Bionic variable-structure lunar wheel with high obstacle crossing performance

Abstract

A bionic variable-structure lunar wheel with high obstacle crossing performance belongs to the technical field of engineering bionics, and is characterized in that a bionic variable-structure wheel mechanism capable of crossing obstacles in a lunar surface environment is designed by taking sawtooth structures of ostrich toes, locust legs and the like as bionic elements; the wheel comprises a wheel mechanism composed of a wheel face, a fixed spoke, a movable deformation mechanism and a wheel piece connecting rod. When no difficulty exists, the bionic variable-structure wheel rolls and runs on the lunar surface in a wheel form; when the wheel encounters an obstacle, the actuator drives the crankshaft assembly of the movable deformation mechanism to operate and drives the three cannon pinion pieces of the wheel to be unfolded outwards, and under the assistance of rolling friction of the wheel, structure changing is completed; due to the fact that the wheel pieces are unfolded to increase the enveloping radius and claw finger structures are arranged on the outer edges of the wheel pieces, claw fingers upwards climb and attach to rock obstacles along with rotating motion of the wheels, the whole moving platform is driven to climb upwards, and the obstacle crossing function is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of engineering bionics, and in particular to a bionic metamorphic lunar wheel with high obstacle-crossing performance. Background Art

[0002] With the continuous development of science and technology, deep space exploration has gradually become an important research content in the field of scientific research, among which the exploration of the moon is now the focus of exploration and research. With the establishment of an unmanned lunar scientific research base in the future, an unmanned lunar exploration mobile platform with wheels as the main body and taking into account high passability and escape function will be one of the main equipment for complex lunar exploration. In addition to sinking and slipping on soft lunar soil, the wheeled mechanism is easily stuck and blocked by large pieces of lunar rocks when exploring the lunar mountain terrain where soil and rocks coexist, causing the mobile platform on the star surface to fall into a stuck / blocked dilemma. Therefore, it is of great theoretical significance and application value to develop a bionic lunar wheel with wheels as the main body, which improves obstacle crossing performance through variable structure design while taking into account the simplicity and high passability of the wheels.

[0003] Bionic convex structures are widely used in wheel treads. To cope with rugged irregular roads, bionic convex bodies can provide good traction and climbing forces. The present invention uses bionic technology to add bionic convex bodies to the wheel surface, adopts a mastoid structure, and each wheel plate surface of the wheel surface is provided with a bionic convex body structure.

[0004] Through research, it was found that when ostriches walk or run in the desert, their toenails act like shoe spikes, which play a role in traction and sand fixation, and can effectively improve traction and anti-sinking properties. This excellent performance is closely related to the structure and morphology of the toenails. In addition, according to known data, the dusty lunar soil covering the surface of the moon is very similar to the sand in the desert, and is a typical soft medium. Therefore, using ostrich toenails as bionic prototypes to design bionic wheel spurs for lunar rover wheels will effectively improve the traction and anti-sinking properties of the wheels, which is extremely important for improving the traction and passability of the lunar rover on soft lunar soil. Wheel spurs are set on the outside of both ends of the wheel blade, and the tip profile of the wheel spurs is the optimized ostrich toenail profile curve, which can provide grip and traction.

[0005] The outer and inner edges of the locust's hind tibia are densely distributed with serrated protrusions (micro-thorns or bristles), which look like tiny saw teeth. The sawtooth structure contacts the ground when jumping, preventing slipping by increasing friction and ensuring stability at the moment of take-off. In complex terrain, the sawtooth can be embedded in gaps or rough surfaces to assist climbing. The bionic sawtooth structure of the lunar wheel can enhance the stability of the wheel on the loose lunar surface. Summary of the invention

[0006] The purpose of the present invention is to solve the problem that the existing mobile equipment on the lunar surface cannot guarantee the passability when encountering the unfavorable situation of complex coexistence of sand and stones, to improve the passability and environmental adaptability of the mobile equipment on the lunar surface, and to provide a bionic metamorphic lunar wheel with high obstacle crossing performance by taking the ostrich toe and locust leg serrated structure as bionic elements.

[0007] A bionic metamorphic lunar wheel with high obstacle crossing performance, comprising a wheel surface, fixed spokes, a movable deformation mechanism and a wheel connecting rod; The wheel surface includes a plurality of identical wheel pieces, which are arranged in sequence to form a split wheel surface that can be split and integrated; a plurality of nipple structures are arranged on the outside of each wheel piece, which are in contact with the ground during rolling, and can increase the frictional traction for climbing over obstacles; the edges on both sides of the wheel pieces connected to each other are the main positions for the wheel pieces to form a climbing effect with the surface of the stone after opening, and a claw finger structure is arranged on the outside here, and the length and shape of the claw finger structure should prevent interference during the opening process, resulting in failure to open; An assembly structure is arranged on the inner side of each wheel piece.

[0008] The fixed spokes include flange spokes and slide groove spokes, the flange spokes are provided with a plurality of connecting claws, the slide groove spokes are provided with spokes with the same number and corresponding position distribution as the connecting claws, the flange spokes and the slide groove spokes are fixedly connected by the connecting claws and the spokes, and a hollow space for installing a movable deformation mechanism is formed between the flange spokes and the slide groove spokes; a slide groove is provided between every two spokes, and a first boss is provided at the far end of the slide groove travel; The movable deformation mechanism comprises a crankshaft assembly, a crankshaft connecting rod and a sliding module, wherein the number of the crankshaft connecting rod and the sliding module is the same as the number of the connecting claws; a groove structure is provided at one end of the crankshaft connecting rod, a second boss is provided at one end of the sliding module, and the end of the crankshaft connecting rod provided with the groove structure is hinged to the end of the sliding module provided with the second boss; the other end of the crankshaft connecting rod is hingedly arranged on the crankshaft assembly through a flange shaft; The flange spoke, the movable deformation mechanism and the slide groove spoke are coaxially arranged together in sequence; the second boss of the sliding module is embedded in the slide groove structure of the slide groove spoke, and the two form a sliding pair of sliding friction; The assembly structure of the wheel disc is composed of a mounting plate and a boss connecting rod, wherein the mounting plate is hinged to an end of the sliding module where no second boss is arranged; and the boss connecting rod is hinged to the first boss.

[0009] The flange spokes are provided with two sets of flange mounting structures, namely, a first flange and a second flange; wherein the first flange with a larger radius is connected to the power output shaft of the mobile platform, and the second flange is connected to the driving motor of the movable deformation mechanism.

[0010] The crankshaft assembly is composed of a connecting shaft, a double crank, a single crank, a connecting flange and a flange shaft; the double crank is an integrated two-rod crank, the angle between the two rods is 120°, and the connecting shaft, the double crank and the single crank are fixed together by the flange shaft and the connecting flange. The connecting shaft contains a mounting shaft hole with the same size as the motor shaft. The flange shaft is installed on the connecting shaft, the double crank and the single crank through a flange plate and screws, and is assembled through the corresponding mounting threaded holes on the connecting shaft, the double crank and the single crank. The flange shaft is provided with an internal threaded hole. The connecting flange is also connected to the connecting shaft, the double crank and the single crank in the same way through screws, and is also connected to the flange shaft through the internal threaded hole of the flange shaft.

[0011] The size of the groove structure of the crankshaft connecting rod is set to different depths according to the distance between the axial position of the flange shaft and the crankshaft assembly. This is because the crank connecting rod on the crankshaft structure is arranged in sequence front and back in the axial direction, and the variable configuration sliding module should be on the side plane of the wheel, that is, on the same plane. Therefore, different depths are required to prevent non-coplanarity caused by different axial positions. On the other hand, since the movement angle of the crankshaft assembly during the variable configuration process is 180°, there is interference between the crankshaft connecting rod and the double crank and the single crank. Therefore, grooves of different depths are designed to prevent interference. The size of the groove is determined by the distance from the axial position of the double crank and the single crank where the connecting rod is located to the side plane of the wheel and the thickness of the double crank and the single crank itself, so that each crankshaft connecting rod and the corresponding flange shaft are articulated.

[0012] Wheel thorns are arranged outside the edges of both sides of the wheel pieces which are connected to each other.

[0013] The outer edge of the claw finger structure is provided with a sawtooth structure.

[0014] Working process and working principle of the present invention: In the initial state of the wheel surface, the sliding module is located at the end of the travel of the chute structure (close to the center of the chute spoke structure), the wheel piece is in the retracted state, and the three wheel pieces constitute a complete circular wheel surface, which can perform normal wheel driving functions. When the mobile platform encounters a rock obstacle, the driving motor on the flange spoke drives the crankshaft assembly to rotate. In the crank slider mechanism composed of the crankshaft assembly, the crankshaft connecting rod and the sliding module, the sliding module will be driven by the motor to slide along the chute structure toward the end of the travel (away from the center of the chute spoke structure). On the other hand, due to the sliding of the sliding module, in the reverse crank slider mechanism composed of the sliding module, the wheel connecting rod and the assembly structure of the wheel piece, the wheel piece will perform a compound motion of outward rotation and translation. In addition, under the action of the output power, the entire wheel surface is also rotating. As long as the wheel piece is slightly opened, under the action of the wheel piece and the ground, the wheel piece receives additional friction in the opening direction. The two forces jointly promote the transformation, and the three wheel pieces will perform the same opening movement, forming the overall transformation of the wheel surface. From the original round complete wheel, it has become a modified wheel with three open climbing claw-type wheel pieces.

[0015] Beneficial effects of the present invention: 1. The present invention has a relatively fast moving speed, uses wheeled movement on a flat road surface, and uses variable-structure wheels when blocked by lunar rocks, so as to quickly escape from a stuck predicament.

[0016] 2. In the configuration change method adopted by the present invention, the wheel blade performs a composite movement of translational sliding and rotational movement, which can maximize the envelope radius of the wheel after configuration change and effectively improve the obstacle crossing ability. 3. The movable deformation mechanism of the present invention uses fewer components, has a simple and compact structure, and is easy to process and install. The movement space of the movable deformation mechanism and the movement space of the wheel blade meet the actual working requirements in the design without interference.

[0017] 4. The design of the crankshaft assembly of the present invention enables the driving end of the movable deformation mechanism to rotate to a maximum angle of 180° while ensuring a simple structure; if the crankshaft assembly is not used, the connecting rod and the driving spindle will interfere with each other, reducing the rotatable angle of the driving end.

[0018] 5. The present invention has proved in the simulation experiment of simulating obstacle crossing that the wheel transformable design can realize the function of assisting the lunar mobile platform to cross obstacles. The simulation results show that the bionic wheels converted into climbing obstacle-crossing wheel legs have greatly improved the ability to cross obstacles compared with the wheeled mobile system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 is a three-dimensional schematic diagram of a variable configuration wheel according to an embodiment of the present invention; Figure 2is a three-dimensional schematic diagram of a wheel piece according to an embodiment of the present invention; Figure 3 is a three-dimensional schematic diagram of a fixed spoke according to an embodiment of the present invention; Figure 4 is a three-dimensional schematic diagram of a movable deformation mechanism according to an embodiment of the present invention; Figure 5 Schematic diagram of a crankshaft connecting rod with different groove sizes according to an embodiment of the present invention; Figure 6 A schematic diagram of a disassembled crankshaft assembly according to an embodiment of the present invention; Figure 7 This is a schematic diagram of a model of a wheel without structural modification according to an embodiment of the present invention; Figure 8 This is a schematic diagram of a model after the wheel is deformed and unfolded according to an embodiment of the present invention; Fig. 9 This is a simulation diagram of a modified wheel obstacle crossing according to an embodiment of the present invention; Fig.10 Schematic diagram of bionic comparison of various parts of an embodiment of the present invention.

[0020] Wherein: A. Wheel surface B. Fixed spoke C. Movable deformation mechanism C1. Crankshaft assembly 1. Wheel connecting rod 2. Wheel 3. Mastoid 41. Claw finger 42. Wheel thorn 5. Mounting boss 6. Flange spoke 7. Slide spoke 8. Slide 9. Crankshaft connecting rod 10. Sliding module 11. Connecting shaft 12. Double crank 13. Single crank 14. Connecting flange 15. Flange shaft 51. Mounting sheet 52. Boss connecting rod integrated 61. Connecting claw 62. First flange 63. Second flange 71. Spoke 81. First boss 91. Groove structure 101. Second boss DETAILED DESCRIPTION

[0021] See also Figures 1 to 10 Shown is an embodiment of the present invention.

[0022] A bionic metamorphic lunar wheel with high obstacle-crossing performance comprises a wheel surface A, a fixed wheel spoke B, a movable deformation mechanism C and three wheel link rods 1; Among them, the wheel tread A includes three identical wheel blades 2, and the three wheel blades 2 are arranged and combined in sequence to form a split wheel tread A that can be split and integrated; a plurality of nipple structures 3 are arranged on the outer side of each wheel blade 2, which are in contact with the ground during rolling, and can increase the friction and traction for climbing over obstacles. The edges on both sides of the wheel blades 2 that are connected to each other are the main positions for the wheel blades 2 to form a climbing effect with the surface of the stone after they are opened, and a claw structure 41 is arranged on the outside here. The length and morphology of the claw structure 41 should prevent interference during the opening process, resulting in failure to open; the outer edge of the claw structure 41 is provided with a serrated structure; the edges on both sides of the wheel blades 2 that are connected to each other are provided with wheel spikes 42; and an assembly structure 5 is arranged on the inner side of each wheel blade 2.

[0023] The fixed wheel spoke B comprises a flange wheel spoke 6 and a slide groove wheel spoke 7. The flange wheel spoke 6 is provided with a plurality of connecting claws 61. The slide groove wheel spoke 7 is provided with spokes 71 having the same number as the connecting claws 61 and corresponding position distribution. The flange wheel spoke 6 and the slide groove wheel spoke 7 are fixedly connected by the connecting claws 61 and the spokes 71. A hollow space for installing the movable deformation mechanism C is formed between the flange wheel spoke 6 and the slide groove wheel spoke 7. A slide groove 8 is provided between every two spokes 71. A first boss 81 is provided at the far end of the travel of the slide groove 8. The movable deformation mechanism C comprises a crankshaft assembly C1, a crankshaft connecting rod 9 and a sliding module 10, wherein the number of the crankshaft connecting rod 9 and the sliding module 10 is the same as the connecting claw 61; one end of the crankshaft connecting rod 9 is provided with a groove structure 91, one end of the sliding module 10 is provided with a second boss 101, and the end of the crankshaft connecting rod 9 provided with the groove structure 91 is hinged to the end of the sliding module 10 provided with the second boss 101; the other end of the crankshaft connecting rod 9 is hingedly provided on the crankshaft assembly C1 through a flange shaft 15; The flange spoke 6, the movable deformation mechanism C and the slide groove spoke 7 are coaxially arranged together in sequence; the second boss 101 of the sliding module 10 is embedded in the slide groove structure 8 of the slide groove spoke 7, and the two form a sliding pair of sliding friction; The assembly structure 5 of the wheel disc 2 consists of a mounting piece 51 and a boss connecting rod 52 , wherein the mounting piece 51 is hinged to the end of the sliding module 10 where the second boss 101 is not provided; the boss connecting rod 52 is hinged to the first boss 81 .

[0024] The flange spoke 6 is provided with two sets of flange mounting structures, a first flange 62 and a second flange 63; wherein the first flange 62 with a larger radius is connected to the power output shaft of the mobile platform, and the second flange 63 is connected to the driving motor of the movable deformation mechanism C.

[0025] The crankshaft assembly C1 is composed of a connecting shaft 11, a double crank 12, a single crank 13, a connecting flange 14 and a flange shaft 15; the double crank 12 is an integrated two-rod crank, the angle between the two rods is 120°, and the connecting shaft 11, the double crank 12 and the single crank 13 are fixed together by the flange shaft 15 and the connecting flange 14. The connecting shaft 11 contains a mounting shaft hole with the same size as the motor shaft. The flange shaft 15 is installed on the connecting shaft 11, the double crank 12 and the single crank 13 through a flange plate and screws, and is assembled through the corresponding mounting threaded holes on the connecting shaft 11, the double crank 12 and the single crank 13. The flange shaft 15 is provided with an internal threaded hole. The connecting flange 14 is also connected to the connecting shaft 11, the double crank 13 and the single crank 12 in the same way through screws, and is also connected to the flange shaft through the internal threaded hole of the flange shaft 15.

[0026] The size of the groove structure 91 of the crankshaft connecting rod 9 is set to different depths according to the axial position of the flange shaft 15 and the crankshaft assembly C1, so that each crankshaft connecting rod 9 and the corresponding flange shaft 15 are hinged.

[0027] The working principle and working process of this embodiment: When the wheel surface A is in the initial state, the sliding module 10 is located at the end of the travel of the chute structure 8 (close to the center of the chute spoke 7 structure), the wheel 2 is in the retracted state, and the three wheel blades 2 form a complete circular wheel surface A, which can perform the normal wheel driving function. When the mobile platform encounters a rock obstacle, the driving motor on the flange spoke 6 drives the crankshaft assembly C1 to rotate. In the crank slider mechanism C composed of the crankshaft assembly C1, the crankshaft connecting rod 9 and the sliding module 10, the sliding module 10 will be driven by the motor to slide along the chute structure 8 toward the end of the travel (away from the center of the chute spoke 7 structure). On the other hand, due to the sliding of the sliding module 10, in the reverse crank slider mechanism composed of the mutual articulation of the sliding module 10, the wheel blade connecting rod 1 and the assembly structure 5 of the wheel blade 2, the wheel blade 2 will perform a compound motion of outward rotation and translation. In addition, under the action of the output power, the entire wheel surface A also rotates. As long as the wheel blade 2 is slightly opened, under the action of the wheel blade 2 and the ground, the wheel blade 2 receives additional friction in the opening direction. The two forces jointly promote the transformation. The three wheel blades 2 will perform the same opening movement, forming the overall transformation of the wheel surface A. From the initial round complete wheel, it becomes a transformation wheel with three open claw-type wheel blades 2.

Claims

1. A bionic metamorphic lunar wheel with high obstacle crossing performance, characterized in that: It comprises a wheel surface (A), a fixed wheel spoke (B), a movable deformation mechanism (C) and a wheel connecting rod (1); The wheel tread (A) comprises a plurality of identical wheel blades (2), and the plurality of wheel blades (2) are arranged in sequence to form a split wheel tread (A) that can be split and integrated; a plurality of nipple structures (3) are arranged on the outer side of each wheel blade (2), and claw structures (41) are arranged inside the edges of both sides of the wheel blades (2) that are connected to each other; and an assembly structure (5) is arranged on the inner side of each wheel blade (2); The fixed wheel spoke (B) comprises a flange wheel spoke (6) and a slide groove wheel spoke (7); the flange wheel spoke (6) is provided with a plurality of connecting claws (61); the slide groove wheel spoke (7) is provided with spokes (71) having the same number as the connecting claws (61) and correspondingly distributed in position; the flange wheel spoke (6) and the slide groove wheel spoke (7) are fixedly connected via the connecting claws (61) and the spokes (71); a hollow space for mounting the movable deformation mechanism (C) is formed between the flange wheel spoke (6) and the slide groove wheel spoke (7); a slide groove (8) is provided between every two spokes (71); a first boss (81) is provided at the far end of the travel of the slide groove (8); The movable deformation mechanism (C) comprises a crankshaft assembly (C1), a crankshaft connecting rod (9) and a sliding module (10), wherein the number of the crankshaft connecting rod (9) and the sliding module (10) is the same as the number of the connecting claws (61); one end of the crankshaft connecting rod 9 is provided with a groove structure (91), one end of the sliding module (10) is provided with a second boss (101), and the end of the crankshaft connecting rod (9) provided with the groove structure (91) is hinged to the end of the sliding module (10) provided with the second boss (101); the other end of the crankshaft connecting rod (9) is hingedly arranged on the crankshaft assembly (C1) via a flange shaft (15); The flange spoke (6), the movable deformation mechanism (C) and the slide groove spoke (7) are coaxially arranged in sequence; the second boss (101) of the sliding module (10) is embedded in the slide groove structure (8) of the slide groove spoke (7), and the two form a sliding pair of sliding friction; The assembly structure (5) of the wheel disc (2) consists of a mounting plate (51) and a boss connecting rod (52), wherein the mounting plate (51) is hinged to an end of the sliding module (10) where the second boss (101) is not provided; and the boss connecting rod (52) is hinged to the first boss (81).

2. The bionic metamorphic lunar wheel with high obstacle crossing performance according to claim 1, characterized in that: The flange spoke (6) is provided with two sets of flange mounting structures; the first flange (62) with a larger radius is connected to the power output shaft of the mobile platform, and the second flange (63) is connected to the driving motor of the movable deformation mechanism (C).

3. The bionic metamorphic lunar wheel with high obstacle crossing performance according to claim 1, characterized in that: The crankshaft assembly (C1) is composed of a connecting shaft (11), a double crank (12), a single crank (13), a connecting flange (14) and a flange shaft (15); the double crank (12) is an integrated two-rod crank, the angle between the two rods is 120°, and the connecting shaft (11), the double crank (12) and the single crank (13) are fixed together via the flange shaft (15) and the connecting flange (14).

4. The bionic metamorphic lunar wheel with high obstacle surmounting performance according to claim 1, characterized in that: The size of the groove structure (91) of the crankshaft connecting rod (9) is set to have different depths based on the distance between the axial positions of the flange shaft (15) and the crankshaft assembly (C1), so that each crankshaft connecting rod (9) and the corresponding flange shaft (15) are hinged.

5. The bionic metamorphic lunar wheel with high obstacle surmounting performance according to claim 1, characterized in that: There are three wheel pieces (2).

6. The bionic metamorphic lunar wheel with high obstacle surmounting performance according to claim 1, characterized in that: Wheel spikes (42) are arranged outside the two side edges of the wheel pieces (2) that are connected to each other.

7. The bionic metamorphic lunar wheel with high obstacle crossing performance according to claim 1, characterized in that: The outer edge of the claw finger structure (41) is provided with a sawtooth structure.

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