A motion-linked, terrain-adaptive, balanced movement device

Abstract

This invention relates to a motion-linked, terrain-adaptive, balanced mobility device, belonging to the technical field of safe and reliable arrival at the star surface by an extraterrestrial exploration vehicle. It includes a shell, a linkage assembly, and wheels. The linkage assembly and wheels are respectively located on the inner and outer sides of the shell, with the linkage assembly connected to the wheels. The linkage assembly includes a large trapezoidal slider, a small trapezoidal slider, and vertical legs. Small trapezoidal sliders are slidably mounted on the left and right sides of the large trapezoidal slider, and vertical legs are slidably connected to the front and rear sides of the small trapezoidal sliders. The vertical legs are connected to the outer wheels. This invention features simplified structure, lightweight design, low power consumption, low cost, low failure rate, and suitability for harsh environments.

Description

Technical Field

[0001] This invention relates to a balancing and moving device, belonging to the technical field of safe and reliable arrival of extraterrestrial exploration vehicles on the surface of stars. Background Technology

[0002] After a lunar probe lands on the lunar surface, the lunar rover carried on board needs to be transferred to the lunar surface. During the touchdown process, the rover must ensure that all its wheels make full contact with the ground; during its movement, it must also ensure sufficient obstacle-crossing capability and a small body tilt angle. Existing rovers have complex structures and high energy consumption, making it difficult to meet the requirements for use in the extreme and harsh conditions of space.

[0003] Therefore, there is an urgent need to propose a motion-linked, terrain-adaptive, balanced movement device to solve the above-mentioned technical problems. Summary of the Invention

[0004] This invention addresses the problems of complex structure and high energy consumption in exploration vehicles by providing a balanced movement device that is motion-linked and adapts to terrain. A brief overview of the invention is provided below to offer a basic understanding of certain aspects thereof. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention.

[0005] The technical solution of the present invention:

[0006] A motion-linked adaptive terrain balance movement device includes a housing, a linkage component, and wheels. The linkage component and wheels are respectively disposed on the inner and outer sides of the housing, and the linkage component is connected to the wheels.

[0007] The linkage component includes a large trapezoidal slider, a small trapezoidal slider, and vertical legs. Small trapezoidal sliders are slidably mounted on the left and right sides of the large trapezoidal slider, and vertical legs are slidably connected to the front and rear sides of the small trapezoidal sliders. The vertical legs are connected to the outer wheels.

[0008] Preferably, the housing includes a suspension upper housing, a suspension housing, and a sealing plate, which are sequentially fixedly connected from top to bottom.

[0009] Preferably, the upper housing of the suspension is fixedly provided with a housing slide groove and a motor mounting bracket;

[0010] A trapezoidal slider is fixedly mounted on the large trapezoidal slider. The slider is set in the groove of the outer shell, so that the slider moves along the x-direction.

[0011] Preferably, it also includes a motor and a lead screw. The motor is fixedly connected to the motor mounting base, the output end of the motor is connected to one end of the lead screw, the large trapezoidal slider has a threaded hole, and the other end of the lead screw is threadedly connected to the threaded hole.

[0012] Preferably, the suspension housing includes a first suspension housing sealing groove and a second suspension housing sealing groove, and four evenly arranged second suspension housing sealing grooves are fixedly provided at the lower part of the first suspension housing sealing groove.

[0013] The middle part of the sealing groove of the first suspension housing is the central cavity, and the left and right sides of the sealing groove of the first suspension housing are symmetrical side cavities.

[0014] The second suspension housing sealing groove is located in the lower part of the side cavity.

[0015] Preferably, the large trapezoidal slider has first guide surfaces on both the left and right sides, and the large trapezoidal slider is slidably connected to the central cavity of the sealing groove of the first suspension housing.

[0016] Preferably, the upper side of the small trapezoidal slider has a second guide surface that cooperates with the first guide surface, the first guide surface and the second guide surface are slidably connected, and the inclined surfaces at the front and rear ends of the lower side of the small trapezoidal slider have trapezoidal guide grooves.

[0017] The small trapezoidal slider is located at the edge cavity of the sealing groove of the first suspension housing.

[0018] Preferably, the upper inclined surface of the vertical leg has a guide block, the upper inclined surface of the vertical leg is configured to cooperate with the lower inclined surface of the small trapezoidal slider, the trapezoidal guide block is set in the guide groove, and the guide block is slidably connected to the small trapezoidal slider through the guide groove;

[0019] The vertical leg is slidably disposed within the sealing groove of the second suspension housing, and the upper square outer wall of the vertical leg is fitted with the inner wall of the sealing groove of the second suspension housing.

[0020] Preferably, the center of the sealing plate has a cylindrical guide hole, the edge of the sealing plate has bolt holes, the bottom end of the second suspension housing sealing groove of the suspension housing is connected to the connecting bolt hole of the sealing plate through the second set bolt, and the lower part of the vertical leg passes through the cylindrical guide hole and is connected to the wheel.

[0021] Preferably, it also includes a wheel frame and a compression spring, the lower end of the vertical leg has a flange seat, the flange seat has bolt through holes, the first set bolt passes through the bolt through holes and is connected to the wheel frame, and the wheel frame and the wheel are connected by a rotating shaft;

[0022] The diameter of the flange seat is larger than the diameter of the cylindrical guide hole;

[0023] The lower part of the vertical leg is fitted with a compression spring, and the two ends of the compression spring press against the upper bottom surface of the vertical leg and the closing plate, respectively.

[0024] The present invention has the following beneficial effects:

[0025] 1. This invention achieves four-wheel linkage, which has a good ability to adapt to rugged terrain and maintain posture.

[0026] 2. This invention uses springs to provide restoring force, giving the vehicle body better cushioning and shock absorption capabilities and stability.

[0027] 3. The fully sealed outer shell of this invention can effectively reduce the impact of lunar dust and other contaminants.

[0028] 4. This invention has the ability to actively / passively adapt and adjust, which can reduce energy consumption.

[0029] 5. This invention features a simplified structure, lightweight design, low power consumption, and low cost. It also has a low failure rate, is easy to repair and maintain, and is suitable for harsh environments. Attached Figure Description

[0030] Figure 1 This is a three-dimensional diagram of a motion-linked, terrain-adaptive, balanced movement device.

[0031] Figure 2 This is an exploded view of a motion-linked, terrain-adaptive, balanced movement device.

[0032] Figure 3 This is a structural diagram of the linkage components;

[0033] Figure 4 This is a structural diagram of the upper shell of the suspension;

[0034] Figure 5 This is a structural diagram of the large trapezoidal slider;

[0035] Figure 6 This is a structural diagram of the small trapezoidal slider;

[0036] Figure 7 It is a structural diagram of a vertical leg;

[0037] Figure 8 This is a structural diagram of the suspension housing;

[0038] Figure 9 This is a structural diagram of a closed plate;

[0039] Figure 10 This is a schematic diagram of the ground adaptation method.

[0040] In the diagram: 1-Suspension upper housing, 2-Suspension housing, 3-Sealing plate, 4-Wheel bracket, 5-Wheel, 6-Large trapezoidal slider, 7-Small trapezoidal slider, 8-Vertical leg, 9-Compression spring, 10-Motor, 11-Lead screw, 12-First set bolt, 13-Second set bolt, 1-1-1-Housing housing groove, 1-1-2-Motor mounting base, 2-1-1-First suspension housing sealing groove, 2-1-2-Second suspension housing sealing groove, 3-1-1-Cylindrical guide hole, 3-1-2-Bolt hole, 6-1-1-First guide surface, 6-1-2-Threaded hole, 7-1-1-Second guide surface, 7-1-2-Guide groove, 8-1-Guide block, 8-1-1-Flange seat, 8-1-2-Bolt through hole. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0042] Specific implementation method one: Combining Figure 1-10 This embodiment describes a motion-linked adaptive terrain balance movement device, which includes a housing, a linkage component, and wheels 5. The linkage component and wheels 5 are respectively disposed on the inner and outer sides of the housing. The linkage component is connected to the wheels 5, and the wheel frame 4 is used to mount the wheels 5.

[0043] The linkage component includes a large trapezoidal slider 6, a small trapezoidal slider 7, and a vertical leg 8. The small trapezoidal slider 7 is slidably mounted on the left and right (x-direction) sides of the large trapezoidal slider 6, and the vertical leg 8 is slidably connected to the front and rear (y-direction) sides of the small trapezoidal slider 7. The vertical leg 8 is connected to the outer wheel 5. This invention has the ability to actively / passively adapt and adjust, which can reduce energy consumption. This invention realizes four-wheel linkage and has good adaptability to rough terrain and attitude maintenance capabilities.

[0044] This invention features a simplified structure, lightweight design, low power consumption, and low cost. It also boasts a low failure rate, ease of maintenance, and suitability for harsh environments.

[0045] Specific Implementation Method Two: Combining Figure 1-10This embodiment describes a motion-linked, terrain-adaptive, balanced mobile device. The outer shell includes a suspension upper shell 1, a suspension shell 2, and a sealing plate 3. The suspension upper shell 1, suspension shell 2, and sealing plate 3 are sequentially fixedly connected from top to bottom (z-direction). The suspension upper shell 1 and suspension shell 2 are fixedly connected, and the suspension shell 2 and sealing plate 3 are also fixedly connected, forming a sealed space. This fully sealed shell effectively reduces the impact of lunar dust and other contaminants. Because lunar dust and other contaminants exist on the lunar surface, the suspension upper shell 1, suspension shell 2, and sealing plate 3 can form a sealed shell. Furthermore, for better sealing, a flexible sealing structure should be used between the sealing plate and the vertical legs.

[0046] Specific implementation method three: Combining Figure 1-10 This embodiment describes a motion-linked adaptive terrain balance movement device, in which a housing groove 1-1-1 and a motor mounting base 1-1-2 are fixedly provided inside the housing 1 of the suspension.

[0047] A trapezoidal slider 6-1 is fixedly mounted on the large trapezoidal slider 6. The slider 6-1 is located in the outer casing groove 1-1-1, allowing the slider 6-1 to move along the x-direction. With the assistance of the large trapezoidal slider 6, this adaptive terrain movement system can effectively adjust the vehicle body tilt angle and maintain horizontality based on the real-time attitude sensor of the vehicle body. The unidirectional sliding of the large trapezoidal slider 6 can be achieved by a linear drive mechanism such as a lead screw mechanism, linear motor, pneumatic, or hydraulic drive.

[0048] Specific implementation method four: Combination Figure 1-10 This embodiment describes a motion-linked adaptive terrain-balancing movement device, which further includes a motor 10 and a lead screw 11. The motor 10 is fixedly connected to a motor mounting base 1-1-2, and the output end of the motor 10 is connected to one end of the lead screw 11. A threaded hole 6-1-2 is machined on the large trapezoidal slider 6, and the other end of the lead screw 11 is threadedly connected to the threaded hole 6-1-2. A guide block 6-1 is fixed on the large trapezoidal slider 6 and cooperates with the upper outer shell slide groove 1-1-1, so that the large trapezoidal slider 6 can only slide in one direction. The motor is fixed at the upper outer shell mounting base 1-1-2 of the suspension, and drives the lead screw 11 to drive the large trapezoidal slider 6.

[0049] ① Single-sided two-wheel linkage: When motor 10 is locked, lead screw 11 cannot rotate, and a passive adaptation mechanism is formed on both sides of the vehicle body, such as... Figure 10 As shown, the different ground heights cause a height difference between the two wheels 5 on one side. When one wheel rises, it pushes the small trapezoidal slider 7 to slide in one direction, causing the other wheel to press down, ensuring that each wheel 5 is always in contact with the ground. However, there will still be a certain height difference between the two sides, causing the vehicle to tilt.

[0050] ② Full four-wheel linkage: When motor 10 is working, if the vehicle body tilts due to two wheels on one side, the lead screw 11 drives the large trapezoidal slider 6 to move based on feedback from the vehicle body posture sensor. At the same time, the small trapezoidal slider 7 is pressed up by the compression spring 9, thus reducing the height of the vehicle on one side. Figure 10 As shown, this design can balance the height difference between the two sides of the vehicle body, ensuring the vehicle body is level, while adapting to ground height differences and ensuring constant contact with the ground.

[0051] Specific Implementation Method Five: Combining Figure 1-10 This embodiment describes a motion-linked adaptive terrain balance movement device. The suspension housing 2 includes a first suspension housing sealing groove 2-1-1 and a second suspension housing sealing groove 2-1-2. Four evenly arranged second suspension housing sealing grooves 2-1-2 are fixedly and vertically arranged on the lower part of the first suspension housing sealing groove 2-1-1.

[0052] The middle part of the first suspension housing sealing groove 2-1-1 is a central cavity, and the left and right sides of the first suspension housing sealing groove 2-1-1 are symmetrical side cavities. The z-direction depth and y-direction width of the central cavity are smaller than the z-direction depth and y-direction width of the side cavities.

[0053] The second suspension housing sealing groove 2-1-2 is located at the lower part of the side cavity, and the x-direction length of the second suspension housing sealing groove 2-1-2 is less than the x-direction length of the side cavity.

[0054] Specific Implementation Method Six: Combination Figure 1-10 This embodiment describes a motion-linked adaptive terrain-balancing moving device. A large trapezoidal slider 6 has first guide surfaces 6-1-1 on both its left and right sides. The y-direction width of the large trapezoidal slider 6 is adapted to the y-direction width of the central cavity, and the z-direction height of the large trapezoidal slider 6 is adapted to the z-direction depth of the central cavity. These surfaces are used to limit the movement of the large trapezoidal slider 6, ensuring stable movement and a robust and reliable structure. The large trapezoidal slider 6 is slidably connected to the central cavity of the first suspension housing sealing groove 2-1-1.

[0055] Specific implementation method seven: Combining Figure 1-10 This embodiment describes a motion-linked adaptive terrain balance movement device. The upper side of the small trapezoidal slider 7 has a second guide surface 7-1-1 that cooperates with the first guide surface 6-1-1. The first guide surface 6-1-1 and the second guide surface 7-1-1 are slidably connected. The inclined surfaces at the front and rear ends of the lower side of the small trapezoidal slider 7 have trapezoidal guide grooves 7-1-2.

[0056] The small trapezoidal slider 7 is positioned at the edge cavity of the sealing groove 2-1-1 of the first suspension housing, allowing it to move along the z and y directions. The small trapezoidal slider 7 and the large trapezoidal slider 6 are in surface contact through guide surfaces 6-1-1 and 7-1-1, enabling relative sliding in two directions. The small trapezoidal slider 7 can only slide inside the sealing groove 2-1-1 of the first suspension housing. The guide surface between the large trapezoidal slider 6 and the small trapezoidal slider 7 should be as small as possible. A smaller guide surface can be machined based on existing technology to increase reliability.

[0057] Specific implementation method eight: Combination Figure 1-10 This embodiment describes a motion-linked adaptive terrain balance movement device. The upper inclined surface of the vertical leg 8 has a guide block 8-1. The upper inclined surface of the vertical leg 8 is configured to cooperate with the lower inclined surface of the small trapezoidal slider 7. The trapezoidal guide block 8-1 is disposed in the guide groove 7-1-2. The guide block 8-1 is slidably connected to the small trapezoidal slider 7 through the guide groove 7-1-2.

[0058] The vertical leg 8 is slidably disposed within the sealing groove 2-1-2 of the second suspension housing, and the upper square outer side wall of the vertical leg 8 is fitted with the inner side wall of the sealing groove 2-1-2 of the second suspension housing, so that the vertical leg 8 moves along the z-direction.

[0059] Specific Implementation Method Nine: Combining Figure 1-10 This embodiment describes a motion-linked, terrain-adaptive, balanced movement device. The closed plate 3 has a cylindrical guide hole 3-1-1 in its center and bolt holes 3-1-2 on its edge. The bottom end of the second suspension housing sealing groove 2-1-2 of the suspension housing 2 is connected to the connecting bolt hole 3-1-2 of the closed plate 3 via a second set bolt 13. The lower part of the vertical leg 8 passes through the cylindrical guide hole 3-1-1 and is connected to the wheel 5. The closed plate 3 is connected to the suspension housing 2 via the set bolt 13. The vertical leg moves within the second suspension housing sealing groove 2-1-2 but does not contact the suspension housing 2. To mitigate the effects of high and low temperatures on the lunar surface, materials with low thermal expansion coefficients should be selected for each sliding joint, and molybdenum disulfide or similar lubricants can be used.

[0060] Specific Implementation Method Ten: Combining Figure 1-10This embodiment describes a motion-linked adaptive terrain-balancing mobile device, which further includes a wheel frame 4 and a compression spring 9. The lower end of the vertical leg 8 has a flange seat 8-1-1, and the flange seat 8-1-1 has a bolt through hole 8-1-2. The first set bolt 12 passes through the bolt through hole 8-1-2 and is connected to the wheel frame 4. The wheel frame 4 and the wheel 5 are connected by a rotating shaft. A guide block 8-1 is fixed on the vertical leg 8, which cooperates with the small slider guide groove 7-1-2. At the same time, the vertical leg is constrained by the cylindrical guide hole 3-1-1 of the closed plate, and it can only move up and down. The lower end of the vertical leg 8 has a flange seat 8-1-1, and the set bolt 12 is fixed to the wheel frame 4 through the bolt hole 8-1-2 on it.

[0061] The diameter of flange seat 8-1-1 is larger than the diameter of cylindrical guide hole 3-1-1;

[0062] A compression spring 9 is fitted on the lower part of the vertical leg 8. The two ends of the compression spring 9 press against the upper bottom surface of the vertical leg 8 and the sealing plate 3 respectively. The invention uses a spring to provide restoring force, so that the vehicle body has better buffering and shock absorption capabilities and stability. The compression spring installed on the vertical leg can make the mechanism reset more quickly, and also has a buffering effect.

[0063] There are requirements for the installation sequence of the mechanism. First, assemble the large trapezoidal slider 6, the small trapezoidal slider 7, and the vertical leg 8. The inner diameter of the spring 9 should be larger than the outer diameter of the flange seat 8-1-1. Then, put the entire mechanism into the suspension housing 2. Next, fix the suspension housing 2 to the upper suspension housing 1. Welding or bolt connection can be used to ensure airtightness. Then fix the suspension housing 2 and the sealing plate 3. Finally, connect the vertical leg 8 to the wheel frame 4.

[0064] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0065] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., 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 motion-linked, terrain-adaptive, balanced movement device, characterized in that: It includes a housing, a linkage component and a wheel (5). The linkage component and the wheel (5) are respectively located on the inner and outer sides of the housing, and the linkage component is connected to the wheel (5). The linkage component includes a large trapezoidal slider (6), a small trapezoidal slider (7) and a vertical leg (8). Small trapezoidal sliders (7) are respectively provided on both sides of the large trapezoidal slider (6), and vertical legs (8) are respectively connected to both sides of the small trapezoidal sliders (7). The vertical legs (8) are connected to the wheel (5). The outer shell includes a suspension upper shell (1), a suspension shell (2), and a sealing plate (3), which are connected sequentially from top to bottom; The suspension housing (2) includes a first suspension housing sealing groove (2-1-1) and a second suspension housing sealing groove (2-1-2). The lower part of the first suspension housing sealing groove (2-1-1) is fixedly and vertically provided with four evenly arranged second suspension housing sealing grooves (2-1-2). The middle part of the first suspension housing sealing groove (2-1-1) is the central cavity, and the left and right sides of the first suspension housing sealing groove (2-1-1) are the side cavities. The second suspension housing sealing groove (2-1-2) is located in the lower part of the side cavity; The large trapezoidal slider (6) has a first guide surface (6-1-1) on both the left and right sides, and the large trapezoidal slider (6) is slidably connected to the middle cavity of the first suspension housing sealing groove (2-1-1).

2. The motion-linked adaptive terrain-balancing movement device according to claim 1, characterized in that: The upper outer shell (1) of the suspension is provided with an outer shell groove (1-1-1) and a motor mounting seat (1-1-2). A slider (6-1) is provided on the large trapezoidal slider (6), and the slider (6-1) is located in the outer shell groove (1-1-1).

3. The motion-linked adaptive terrain-balancing movement device according to claim 2, characterized in that: It also includes a motor (10) and a lead screw (11). The motor (10) is connected to the motor mounting base (1-1-2). The output end of the motor (10) is connected to one end of the lead screw (11). The large trapezoidal slider (6) has a threaded hole (6-1-2). The other end of the lead screw (11) is threaded to the threaded hole (6-1-2).

4. The motion-linked adaptive terrain-balancing movement device according to claim 3, characterized in that: The upper side of the small trapezoidal slider (7) has a second guide surface (7-1-1) that cooperates with the first guide surface (6-1-1), and the lower side of the small trapezoidal slider (7) has guide grooves (7-1-2) at both the front and rear ends. The small trapezoidal slider (7) is located at the edge cavity of the first suspension housing sealing groove (2-1-1).

5. The motion-linked adaptive terrain-balancing movement device according to claim 4, characterized in that: The upper side of the vertical leg (8) has a guide block (8-1), and the guide block (8-1) is slidably connected to the small trapezoidal slider (7) through the guide groove (7-1-2); The vertical leg (8) is slidably set in the sealing groove (2-1-2) of the second suspension housing.

6. The motion-linked adaptive terrain-balancing movement device according to claim 4, characterized in that: The center of the sealing plate (3) has a cylindrical guide hole (3-1-1), and the edge of the sealing plate (3) has a bolt hole (3-1-2). The bottom end of the second suspension housing sealing groove (2-1-2) of the suspension housing (2) is connected to the connecting bolt hole (3-1-2) of the sealing plate (3) through the second set bolt (13). The lower part of the vertical leg (8) passes through the cylindrical guide hole (3-1-1) and is connected to the wheel (5).

7. A motion-linked adaptive terrain-balancing movement device according to claim 4, characterized in that: It also includes a wheel frame (4) and a compression spring (9). The lower end of the vertical leg (8) has a flange seat (8-1-1). The flange seat (8-1-1) has a bolt through hole (8-1-2). The first set bolt (12) passes through the bolt through hole (8-1-2) and is connected to the wheel frame (4). The wheel frame (4) and the wheel (5) are connected by a rotating shaft. A compression spring (9) is fitted on the lower part of the vertical leg (8), and the two ends of the compression spring (9) press against the vertical leg (8) and the closing plate (3) respectively.

Images