Mechanical reinforcement wheel foot composite lunar rover wheel

Abstract

The invention relates to a mechanical reinforcement wheel foot composite lunar rover wheel, and belongs to the technical field of deep space exploration, the mechanical reinforcement wheel foot composite lunar rover wheel comprises an inner wheel, an outer wheel and a mechanical reinforcement mechanism, the inner wheel and the outer wheel of the mechanical reinforcement wheel foot composite lunar rover wheel are concentrically and fixedly connected and rotate around a wheel shaft, and a sliding block is hinged to the inner wheel and is in sliding connection with a reinforcement rod; the boosting rod penetrates through the sliding block, is rotationally connected with the outer end of the eccentric rod and can rotate along with the inner wheel, the relative dip angle alpha between the eccentric rod and the frame can be actively adjusted through the dip angle motor, the eccentric rod is locked by the worm gear reducer, and the eccentric rod, the dip angle adjusting unit, the sliding block and the boosting rod jointly form a mechanical boosting mechanism; in the rolling process of the wheel-foot composite wheel, the extending position and the extending length of the reinforcement rod can be actively adjusted in real time according to the lunar surface condition, the traction force and the passing ability of the wheel are improved, meanwhile, the continuous rolling characteristic of the round wheel is kept, and the lunar rover has good movement stability.

Description

Technical Field

[0001] The invention relates to the technical field of design and manufacturing of wheels for deep space exploration vehicles, and in particular to a mechanically amplified wheel-foot composite lunar vehicle wheel. Background Art

[0002] The rover can not only carry instruments for on-site detection and environmental analysis, but also serve as a means of transportation for astronauts. It is an important tool for lunar exploration. At present, wheeled lunar rovers have been widely used due to their excellent mobility and stability. The traction of the wheeled lunar rover is generated by the contact between the wheels and the ground when moving, which directly determines the ability of the lunar rover to travel on soft and rugged terrain.

[0003] Affected by factors such as low gravity, high vacuum, and large temperature differences, rubber pneumatic tires are difficult to apply. Existing lunar rover wheels are generally rigid wheels, which are prone to slipping and sinking under loose lunar soil conditions. In addition, since the diameter of the wheel is constant, it is difficult for the wheel to pass when encountering rocks of different sizes and shapes, and the obstacle crossing performance is poor. Some studies use wheel deformation to adapt to the soft lunar surface and rock obstacles, but the stride scheme formed by the variable diameter wheel is intermittent rolling, which inevitably causes wheel center fluctuations, thereby reducing the smoothness of the vehicle. In addition, this type of walking wheel also has problems such as complex control mechanism, poor load-bearing capacity, and low reliability. Therefore, the development of a lunar rover wheel with high passability, simple structure, strong load-bearing capacity and stable performance has important theoretical significance and application value for improving the passability of vehicles in loose sand and rock obstacle working environments. Summary of the invention

[0004] In view of the problems existing in the prior art, the present invention designs a mechanically amplified wheel-foot composite lunar rover wheel, which can actively adjust the position of the guide rod extension according to the lunar surface conditions, increase the contact area between the wheel and the lunar surface, improve traction, and assist the wheel to cross obstacles such as rocks, thereby improving obstacle crossing performance. At the same time, the continuous rolling walking mode of the rigid wheel effectively improves the wheel's load-bearing capacity and smoothness.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical scheme: a mechanically amplified wheel-foot composite lunar rover wheel, comprising an inner wheel, an outer wheel and a mechanical amplification mechanism, wherein the inner wheel 5 and the outer wheel 6 are concentrically fixedly connected by a plurality of support ribs and rotate around the wheel axle 2, and a plurality of transparent slots are evenly distributed in the circumferential direction of the inner wheel 5 and the outer wheel 6 to cooperate with the movement of the mechanical amplification mechanism; the mechanical amplification mechanism is mainly composed of an eccentric rod 1, an inclination adjustment unit 4, a slider 7, and a amplification rod 8. Among them, the inclination adjustment unit 4 fixedly connected to the frame 3 includes a rotating shaft 41, a worm gear reducer 42 and an inclination motor 43. The inner end of the eccentric rod 1 is fixedly connected to the rotating shaft 41 and can rotate at an inclination angle α with the rotating shaft 41. The rotating shaft 41 coincides with the center line of the wheel axle 2. The position of the eccentric rod 1 is locked by the worm gear reducer 42. The slider 7 is rotatably connected to the through groove of the inner wheel 5. The inner end of the force-enhancing rod 8 is rotatably connected to the outer end of the eccentric rod 1, and the outer end is movably connected to the slider 7 and passes through the slot hole of the outer wheel 6.

[0006] In the above-mentioned mechanically amplified wheel-foot composite lunar rover wheel, m (m=1, 2, 3, ...) mechanical amplification mechanisms can be evenly distributed. These mechanical amplification mechanisms share the same eccentric rod. Multiple mechanical amplification mechanisms can enhance the continuous obstacle crossing capability of the wheel and the driving force for traveling on loose lunar soil.

[0007] In the above-mentioned mechanically amplified wheel-foot composite lunar rover wheel, the rotation angle α of the eccentric rod can be actively adjusted according to the lunar surface terrain to adapt to the soft lunar surface, slopes and rock obstacles. The value range of the rotation angle α is -90° to 90°. During the walking process, the eccentric rod is in a locked state.

[0008] The beneficial effects of the present invention are as follows: the mechanically amplified wheel-foot composite lunar rover wheel proposed by the present invention effectively increases the contact area between the wheel and the lunar surface, enhances the wheel's passability under soft and rocky lunar surface conditions, and also maintains the continuous rolling characteristics of the round wheel, so that the lunar rover has better movement stability. The designed mechanically amplified wheel-foot composite lunar rover wheel has the characteristics of simple structure, light weight, good stability, high passability on soft and obstacle ground, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a working principle diagram of the mechanically amplified wheel-foot composite lunar rover wheel;

[0010] Figure 2 This is a schematic diagram of the mechanically amplified wheel-foot composite lunar rover wheel structure;

[0011] Figure 3 It is a working principle diagram of the mechanical force-enhancing mechanism when the rotation angle is greater than zero;

[0012] Figure 4 It is a working principle diagram of the mechanical force-enhancing mechanism when the rotation angle is less than zero;

[0013] Figure 5 It is the configuration principle diagram of the mechanical force amplification mechanism m=3 of the mechanical force amplification wheel-foot composite lunar rover wheel;

[0014] Figure 6 The figure shows a schematic diagram of the obstacle-crossing process of the mechanically amplified wheel-foot composite lunar rover wheels;

[0015] Figure 7 Shown is a schematic diagram of the mechanically amplified wheel-foot composite lunar rover walking on the soft lunar surface.

[0016] In the figure: 1--eccentric rod, 2--wheel axle, 3--frame, 4--tilt adjustment unit, 41--rotating shaft, 42--worm gear reducer, 43--tilt motor, 5--inner wheel, 6--outer wheel, 7--slider, 8--force amplification rod. DETAILED DESCRIPTION

[0017] The specific implementation of the present invention is further described in detail below in conjunction with the drawings and examples.

[0018] like Figure 1 and Figure 2 As shown, the inclination adjustment unit 3 composed of the rotating shaft 41, the worm gear reducer 42, and the inclination motor 43, together with the eccentric rod 1, the inclination adjustment unit 4, the slider 7, and the boost rod 8 form a mechanical boost mechanism. The inner wheel and the outer wheel are fixedly connected to the wheel axle 2, and can rotate relative to the frame 3 around the wheel axle at an angular velocity ω1 under the action of the driving motor. At this time, the mechanical boost mechanism also rotates with the inner wheel; the eccentric rod 1 can rotate relative to the frame 3 at an angular velocity ω2 under the drive of the inclination motor 43, and the rotation inclination angle α is α = -90° ~ 90°, and the worm gear reducer 42 locks the orientation of the eccentric rod 1 relative to the frame 3, and adapts to different lunar surface environments by changing the rotation inclination angle α; when α<0°, the mechanical boost wheel foot composite wheel is suitable for driving on soft, sloped and other lunar surfaces where insufficient adhesion causes wheel slipping, and when α>0°, the mechanical boost wheel foot composite wheel is suitable for driving over rock obstacles.

[0019] like Figure 3 and Figure 4As shown, when explaining the working principle of the mechanical booster mechanism, it can be equivalent to a crank slider mechanism with a variable angle, wherein the crank is an equivalent rod of the inner wheel 5, and when the wheel rotates under the action of the driving force, the equivalent crank 5 rotates together with the outer wheel 6, so that the booster rod 8 rotates around point A while also moving relative to the slider 7. The trajectory circle formed by the outer end point B of the booster rod 8 is eccentric relative to the outer wheel 6, and the eccentricity is the length of OA. The two relatively planar areas formed are β and γ, respectively, wherein β is the area beyond the outer wheel 5 during the rotation of the booster rod 8, and the position of the eccentric rod 1 relative to the frame 3 can be changed to assist the wheel to pass through soft lunar surfaces, rock obstacles, etc., and γ is the area where the booster rod 8 is located inside the outer wheel 6. This area shows that during walking, the mechanical booster wheel-foot composite wheel is the same as a conventional wheel, which is conducive to driving stability.

[0020] like Figure 6 As shown in the figure, the inclination motor 43 drives the eccentric rod 1 to rotate a certain angle relative to the frame 3, and the rotation inclination angle α=45°. The eccentric rod 1 is locked as a whole with the frame 3 through the worm gear reducer 42, and the outer wheel 6 rotates in the clockwise direction at an angular velocity ω1. During the flat lunar surface driving, the booster rod 8 does not contact the lunar surface, and the traction force comes from the friction between the wheel and the lunar surface; when the outer wheel 6 encounters an insurmountable obstacle, the wheel and the lunar surface slip, and the booster rod 8 in the mechanical booster mechanism contacts the obstacle and assists the wheel to overcome the obstacle, so that the wheel can overcome a higher obstacle.

[0021] like Figure 7 As shown in the figure, the inclination motor 43 changes the position of the eccentric rod 1 relative to the frame 3, and rotates the inclination angle α=-30°. The eccentric rod 1 is locked as a whole with the frame 3 through the worm gear reducer 42, and the outer wheel 6 rotates in the clockwise direction at an angular velocity ω1. The booster rod 8 in the mechanical booster mechanism is inserted into the loose lunar surface, which effectively increases the contact area between the wheel and the lunar surface, improves traction, and prevents the wheel from slipping and sinking.

Claims

1. A mechanically amplified wheel-foot composite lunar rover wheel comprises an inner wheel, an outer wheel and a mechanical amplification mechanism, characterized in that: An inner wheel (5) with a plurality of through slots is coaxially fixedly connected to an outer wheel (6) and rotates around a wheel shaft (2). A slider (7) is hinged to the slot of the inner wheel (5) and is slidably connected to a booster rod (8). The booster rod (8) passes through the slider (7) and is rotatably connected to the outer end of the eccentric rod (1) and can rotate with the inner wheel (5). The eccentric rod (1) is fixedly connected to a rotating shaft (41) and can actively adjust a relative inclination angle α with the vehicle frame (2) through an inclination motor (43) and is locked by a worm gear reducer (43). The inclination adjustment unit composed of the rotating shaft (41), the worm gear reducer (42), and the inclination motor (43) together with the eccentric rod (1), the inclination adjustment unit (4), the slider (7), and the force-enhancing rod (8) form a mechanical force-enhancing mechanism. At the same time, m (m=1, 2, 3, ...) mechanical force-enhancing mechanisms can be evenly distributed in the inner wheel (5). These mechanical force-enhancing mechanisms share the same eccentric rod. Multiple mechanical force-enhancing mechanisms can enhance the continuous obstacle-crossing capability of the wheel and the driving force for traveling on loose lunar soil. In the mechanically amplified wheel-foot composite lunar rover wheel, the rotation inclination angle α of the eccentric rod can be actively adjusted according to the lunar surface terrain to adapt to the soft lunar surface, slopes and rock obstacles. The value range of the rotation inclination angle α is -90° to 90°. During the walking process, the eccentric rod is in a locked state.

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