flat key.

Images