Variable stiffness wheel for lunar surface transportation

Abstract

The application discloses a variable stiffness wheel for lunar surface transportation, which comprises a hub, an outer wheel part and a plurality of spokes; the outer wheel part is arranged on the outer periphery of the hub; the plurality of spokes are arranged on the outer periphery of the hub in a circumferential direction, and each spoke comprises an elastic member and an excitation coil; one end of the elastic member is connected to the hub, the other end of the elastic member is connected to the outer wheel part, and the outer wheel part is adapted to produce local deformation when the elastic member is deformed; wherein at least part of the elastic member is made of a magnetorheological elastomer, the excitation coil is sleeved on the outer periphery of the elastic member, and the excitation coil generates a variable magnetic field when electrified to adjust the elastic modulus of the elastic member. The variable stiffness wheel has large carrying capacity, high-speed driving capability and stable running performance, can dynamically adjust the wheel stiffness according to different running scenes such as light load high speed, full load low speed, climbing and obstacle crossing, and effectively improves the multi-working-condition adaptability and complex terrain passability of the lunar surface transportation equipment.

Description

Technical Field

[0001] This application relates to the field of lunar surface transport wheel technology, and in particular to a variable stiffness wheel for lunar surface transport. Background Technology

[0002] Given the complex lunar environment with its rugged terrain and varying degrees of hardness, the wheel design of lunar transport equipment directly determines its upper limit of maneuverability. Wheels suitable for lunar transport equipment need to meet requirements such as high load capacity, high design speed, stable wheel force, and good adaptability to multiple working conditions to support the efficient completion of tasks such as low-speed climbing, high-speed transport, and obstacle crossing / recovery.

[0003] In related technologies, to improve the load-bearing capacity of lunar surface transport wheels, rigid wheels are often used, utilizing rigid supports to reduce wheel deformation, such as rigid spokes and rigid rims. Simultaneously, to enhance traction, pawls and other structures are incorporated into the outer wheel surface to increase the contact area and friction between the wheel and the lunar regolith. Furthermore, to improve obstacle-crossing capabilities, some wheels employ biomimetic deformable structures, altering the topology of the rigid structure to deform the outer wheel surface and achieve obstacle-crossing functionality. However, existing lunar surface transport wheels all exhibit significant technical shortcomings: 1. Low wheel load capacity: The pawl or papilla structures arranged in an array on the wheel surface have a small contact area with the lunar surface, resulting in stress concentration and easy deformation or even damage under large wheel loads. 2. Low wheel design speed: Rigid wheels lack deformable energy-absorbing structures. Under high-speed conditions, obstacles such as lunar slope and meteorites can directly impact the wheels, severely reducing wheel life and making the wheels extremely prone to damage. 3. Low wheel stability: The pawl or papilla structure on the rigid wheel surface has discontinuous contact with the lunar surface, causing the wheel to vibrate or even oscillate. This results in periodic peaks in the longitudinal, lateral, and vertical forces of the wheel, leading to low wheel stability. 4. Low adaptability to multiple working conditions: Existing lunar surface transport wheels perform well under low speed, light load, and obstacle crossing conditions, but cannot effectively adapt to medium-high speed, heavy load, and continuous dense obstacle conditions, resulting in poor overall mobility, passability, and working condition adaptability of lunar transport equipment. Summary of the Invention

[0004] This application aims to address at least one of the technical problems existing in the prior art. To this end, one objective of this application is to propose a variable stiffness wheel for lunar surface transportation, which aims to solve the problems of low load-bearing capacity, low design speed, poor stability, and inability to meet various operating conditions such as light load high speed, full load low speed, and climbing and obstacle crossing.

[0005] This application proposes a variable stiffness wheel for lunar surface transport. The variable stiffness wheel includes a hub, an outer wheel portion, and multiple spokes. The outer wheel portion is disposed on the outer periphery of the hub. The multiple spokes are spaced apart along the circumference of the hub on the outer periphery, and each spoke includes an elastic element and an excitation coil. One end of the elastic element is connected to the hub, and the other end of the elastic element is connected to the outer wheel portion. The outer wheel portion is adapted to undergo local deformation when the elastic element deforms. At least a portion of the elastic element is made of a magnetorheological elastomer. The excitation coil is sleeved on the outer periphery of the elastic element, and a variable magnetic field is generated when the excitation coil is energized to adjust the elastic modulus of the elastic element.

[0006] According to some embodiments of this application, the elastic element includes a spring core and a shell, the spring core being made of a magnetorheological elastomer; the shell covering the outer periphery of the spring core.

[0007] According to some embodiments of this application, the outer wheel portion includes a metal mesh and a metal felt wheel surface, wherein the metal mesh is connected to a plurality of spokes; and the metal felt wheel surface is disposed on the outer peripheral surface of the metal mesh.

[0008] According to some embodiments of this application, the metal felt wheel surface is made of nonwoven metal fibers.

[0009] According to some embodiments of this application, the spokes further include a damper, which includes a damping cylinder and a piston rod; the damping cylinder is connected to the hub; one end of the piston rod is connected to the outer wheel portion, and the other end of the piston rod is housed in the damping cylinder; the piston rod is slidably connected to the damping cylinder, and a damping medium is provided between the piston rod and the damping cylinder.

[0010] According to some embodiments of this application, a first support member is provided on the outer periphery of the damping cylinder, a second support member is provided on the outer periphery of the piston rod, one end of the elastic member is connected to the first support member, and the other end of the elastic member is connected to the second support member.

[0011] According to some embodiments of this application, a support groove is formed between the inner peripheral wall of the first support member and the outer peripheral wall of the damping cylinder, which is open along the extension direction of the damper; a portion of the elastic member is housed in the support groove, and an excitation coil is provided in the peripheral wall of the first support member.

[0012] According to some embodiments of this application, the spokes further include a first connector, one side of which is connected to a metal mesh, and the other side of which is connected to a piston rod; and the first connector is formed with a support surface adapted to be in contact with the inner circumferential surface of the metal mesh, the area of ​​the support surface being larger than the axial cross-sectional area of ​​the piston rod.

[0013] According to some embodiments of this application, the first connector is connected to the metal mesh by metal cable ties.

[0014] According to some embodiments of this application, the spokes further include a second connector, one side of which is hinged to the hub and the other side of which is connected to a damping cylinder.

[0015] The variable stiffness wheel for lunar surface transportation according to this application has the advantages of high load-bearing capacity, high-speed driving capacity and stable operation performance. It can dynamically adjust the wheel stiffness for different operating scenarios such as light load high speed, full load low speed, climbing and obstacle crossing, effectively improving the multi-condition adaptability and complex terrain passability of lunar surface transportation equipment.

[0016] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0017] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which: Figure 1 This is a structural schematic diagram of a variable stiffness wheel according to some embodiments of this application; Figure 2 This is a front view of a variable stiffness wheel according to some embodiments of this application; Figure 3 This is a rear view of a variable stiffness wheel according to some embodiments of this application; Figure 4 This is a schematic diagram of the spokes of a variable stiffness wheel according to some embodiments of this application; Figure 5 This is a structural cross-sectional view of the spokes of a variable stiffness wheel according to some embodiments of this application; Figure 6 This is a schematic diagram of the structure of the elastic element of a variable stiffness wheel according to some embodiments of this application.

[0018] Figure label: 1. Hub; 2. Spokes; 21. Elastic element; 211. Spring core; 212. Housing; 22. Damping cylinder; 23. Piston rod; 24. Damping medium; 25. First support member; 26. Second support member; 27. First connector; 28. Second connector; 3. Metal mesh; 4. Metal felt wheel surface; 5. Hub motor; 6. Reducer. Detailed Implementation

[0019] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0020] The following is for reference. Figures 1-6 This application describes a variable stiffness wheel for lunar surface transport according to an embodiment of the present application.

[0021] This application proposes a variable stiffness wheel for lunar surface transport. The variable stiffness wheel includes a hub 1, an outer wheel portion, and multiple spokes 2. The outer wheel portion is disposed on the outer periphery of the hub 1. The multiple spokes 2 are spaced apart along the circumference of the hub 1 on the outer periphery of the hub 1, and each spoke 2 includes an elastic element 21 and an excitation coil. One end of the elastic element 21 is connected to the hub 1, and the other end of the elastic element 21 is connected to the outer wheel portion. The outer wheel portion is adapted to undergo local deformation when the elastic element 21 deforms. At least a portion of the elastic element 21 is made of a magnetorheological elastomer. The excitation coil is sleeved on the outer periphery of the elastic element 21, and a variable magnetic field is generated when the excitation coil is energized to adjust the elastic modulus of the elastic element 21.

[0022] In the variable stiffness wheel (hereinafter referred to as the wheel) of this application, as follows: Figure 1-3 As shown, multiple spokes 2 connect the hub 1 and the outer wheel section, and elastically support the outer wheel section. The outer wheel section contacts the lunar surface, providing friction and traction for the wheel. When the wheel is subjected to impact or vibration from the lunar surface, the outer wheel section transmits the external contact force to the elastic element 21. The elastic element 21 can deform, absorbing and dispersing some of the impact energy, thereby reducing the impact on the wheel and the transport equipment and improving the stability of the transport equipment. At the same time, when the elastic element 21 deforms, the radial dimension of the spokes 2 changes, and the outer wheel section undergoes local deformation to adapt to the lunar surface morphology. Furthermore, the elastic element 21 is a variable stiffness elastic element. An excitation coil (not shown in the figure) is provided on the outer periphery of the elastic element 21. By controlling the current flowing through the excitation coil, a magnetic field can be generated and its strength controlled. At least a portion of the elastic element 21 is made of a magnetorheological elastomer. Under the action of the variable magnetic field, the elastic modulus of the elastic element 21 changes, causing its supporting force under the same amount of compressive deformation to change, thereby changing the stiffness of the spokes 2. Each spoke 2 is a variable stiffness structure, which can actively change the wheel stiffness, adjust the wheel deformation, absorb lunar impact, and reduce wheel vibration, thereby adapting to different driving conditions.

[0023] Among them, magnetorheological elastomer is a smart composite material with controllable magnetic field. It is made by embedding micron-sized ferromagnetic particles (such as carbonyl iron powder) into a polymer matrix (such as silicone rubber and polyurethane). Its core feature is that the elastic modulus can be adjusted in real time and reversibly with the strength of the applied magnetic field, and it can usually achieve a millisecond-level response.

[0024] Specifically, the working principle of the variable stiffness wheel of this application is as follows: Under high-speed heavy-load conditions, the current of the excitation coil is increased, the stiffness of the magnetorheological elastomer increases, and the supporting force of the elastic element 21 under the same amount of compression deformation is improved, thereby making the outer wheel less prone to deformation. The variable stiffness wheel performs near-circular rolling, ensuring the stability of the wheel under high-speed rotation. Under low-speed heavy-load climbing conditions, the current of the excitation coil is reduced, the stiffness of the magnetorheological elastomer decreases, and the supporting force of the elastic element 21 under the same amount of compression deformation decreases. The deformation of the outer wheel increases, and the contact area between the wheel surface of the variable stiffness wheel and the lunar surface increases, thereby effectively improving the traction capacity of the variable stiffness wheel and helping lunar surface transport equipment to move, climb, and get out of trouble.

[0025] The variable stiffness wheel for lunar surface transportation according to this application has the advantages of high load-bearing capacity, high-speed driving capacity and stable operation performance. It can dynamically adjust the wheel stiffness for different operating scenarios such as light load high speed, full load low speed, climbing and obstacle crossing, effectively improving the multi-condition adaptability and complex terrain passability of lunar surface transportation equipment.

[0026] In some embodiments, the spokes 2 are arranged to extend radially along the wheel. During the movement of the wheel, the spokes 2 mainly bear the radial force from the wheel, and multiple spokes 2 are evenly spaced along the circumference of the hub 1.

[0027] In some embodiments, such as Figure 2 As shown, a drive system is installed at the wheel hub 1. The drive system includes a wheel hub motor 5 and a reducer 6. The wheel hub motor 5 is a permanent magnet synchronous motor that provides driving force for the variable stiffness wheel. The reducer 6 connects the wheel hub motor 5 and the wheel hub 1. Specifically, it is a planetary reduction gear system used to reduce the motor speed and increase the wheel torque.

[0028] According to some embodiments of this application, the elastic element 21 includes a spring core 211 and a shell 212, wherein the spring core 211 is made of a magnetorheological elastomer; the shell 212 covers the outer periphery of the spring core 211. In this embodiment, as... Figure 6 As shown, the elastic element 21 is constructed as a variable stiffness spring; the spring core 211 is constructed as a helical structure made of a magnetorheological elastomer, and its elastic modulus is controlled by an external variable magnetic field, thereby controlling the variable stiffness of the spokes 2, and thus changing the stiffness of the wheel according to the working conditions. The outer shell 212 is constructed as a hollow structure, covering the outer periphery of the spring core 211, and can provide the basic elastic force of the variable stiffness spring; the outer shell can be made of metal materials such as steel.

[0029] According to some embodiments of this application, the outer wheel includes a metal mesh 3 and a metal felt wheel surface 4. The metal mesh 3 connects to multiple spokes 2; the metal felt wheel surface 4 is disposed on the outer peripheral surface of the metal mesh 3. In this embodiment, the metal mesh 3 connects to the spokes 2, supporting the wheel surface shape; the metal felt wheel surface 4 is disposed on the outer surface of the metal mesh 3, enabling friction between the wheel and the lunar surface, providing traction for the wheel. Both the metal felt wheel surface 4 and the metal mesh 3 are flexible structures, capable of deformation under contact pressure, exhibiting the deformation of a variable stiffness wheel. The outer surface of the metal mesh 3 and the inner surface of the metal felt wheel surface 4 can be connected by welding. Furthermore, multiple perforations are uniformly distributed on the surface of the metal mesh 3, penetrating the metal mesh 3 radially along the wheel, effectively improving the flexibility of the metal mesh 3 and reducing the mass of the variable stiffness wheel.

[0030] According to some embodiments of this application, the metal felt wheel surface 4 is made of nonwoven metal fibers. In this embodiment, the metal felt wheel surface 4 is made of nonwoven metal fibers, which can effectively increase the contact area between the wheel surface and the lunar surface, increase the friction between the wheel surface and the lunar surface, and thus improve the longitudinal traction and lateral force of the wheel. Specifically, the metal felt wheel surface 4 can be made of nonwoven metal fibers with a diameter of micrometers.

[0031] According to some embodiments of this application, the spoke 2 further includes a damper, which includes a damping cylinder 22 and a piston rod 23; the damping cylinder 22 is connected to the hub 1; one end of the piston rod 23 is connected to the outer wheel portion, and the other end of the piston rod 23 is housed within the damping cylinder 22; the piston rod 23 is slidably connected to the damping cylinder 22, and a damping medium 24 is disposed between the piston rod 23 and the damping cylinder 22. In this embodiment, as... Figure 5 As shown, by incorporating a damper, the impact or vibration energy received by the variable stiffness wheel can be further absorbed and dissipated, improving the stability of the transport equipment and enhancing its adaptability to complex terrain and working conditions. Specifically, the damper includes a damping cylinder 22 and a piston rod 23. Part of the piston rod 23 is housed within the damping cylinder 22. The end face of the piston rod 23 located inside the damping cylinder 22 forms a damping cavity between itself and the inner wall of the damping cylinder 22. A damping medium 24, such as a liquid damping fluid, is disposed within the damping cavity to provide damping force. When the wheel vibrates or is impacted, the piston rod 23 slides relative to the damping cylinder 22, performing piston movement. The damping medium 24 generates damping force, converting the mechanical energy of the vibration or impact into heat energy and dissipating it, thereby improving the stability of the variable stiffness wheel.

[0032] It should be noted that the damper is not limited to the hydraulic damping structure composed of the damping cylinder 22 and piston rod 23 mentioned above. It can also be constructed as a pneumatic damping structure, a friction damping structure, an elastic damping structure, etc., to achieve wheel energy absorption and vibration reduction by providing damping force along the extension direction of the spokes 2.

[0033] According to some embodiments of this application, a first support member 25 is provided on the outer periphery of the damping cylinder 22, a second support member 26 is provided on the outer periphery of the piston rod 23, one end of the elastic member 21 is connected to the first support member 25, and the other end of the elastic member 21 is connected to the second support member 26. In this embodiment, as... Figure 4 , 5 As shown, the end positioning of the elastic element 21 is achieved by setting the first support member 25 and the second support member 26, while also providing support for the elastic element 21. In this embodiment, the elastic element 21 can be sleeved on the outer periphery of the damper, and the elastic direction of the elastic element 21 is consistent with the damping direction of the damper, both being the extension direction of the spokes 2, which improves the compactness and integrity of the spoke 2 structure. Furthermore, in this embodiment, if a variable stiffness spring is selected for the elastic element 21, it can form a variable stiffness spring damper with the damper, which can be used as a whole to elastically support the outer wheel and absorb the impact energy from the rugged lunar surface.

[0034] According to some embodiments of this application, a support groove is formed between the inner peripheral wall of the first support member 25 and the outer peripheral wall of the damping cylinder 22, opening along the extending direction of the damper; a portion of the elastic member 21 is received in the support groove, and an excitation coil is disposed in the peripheral wall of the first support member 25. In this embodiment, as... Figure 5 As shown, the support groove is located on the outer periphery of the damping cylinder 22. The inner wall of the support groove is the peripheral wall of the damping cylinder 22, and the outer wall of the support groove is the peripheral wall of the first support member 25. Part of the elastic member 21 is located in the support groove. The support groove can, on the one hand, position the end of the elastic member 21 and provide support for the elastic member 21, and on the other hand, constrain the deformation path of the elastic member 21, thereby improving the stability of the deformation process. At the same time, the part of the elastic member 21 housed inside the support groove is located inside the excitation coil. The magnetic field generated by the excitation coil directly penetrates this part of the structure of the elastic member 21, forming a closed magnetic circuit. This can reduce magnetic leakage and make the magnetic field energy act more concentrated on the ferromagnetic particles inside the elastic member 21, so that the elastic member 21 can sense and respond to changes in the magnetic field more quickly, thereby adjusting the elastic modulus.

[0035] In some embodiments, such as Figure 5 As shown, the first support member 25 is constructed as a thin-walled metal cylinder, with a metal excitation coil disposed inside the cylinder wall. The magnetic field strength around the elastic member 21 can be changed by altering the current in the excitation coil. The second support member 26 is constructed as a thick-walled cylinder, and its annular axial end face provides positioning and support for the elastic member 21.

[0036] According to some embodiments of this application, the spoke 2 further includes a first connector 27, one side of which is connected to the metal mesh 3, and the other side of which is connected to the piston rod 23; and the first connector 27 is formed with a support surface suitable for contacting the inner circumferential surface of the metal mesh 3, the area of ​​the support surface being larger than the axial cross-sectional area of ​​the piston rod 23. In this embodiment, as... Figure 1 As shown, the first connector 27 serves to connect the damper and the metal mesh 3, and the support surface of the first connector 27 can increase the contact area between the spokes 2 and the metal mesh 3, reducing stress concentration under large wheel loads. Specifically, the first connector 27 can be constructed as a support plate extending along the axial direction of the hub 1, and the support plate has a large support surface that fits against the metal mesh 3.

[0037] According to some embodiments of this application, the first connector 27 is connected to the metal mesh 3 via a metal cable tie. In this embodiment, the first connector 27 and the metal mesh 3 are bound together by the metal cable tie, allowing for a small relative movement between them. This prevents stress concentration at the edge of the first connector 27, improves the impact resistance of the variable stiffness wheel, and enhances its stability and safety. Specifically, the metal cable tie can pass through the perforated structure of the metal mesh 3 to bind and limit the first connector.

[0038] According to some embodiments of this application, the spoke 2 further includes a second connecting member 28, one side of which is hinged to the hub 1, and the other side of which is connected to the damping cylinder 22. In this embodiment, the second connecting member 28 serves to connect the hub 1 and the damper. The hinged connection between the second connecting member 28 and the hub 1 allows for slight rotation between the spoke 2 and the hub 1, ensuring that the spoke 2 primarily bears the axial force, while the bending moment is distributed across the entire structure of the hub 1. This significantly improves the fatigue resistance of the spoke 2; simultaneously, it reduces stress concentration, enhances the impact resistance of the variable stiffness wheel, and improves the stability and safety of the variable stiffness wheel.

[0039] In some embodiments, the second connector 28 is configured as a T-shaped link, including a hinge shaft and a connecting rod that are perpendicularly connected to each other. The end of the connecting rod is connected to a damper (e.g., by welding), and the hinge shaft is rotatably connected to the hub 1. Further, the axial direction of the hinge shaft is parallel to the axial direction of the hub 1 to further optimize the stress on the spokes 2 and reduce bending or shear stress.

[0040] In some embodiments, the first support member 25, the damping cylinder 22, and the second connector 28 are welded together, and the second support member 26, the piston rod 23, and the first connector 27 are welded together to form a stable connection base and a reliable force transmission path.

[0041] In the description of this application, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0042] In the description of this application, "first feature" and "second feature" may include one or more of the features.

[0043] In the description of this application, "multiple" means two or more.

[0044] In the description of this application, the first feature being "above" or "below" the second feature may include the first and second features being in direct contact, or the first and second features being in contact through another feature between them.

[0045] In the description of this application, the terms "above," "over," and "on top" for the first feature and the second feature include the first feature being directly above or diagonally above the second feature, or simply indicate that the first feature is at a higher horizontal level than the second feature.

[0046] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0047] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

Claims

1. A variable stiffness wheel for lunar surface transportation, characterized in that, include: A hub and an outer wheel portion, wherein the outer wheel portion is disposed on the outer periphery of the hub; A plurality of spokes are spaced circumferentially around the outer periphery of the hub, and each spoke includes an elastic element and an excitation coil; one end of the elastic element is connected to the hub, and the other end is connected to the outer wheel portion, the outer wheel portion being adapted to undergo local deformation when the elastic element deforms; wherein... At least a portion of the elastic element is made of a magnetorheological elastomer, the excitation coil is sleeved on the outer periphery of the elastic element, and the excitation coil generates a variable magnetic field when energized to adjust the elastic modulus of the elastic element.

2. The variable stiffness wheel for lunar surface transport according to claim 1, characterized in that, The elastic element includes: A spring core, said spring core being made of a magnetorheological elastomer; The outer casing covers the outer periphery of the spring core.

3. The variable stiffness wheel for lunar surface transport according to claim 1, characterized in that, The outer wheel portion includes: Metal mesh, wherein the metal mesh connects the plurality of spokes; A metal felt wheel surface is disposed on the outer peripheral surface of the metal mesh.

4. The variable stiffness wheel for lunar surface transport according to claim 3, characterized in that, The metal felt wheel surface is made of non-woven metal fiber.

5. The variable stiffness wheel for lunar surface transport according to claim 3, characterized in that, The spokes also include a damper, the damper comprising: A damping cylinder, which is connected to the wheel hub; A piston rod, one end of which is connected to the outer wheel portion, and the other end of which is housed within the damping cylinder; the piston rod is slidably connected to the damping cylinder, and a damping medium is provided between the piston rod and the damping cylinder.

6. The variable stiffness wheel for lunar surface transport according to claim 5, characterized in that, A first support member is provided on the outer periphery of the damping cylinder, a second support member is provided on the outer periphery of the piston rod, one end of the elastic member is connected to the first support member, and the other end of the elastic member is connected to the second support member.

7. The variable stiffness wheel for lunar surface transport according to claim 6, characterized in that, A support groove is formed between the inner peripheral wall of the first support member and the outer peripheral wall of the damping cylinder, opening along the extension direction of the damper; part of the elastic member is housed in the support groove, and the excitation coil is provided in the peripheral wall of the first support member.

8. The variable stiffness wheel for lunar surface transport according to claim 5, characterized in that, The spokes also include: A first connector has one side connected to the metal mesh and the other side connected to the piston rod; and the first connector has a support surface adapted to be in contact with the inner circumferential surface of the metal mesh, the area of ​​the support surface being larger than the axial cross-sectional area of ​​the piston rod.

9. The variable stiffness wheel for lunar surface transport according to claim 8, characterized in that, The first connector is connected to the metal mesh by a metal cable tie.

10. The variable stiffness wheel for lunar surface transport according to claim 5, characterized in that, The spokes also include: The second connector has one side hinged to the wheel hub and the other side connected to the damping cylinder.

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