Wheel-track composite wheel and lunar rover

Abstract

The present application belongs to the technical field of wheel, and discloses a wheel-track composite wheel and a lunar rover. The wheel comprises a deformation driving mechanism, a supporting mechanism, a track driving mechanism and a track. The deformation driving mechanism is arranged on the supporting mechanism, the track is sleeved on the track driving mechanism, and the track driving mechanism is connected to the supporting mechanism. The deformation driving mechanism, the supporting mechanism and the track supporting mechanism are all located in the track. The deformation driving mechanism drives the supporting mechanism to move, so that the track is deformed into a circular shape or a triangular shape, so that the wheel is in a wheel driving mode or a track driving mode. The present application combines the advantages of the wheel walking mechanism and the track walking mechanism, and can meet the rapidity of driving on the lunar flat terrain and the passability and maneuverability of driving on the extremely rugged terrain.

Description

Technical Field

[0001] This invention belongs to the field of wheel-related technology, and more specifically, relates to a wheel-track composite wheel and a lunar rover. Background Technology

[0002] The soft, rugged surface of the moon severely restricts the mobility and maneuverability of lunar vehicle systems. On the one hand, the ruggedness and low gravity of the lunar surface make it difficult to increase vehicle speed further; the Apollo manned lunar rover's speed is limited to within 16 km / h. On the other hand, when driving on the widely distributed random slopes and lunar crater surfaces, the loose lunar regolith makes the wheels prone to slipping and losing traction. In addition, the extreme high and low temperatures and vacuum environment of the lunar surface pose significant challenges to traditional propulsion methods. Therefore, there is an urgent need to develop a lunar rover mobility system configuration that can meet traction requirements while traversing the lunar surface.

[0003] Wheeled lunar rovers are characterized by high speed, high efficiency, simple control, and high reliability. However, compared to tracked systems, their load-bearing capacity, adaptability to different terrains, and traverse capabilities are slightly inferior. Tracked rovers, with their unique self-paving method, have good traction performance and high load capacity, making them very suitable for use in unknown environments, but their travel speed and flexibility are limited. As one solution, Chinese patent application number CN201910430979.9 discloses a manned lunar rover whose walking device includes gears, tracks, gear drive components, a sliding plate, and multiple mounting brackets. Its tracked drive structure can support the heavy weight of the lunar rover and propel it across the lunar surface, but it cannot achieve the high speed and high efficiency required on the relatively flat lunar surface. Summary of the Invention

[0004] In view of the above-mentioned defects or improvement needs of the existing technology, the present invention provides a wheel-track composite wheel and lunar rover, which combines the advantages of wheeled and tracked walking mechanisms, and can meet the requirements of speed in flat lunar terrain and passability and mobility in extremely rugged terrain.

[0005] To achieve the above objectives, according to one aspect of the present invention, a wheel-track composite wheel is provided. The wheel includes a deformable drive mechanism, a support mechanism, a track drive mechanism, and a track. The deformable drive mechanism is disposed on the support mechanism, and the track is sleeved on the track drive mechanism. The track drive mechanism is connected to the support mechanism. The deformable drive mechanism, the support mechanism, and the track support mechanism are all located within the track. The deformable drive mechanism drives the support mechanism to deform the track into a circle or a triangle, so that the wheel is in either a wheel drive mode or a track drive mode.

[0006] Furthermore, the support mechanism includes multiple connecting rods, multiple idler wheels, and two symmetrically arranged support components. The two support components are respectively fixedly connected to the opposite ends of the wheel's central axle. The opposite ends of the connecting rods are respectively rotatably connected to the two support components. The multiple idler wheels are respectively disposed on the multiple connecting rods.

[0007] Furthermore, the support assembly includes a side hub and three support components. The side hub is fixed to one end of the central axle of the wheel. One end of each of the three support components is connected to the side hub, and the other end is connected to another support assembly via the connecting rod. The three support components are evenly arranged around the central axis of the side hub.

[0008] Furthermore, the support component includes two support rods and two support levers. One end of each of the two support rods is rotatably connected to the same part of the side hub, and the other end is rotatably connected to one end of each of the two support levers. The other end of each of the two support levers is rotatably connected to the same part of the track drive wheel axle. The other end of the corresponding track drive wheel axle is rotatably connected to the two support levers of the corresponding support component. That is, the support levers of the two support components that are relatively spaced apart are rotatably connected through the track drive wheel axle, and the track drive wheel axle is located between the multiple connecting rods.

[0009] Furthermore, the deformation drive mechanism includes a first drive motor, a deformation groove disk, an actuating column sleeve, and an actuating column push rod. The first drive motor is fixed on the central axle of the wheel, and its output shaft is meshed with the deformation groove disk through a gear. The deformation groove disk is rotatably mounted on the central axle of the wheel through a bearing. The actuating column sleeve is fixed on the central axle of the wheel. One end of the actuating column push rod is sleeved in the actuating column sleeve, and the other end is connected to the track drive wheel axle through a slip ring. The actuating column sleeve is movably connected to the deformation groove disk through a sliding rod.

[0010] Furthermore, the deformable grooved plate has a groove on its end face facing the first drive motor, and an internal gear is formed on the groove wall. The internal gear is meshed with the output shaft of the first drive motor. The bottom surface of the groove is provided with three sliding grooves based on a continuously variable radius of curvature. One end of the sliding rod extends into the sliding groove, and the two are slidably connected.

[0011] Furthermore, the three grooves are evenly arranged around the central axis of the deformable groove, and the three grooves have the same shape and the distance between their opposite ends is equal.

[0012] Furthermore, the track drive mechanism includes a second drive motor, a pair of meshing bevel gears, a track drive wheel axle, and track drive wheels. Two track drive wheels are fixedly spaced on each track drive axle. One of the two bevel gears is fixed on the track drive wheel axle and located between the slip ring and one of the track drive wheels. The other bevel gear is fixedly connected to the output shaft of the second drive motor. The second drive motor is fixed on the actuating column push rod.

[0013] Furthermore, the number of track drive mechanisms is three, and the three track drive mechanisms are evenly arranged around the central axis of the wheel.

[0014] The present invention also provides a lunar rover, which includes a frame and wheel-track composite wheels as described above, the wheels being connected to the frame.

[0015] In summary, compared with the prior art, the wheel-track composite wheel and lunar rover provided by the present invention have the following advantages:

[0016] 1. The deformation drive mechanism, the support mechanism, and the track support mechanism are all located within the track. The deformation drive mechanism drives the support mechanism to deform the track into a circle or a triangle, so that the wheel is in either wheel drive mode or track drive mode. This combination combines the advantages of wheeled and tracked walking mechanisms. The circular wheeled walking mechanism is flexible and has high flexibility, while the triangular track walking mechanism has excellent performance in climbing and overcoming obstacles, and can effectively cope with various lunar surface conditions.

[0017] 2. The deformation drive mechanism, the support mechanism, and the track support mechanism are all located inside the track, resulting in a compact overall structure, small size, and high flexibility.

[0018] 3. The deformable grooved disc adopts a purely mechanical drive method, which can improve the service safety and stability of the drive components.

[0019] 4. The three slides have the same shape and the distance between their opposite ends is equal, so that the three actuating column push rods can extend or retract synchronously.

[0020] 5. The manned lunar rover equipped with the aforementioned reconfigurable composite wheels can achieve a maximum speed of 18 km / h and a maximum gradient of 15° on randomly undulating lunar terrain in wheeled drive mode; in tracked drive mode, it has a stable cruising speed of 12 km / h and a maximum gradient of 25°. Attached Figure Description

[0021] Figure 1This is a perspective view of a wheel-track composite wheel in wheel drive mode provided by the present invention;

[0022] Figure 2 yes Figure 1 A 3D view of the wheel-track hybrid wheel in tracked drive mode;

[0023] Figure 3 yes Figure 1 A three-dimensional schematic diagram of the deformable drive mechanism of the wheel-track composite wheel in the image;

[0024] Figure 4 yes Figure 1 A three-dimensional view of the track drive mechanism of the wheel-track composite wheel;

[0025] Figure 5 yes Figure 1 A three-dimensional diagram of the support mechanism for the wheel-track composite wheel in the image;

[0026] Figure 6 yes Figure 1 A three-dimensional view of the grooved disc of a wheel-track composite wheel;

[0027] Figure 7 This invention provides a wheeled and tracked reconfigurable composite lunar rover.

[0028] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, wherein: 100-wheel, 1-wheel central axle, 2-first drive motor, 3-deformation groove, 4-actuator sleeve, 5-actuator push rod, 6-support rod, 7-support lever, 8-connecting rod, 9-idler wheel, 10-second drive motor, 11-bevel gear, 12-track drive wheel axle, 13-track drive wheel, 14-side hub, 15-track, 31-slide groove, 32-internal gear, 33-bearing hole, 51-ring, 52-slide rod, 200-lunar rover. Detailed Implementation

[0029] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0030] Please see Figure 1 and Figure 2The present invention provides a wheel-track hybrid wheel 100, which can switch between wheel drive mode and track drive mode. This combination has the advantages of both wheel and track walking mechanisms. The circular wheel walking mechanism has the characteristics of high flexibility, while the triangular track walking mechanism has excellent performance in climbing and overcoming obstacles, and can effectively cope with various lunar surface conditions.

[0031] The wheel 100 includes a deformable drive mechanism, a support mechanism, a track drive mechanism, and a track 15. The deformable drive mechanism is mounted on the support mechanism, and the track 15 is fitted onto the track drive mechanism. The track drive mechanism is connected to the support mechanism. The deformable drive mechanism, the support mechanism, and the track support mechanism are all located within the track. The deformable drive mechanism drives the support mechanism to deform the track into a circle or a triangle, thereby enabling the wheel to operate in either wheel drive mode or track drive mode.

[0032] Please see Figure 5 The support mechanism includes multiple connecting rods 8, multiple idler wheels 9, and two symmetrically arranged support assemblies. The two support assemblies are respectively fixedly connected to opposite ends of the wheel's central axle 1. The opposite ends of the connecting rods 8 are rotatably connected to the two support assemblies. The multiple idler wheels 9 are respectively mounted on the multiple connecting rods 8.

[0033] The support assembly includes a side hub 14 and three support components. The side hub 14 is fixed to one end of the wheel's central axle 1. One end of each of the three support components is connected to the side hub 14, and the other end is connected to another support assembly via a connecting rod 8. The three support components are evenly arranged around the central axis of the side hub 14.

[0034] The supporting component includes two supporting rods 6 and two supporting tabs 7. One end of each of the two supporting rods 6 is rotatably connected to the same part of the side hub 14, and the other end is rotatably connected to one end of each of the two supporting tabs 7. The other end of each of the two supporting tabs 7 is rotatably connected to the same part of the track drive wheel 13 shaft 12. The other end of the corresponding track drive wheel 13 shaft 12 is rotatably connected to the two supporting tabs 7 of the corresponding supporting component. That is, the supporting tabs 7 of the two supporting components that are relatively spaced apart are rotatably connected through the track drive wheel 13 shaft 12, and the track drive wheel 13 shaft 12 is located between the multiple connecting rods 8.

[0035] In this embodiment, each connecting rod 8 is provided with two idler wheels 9, which are respectively located at opposite ends of the connecting rod 8 and between the oppositely arranged support plates 7; the connecting rod 8 and the support plates 7 form a rotatable connection, which can ensure that the support plates 7 on both sides move synchronously when deformed or reset; the deformation of the wheel refers to the conversion from a wheeled state to a tracked state, and the reset refers to the conversion from a tracked state to a wheeled state; the support plates 7 are arc-shaped.

[0036] Please see Figure 3 and Figure 6 The deformation drive mechanism includes a first drive motor 2, a deformation groove disk 3, an actuating column sleeve 4, and an actuating column push rod 5. The first drive motor 2 is fixed on the wheel central shaft 1, and its output shaft is connected to the deformation groove disk 3 via gears. The deformation groove disk 3 is rotatably mounted on the wheel central shaft 1 via bearings. The actuating column sleeve 4 is fixed on the wheel central shaft 1. One end of the actuating column push rod 5 is sleeved inside the actuating column sleeve 4, and the other end is connected to the track drive wheel axle via a slip ring. The slip ring is located at the end of the actuating column push rod 5 and is sleeved on the track drive wheel axle. The actuating column sleeve 4 is movably connected to the deformation groove disk 3 via a slide rod 52.

[0037] In this embodiment, the deformable groove plate 3 is located in the middle of the wheel central shaft 1. The first drive motor 2 and the actuating column sleeve 4 are located on opposite sides of the deformable groove plate 3, with the first drive motor 2 located between the first drive motor and the side wheel hub 14, and the actuating column sleeve 4 located between the other side wheel hub 14 and the deformable groove plate 3. The side wheel hub 14 is connected to the wheel central shaft 1 by bolts. The actuating column push rod 5 can move along the actuating column sleeve 4. The first drive motor provides torque to the deformable groove plate 3. Specifically, the output torque of the first drive motor is transmitted to the deformable groove plate 3 through a pair of internally meshing gears, causing the deformable groove plate 3 to rotate or maintain a certain position relative to the wheel central shaft 1. This causes the sliding rod 52 on the actuating column push rod 5 to move or maintain a certain position along the sliding groove 31 on the deformable groove plate 3, thereby causing the actuating column push rod 5 to move or maintain a certain position relative to the actuating column sleeve 4.

[0038] The deformable grooved disc 3 has a bearing hole 33, which is rotatably connected to the wheel central shaft 1. The central axis of the bearing hole 33 coincides with the central axis of the deformable grooved disc 3. The end face of the deformable grooved disc 3 facing the first drive motor has a groove, and the groove wall forms an internal gear 32. The internal gear 32 meshes with the output shaft of the first drive motor, thereby providing torque to the deformable grooved disc 3 through the first drive motor. The bottom surface of the groove is provided with three sliding grooves 31 designed based on a continuously variable radius of curvature. The three sliding grooves 31 are evenly arranged around the central axis of the deformable grooved disc 3, and the three sliding grooves 31 have the same shape and the distance between their opposite ends is equal, so that the three actuating column push rods 5 can extend or retract synchronously. One end of the sliding rod 52 extends into the sliding groove 31, and the two form a sliding connection.

[0039] The process by which the deformable grooved disc 3 pushes the actuating column push rod 5 to extend or retract can be viewed as a combined closed cam mechanism. The extension process is the push stroke, and the retraction process is the return stroke. The stroke of the actuating column push rod 5 is the radius difference between the bottom and top of the slide groove 31. The deformable grooved disc 3 adopts a purely mechanical drive method, which can improve the service safety and stability of the drive components.

[0040] Please see Figure 4 The track drive mechanism includes a second drive motor 10, a pair of meshing bevel gears 11, track drive wheels 13, track drive wheel 13 shafts 12, and track drive wheels 13. Two track drive wheels 13 are fixedly spaced on each track drive shaft. One of the two bevel gears 11 is fixed to the track drive wheel 13 shaft 12 and located between the slip ring and one of the track drive wheels 13. The other bevel gear 11 is fixedly connected to the output shaft of the second drive motor 10. The second drive motor 10 is fixed to the actuating column push rod 5. The second drive motor 10 provides driving force to the track drive wheels 13. Specifically, the output torque of the second drive motor 10 is transmitted to the track drive wheel 13 shaft 12 through the pair of meshing bevel gears 11, thereby driving the track drive wheels 13 to rotate. In this embodiment, there are three track drive mechanisms, which are evenly arranged around the central axis of the wheel.

[0041] During operation, when the vehicle is in wheel drive mode, the actuating column push rod 5 is at its lowest point of return. The first drive motor outputs a holding torque to keep the deformable groove plate 3 stationary relative to the wheel center axis 1. The second drive motor 10 is not working, and the support mechanism rotates synchronously with the wheel center axis 1. When the vehicle switches from wheel drive mode to track drive mode, the first drive motor outputs an additional torque to make the deformable groove plate 3 rotate relative to the wheel center axis 1. This causes the sliding rod 52 on the actuating column push rod 5 to move along the sliding groove 31 on the deformable groove plate 3, thereby causing the actuating column push rod 5 to move outward along the actuating column sleeve 4. This, in turn, drives the track drive wheel 13, the track drive wheel 13 shaft 12, the connecting rod 8, the support paddle 7, and the support rod 6 to move, thus transforming the wheel from wheel drive mode to track drive mode. Figure 3 and 4 As shown, when the vehicle is in track drive mode, the actuator push rod 5 is at the highest point of the push stroke. The first drive motor outputs a holding torque to keep the deformable groove plate 3 and the actuator push rod 5 in a fixed position. The support mechanism and the wheel center shaft 1 no longer rotate. The second drive motor 10 outputs a torque to transmit to the track drive wheel 13, thereby driving the track to move relative to the reconfigurable composite lunar wheel.

[0042] This embodiment enables the wheels to switch between wheeled drive mode and tracked drive mode through a deformation drive mechanism and a support mechanism. This combination combines the advantages of wheeled and tracked walking mechanisms. The circular wheeled walking mechanism is flexible and fast, while the triangular tracked walking mechanism has excellent performance in climbing and overcoming obstacles. It can effectively cope with various lunar surface conditions, while avoiding the disadvantages of non-compact structure and large space occupation.

[0043] Please see Figure 7 The present invention also provides a lunar rover 200, which includes a frame and wheel-track composite wheels as described above, the wheels being connected to the frame.

[0044] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A wheel-track composite wheel, characterized in that: The wheel includes a deformable drive mechanism, a support mechanism, a track drive mechanism, and a track. The deformable drive mechanism is mounted on the support mechanism, and the track is fitted onto the track drive mechanism. The track drive mechanism is connected to the support mechanism. The deformable drive mechanism, the support mechanism, and the track support mechanism are all located within the track. The deformable drive mechanism drives the support mechanism to deform the track into a circle or a triangle, so that the wheel is in either wheel drive mode or track drive mode. The support mechanism includes multiple connecting rods, multiple idler wheels, and two symmetrically arranged support components. The two support components are respectively fixedly connected to opposite ends of the wheel's central axle. The opposite ends of the connecting rods are rotatably connected to the two support components. The multiple idler wheels are respectively mounted on the multiple connecting rods. The support assembly includes a side hub and three support components. The side hub is fixed to one end of the wheel's central axle. One end of each of the three support components is connected to the side hub, and the other end is connected to another support assembly via a connecting rod. The three support components are evenly arranged around the central axis of the side hub. The support component includes two support rods and two support levers. One end of each of the two support rods is rotatably connected to the same part of the side hub, and the other end is rotatably connected to one end of each of the two support levers. The other end of each of the two support levers is rotatably connected to the same part of the track drive wheel axle. The other end of the corresponding track drive wheel axle is rotatably connected to the two support levers of the corresponding support component. That is, the support levers of the two support components that are relatively spaced apart are rotatably connected through the track drive wheel axle, and the track drive wheel axle is located between the multiple connecting rods. The deformation drive mechanism includes a first drive motor, a deformation groove disk, an actuating column sleeve, and an actuating column push rod. The first drive motor is fixed on the central axle of the wheel, and its output shaft is connected to the deformation groove disk via a gear. The deformation groove disk is rotatably mounted on the central axle of the wheel via bearings. The actuating column sleeve is fixed on the central axle of the wheel. One end of the actuating column push rod is sleeved inside the actuating column sleeve, and the other end is connected to the track drive wheel axle via a slip ring. The actuating column sleeve is movably connected to the deformation groove disk via a sliding rod.

2. The wheel-track composite wheel as described in claim 1, characterized in that: The deformable grooved plate has a groove on its end face facing the first drive motor. The groove wall forms an internal gear, which meshes with the output shaft of the first drive motor. The bottom surface of the groove is provided with three sliding grooves designed based on a continuously variable radius of curvature. One end of the sliding rod extends into the sliding groove, and the two form a sliding connection.

3. The wheel-track composite wheel as described in claim 2, characterized in that: The three grooves are evenly arranged around the central axis of the deformable groove disk, and the three grooves have the same shape. The distance between their opposite ends is equal, and the curvature centers at both ends of the three grooves are the center of the deformable groove disk.

4. The wheel-track composite wheel as described in claim 1, characterized in that: The track drive mechanism includes a second drive motor, a pair of meshing bevel gears, a track drive wheel axle, and track drive wheels. Two track drive wheels are fixedly spaced on each track drive axle. One of the two bevel gears is fixed on the track drive wheel axle and located between the slip ring and one of the track drive wheels. The other bevel gear is fixedly connected to the output shaft of the second drive motor. The second drive motor is fixed on the actuating column push rod.

5. The wheel-track composite wheel as described in claim 4, characterized in that: The number of track drive mechanisms is three, and the three track drive mechanisms are evenly arranged around the central axis of the wheel.

6. A lunar rover, characterized in that: The lunar rover includes a frame and a wheel-track composite wheel as described in any one of claims 1-5, wherein the wheel is connected to the frame.

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