Variable structure lunar mobile scientific research station platform capable of achieving wheel-foot conversion

Abstract

The invention discloses a wheel-foot conversion variable structure moon mobile scientific research station platform, and aims to solve the problem of movement of a scientific research station platform under complex terrain or road conditions. The structure-variable movable scientific research station platform comprises a cabin body and a plurality of structure-variable wheel-foot crawler belt assemblies, a cabin base is arranged on the lower surface of the cabin body, a plurality of main driving motors are fixedly arranged in the circumferential direction of the cabin base, and first rotating joints are rotationally connected to the lower portions of coupling parts in the structure-variable wheel-foot crawler belt assemblies; a large arm is arranged between the first rotating joint and the second rotating joint, a first hydraulic rod is arranged on the large arm, a small arm is arranged between the second rotating joint and the crawler arm, a second hydraulic rod is arranged on the small arm, and a protection foot is hinged to the end of the crawler arm. A large arm-small arm-crawler arm three-stage hinged structure is adopted, and through cooperative movement of the first rotating joint and the second rotating joint and cooperation of telescopic linkage of the first hydraulic rod and the second hydraulic rod, conversion of a wheel type-foot type configuration is achieved.

Description

Technical Field

[0001] The present invention relates to a traveling platform device with wheel-foot conversion. Background Art

[0002] In recent years, with the rapid development of deep space exploration technology, the construction of lunar bases has become a key research direction in the space field of various countries. Under the extreme environmental conditions on the moon, as the core equipment to support long-term scientific exploration, the mobility of the mobile scientific research station platform is directly related to the success or failure of exploration missions. Existing lunar mobile platforms are mainly divided into three configurations: wheeled, tracked, and legged, but all have significant limitations: traditional wheeled structures (such as NASA's ATHLETE system) are prone to sinking in soft lunar soil; legged mechanisms (such as the bionic robot developed by JAXA) have terrain adaptation advantages, but their movement efficiency is low and energy consumption is too high; while fixed tracked devices are difficult to handle steep slopes and crater obstacles in complex lunar surface terrains.

[0003] It is worth noting that recent frontier research has begun to explore hybrid mobile mechanisms. For example, the wheel-leg composite robot proposed in some research uses a rigid link structure driven by motors, but its limited joint degrees of freedom result in restricted attitude adjustment. Summary of the Invention

[0004] The object of the present invention is to solve the problem of the movement of the scientific research station platform under complex terrain or road conditions, and to provide a variable-configuration lunar mobile scientific research station platform with wheel-foot conversion.

[0005] The variable-configuration lunar mobile scientific research station platform with wheel-foot conversion of the present invention includes a cabin body and a plurality of variable-configuration wheel-foot tracked assemblies. A cabin seat is arranged on the lower surface of the cabin body, and a plurality of main drive motors (permanent magnet synchronous motors) are fixedly arranged along the circumference of the cabin seat. The number of main drive motors is the same as the number of variable-configuration wheel-foot tracked assemblies; The variable-configuration wheel-foot tracked assembly includes a large arm, a small arm, a tracked arm, a protective foot, a first rotary joint, a second rotary joint, a first hydraulic rod, a second hydraulic rod, a third hydraulic rod, a coupling part, and a tracked assembly. A first rotary joint (including a first rotary joint motor) is rotatably connected to the lower part of the coupling part. The side part of the coupling part is rotatably connected to the main drive motor. One end of the large arm is hinged to the side surface of the first rotary joint. The other end of the large arm is fixed to the driving and fixing part of the second rotary joint (including a second rotary joint motor). The telescopic end of a first hydraulic rod is hinged to the bottom of the first rotary joint, and the other end of the first hydraulic rod is hinged to the large arm; One end of the second hydraulic rod is hinged to the rotating part of the second rotary joint. The telescopic end of the second hydraulic rod is hinged to the crawler arm. One end of the forearm is fixed to the rotating part of the second rotary joint, and the other end of the forearm is hinged to the crawler arm. A protective foot is hinged to the end of the crawler arm. One end of the third hydraulic rod is connected to the crawler arm, and the telescopic end of the third hydraulic rod is hinged to the protective foot. The protective foot is retracted and extended by the telescopic movement of the third hydraulic rod. Two sets of crawler assemblies are symmetrically arranged on the front and rear arm surfaces of the crawler arm.

[0006] The variable-configuration lunar mobile scientific research station platform with wheel-foot conversion of the present invention mainly consists of a cabin and multiple variable-configuration wheel-foot crawler assemblies. When facing rough ground, the telescopic rod of the third hydraulic rod contracts to deploy the protective foot, and the telescopic rod of the second hydraulic rod contracts to erect the crawler arm. The variable-configuration wheel-foot crawler assembly becomes a machine foot, and it walks forward relying on the protective foot to prevent the crawler from being worn.

[0007] The structural characteristics of the variable-configuration lunar mobile scientific research station platform with wheel-foot conversion of the present invention are as follows: a. Variable-configuration fusion mechanism Adopt a three-stage hinged structure of "big arm - forearm - crawler arm", and through the coordinated movement of the first rotary joint and the second rotary joint, and in cooperation with the telescopic linkage of the first hydraulic rod and the second hydraulic rod, realize the rapid conversion of the wheeled - footed configuration.

[0008] The present invention integrates the crawler assembly and the protective foot: in the wheeled mode, the crawler assembly unfolds into a continuous driving surface, and in the footed mode, the protective foot pops out through the third hydraulic rod to form discrete support points, breaking through the motion limitations of traditional single-mode mechanisms.

[0009] b. Permanent magnet synchronous motor - hydraulic hybrid drive system Integrate the high-precision control advantages of the permanent magnet synchronous motor (main drive motor) and the strong output characteristics of hydraulic drive, and combine with the modular joint design to realize the adaptive conversion of the moving mode.

[0010] c. Dynamic lunar dust protection system The rotary joint cooperates with the protective foot. In the wheeled mode, when retracted, it can be used as a baffle to block lunar dust, reducing the lunar dust deposition on the surface of the kinematic pair; in the footed mode, when popped out, it can be used as a support point to reduce the wear of the crawler.

[0011] The variable-configuration lunar mobile scientific research station platform with wheel-foot conversion of the present invention has the following beneficial effects: 1. Improved terrain adaptability In the wheeled mode, the crawler assembly can cross vertical obstacles, and in the footed mode, it can stably walk on soft lunar soil through the six-point support of the protective foot.

[0012] 2. Fault-tolerant topological structure The hybrid drive system combines the high-precision control advantages of a permanent magnet synchronous motor and the strong output characteristics of a hydraulic drive. The modular design of the six-legged joints improves the fault isolation rate. The six wheel-foot components adopt a distributed control architecture. When a single component fails, the remaining components can maintain at least a three-foot stable walking mode by reconstructing the motion chain.

[0013] 3. Spatial motion decoupling design: Through the segmented rotation of two rotary joints and the planar swing of the hydraulic rod, the independent control of the six-legged spatial pose is realized, avoiding the motion coupling problem of traditional series mechanisms. Brief Description of the Drawings

[0014] Figure 1 It is a schematic structural diagram of the variable-configuration lunar mobile scientific research station platform in the wheel-foot state for the wheel-foot conversion of the present invention; Figure 2 It is a schematic structural diagram of the variable-configuration lunar mobile scientific research station platform in the standing-foot state for the wheel-foot conversion of the present invention; Figure 3 It is an exploded schematic diagram of a single variable-configuration wheel-foot track assembly; Figure 4 It is a partial schematic diagram of the coupling part in the variable-configuration wheel-foot track assembly; Figure 5 It is a three-dimensional schematic diagram of a single variable-configuration wheel-foot track assembly in the wheel-foot state; Figure 6 It is a planar schematic diagram of a single variable-configuration wheel-foot track assembly in the wheel-foot state; Figure 7 It is a three-dimensional schematic diagram of a single variable-configuration wheel-foot track assembly in the standing-foot state; Figure 8 It is a planar schematic diagram of a single variable-configuration wheel-foot track assembly in the standing-foot state; Figure 9 It is a schematic structural diagram of multiple variable-configuration wheel-foot track assemblies in the standing-foot state; Figure 10 It is a schematic structural diagram of multiple variable-configuration wheel-foot track assemblies in the wheel-foot support state; Figure 11 It is a schematic structural diagram of multiple variable-configuration wheel-foot track assemblies in the wheel-foot walking state. Detailed Description of the Invention

[0015] Detailed Description of the Invention 1: The variable-configuration lunar mobile scientific research station platform for wheel-foot conversion in this embodiment includes a cabin body 1 and multiple variable-configuration wheel-foot track assemblies 2. A cabin seat 1-1 is provided on the lower surface of the cabin body 1. A plurality of main drive motors (permanent magnet synchronous motors) 14 are fixedly arranged along the circumference of the cabin seat 1-1. The number of main drive motors 14 is the same as the number of variable-configuration wheel-foot track assemblies 2; The variable structure wheel-foot track assembly 2 includes a boom 3, a forearm 4, a track arm 5, a protective foot 6, a first rotary joint 7, a second rotary joint 8, a first hydraulic rod 9, a second hydraulic rod 10, a third hydraulic rod 11, a coupling part 12, and a track assembly 13. A first rotary joint (including a first rotary joint motor) 7 is rotatably connected to the lower part of the coupling part 12. The side part of the coupling part 12 is rotatably connected to the main drive motor 14. One end of the boom 3 is hinged to the side surface of the first rotary joint 7, and the other end of the boom 3 is fixed to the drive fixing part (including a second rotary joint motor) of the second rotary joint 8. The telescopic end of the first hydraulic rod 9 is hinged to the bottom of the first rotary joint 7, and the other end of the first hydraulic rod 9 is hinged to the boom 3. One end of the second hydraulic rod 10 is hinged to the rotating part of the second rotary joint 8, and the telescopic end of the second hydraulic rod 10 is hinged to the track arm 5. One end of the forearm 4 is fixed to the rotating part of the second rotary joint 8, and the other end of the forearm 4 is hinged to the track arm 5. A protective foot 6 is hinged to the end of the track arm 5. One end of the third hydraulic rod 11 is connected to the track arm 5, and the telescopic end of the third hydraulic rod 11 is hinged to the protective foot 6. The protective foot 6 is retracted and extended by the telescopic movement of the third hydraulic rod 11. Two sets of track assemblies 13 are symmetrically arranged on the front and rear arm surfaces of the track arm 5.

[0016] In this embodiment, the variable structure lunar mobile scientific research station platform with wheel-foot conversion is designed with a variable structure for wheel-foot conversion. By integrating the high-precision control advantages of a permanent magnet synchronous motor and the strong output characteristics of hydraulic drive, and combining modular joint design, the adaptive conversion of the moving mode is achieved.

[0017] Specific Embodiment 2: The difference between this embodiment and Specific Embodiment 1 is that at least one hatch 1-1 is provided on the cabin body 1.

[0018] Specific Embodiment 3: The difference between this embodiment and Specific Embodiment 1 or 2 is that an observation window is provided on the cabin body 1.

[0019] Specific Embodiment 4: The difference between this embodiment and any one of Specific Embodiments 1 to 3 is that the cabin seat 1-1 is cylindrical.

[0020] Specific Embodiment 5: The difference between this embodiment and any one of Specific Embodiments 1 to 4 is that the number of variable structure wheel-foot track assemblies 2 is 4 to 8.

[0021] Specific Embodiment 6: The difference between this embodiment and Specific Embodiment 5 is that the number of variable structure wheel-foot track assemblies 2 is 6.

[0022] Embodiment VII: The difference between this embodiment and any one of Embodiments I to VI is that a hoop 12-1 is sleeved on the coupling part 12, a connector 12-2 is fixed on the outer surface of the hoop 12-1, the connector 12-2 is connected to the power output end of the main drive motor 14, and a bearing member 12-3 is arranged between the connector 12-2 and the cabin seat 1-1.

[0023] Embodiment VIII: The difference between this embodiment and any one of Embodiments I to VII is that the two crawler assemblies are driven to rotate by crawler motors.

[0024] Embodiment IX: The difference between this embodiment and any one of Embodiments I to VIII is that the crawler arm 5 is an obtuse triangle plate body.

[0025] Embodiment X: The difference between this embodiment and Embodiment IX is that a groove is formed in the acute angle end of the crawler arm 5 along the thickness direction, and the protection foot 6 is hinged in the groove.

[0026] Example: The variable-configuration lunar mobile scientific research station platform for wheel-foot conversion in this example includes a cabin 1 and a plurality of variable-configuration wheel-foot crawler assemblies 2. A plurality of cabin doors 1-1 are arranged on the cabin 1. A cylindrical cabin seat 1-1 is arranged at the center of the lower surface of the cabin 1. Six main drive motors (permanent magnet synchronous motors) 14 are fixedly arranged along the circumference of the cabin seat 1-1. The number of the main drive motors 14 is the same as the number of the variable-configuration wheel-foot crawler assemblies 2. The variable-configuration wheel-foot crawler assembly 2 includes a large arm 3, a small arm 4, a crawler arm 5, a protection foot 6, a first rotary joint 7, a second rotary joint 8, a first hydraulic rod 9, a second hydraulic rod 10, a third hydraulic rod 11, a coupling part 12, and a crawler assembly 13. A first rotary joint 7 is rotatably connected to the lower part of the coupling part 12. The first rotary joint 7 contains a first rotary joint motor, and the first rotary joint motor is arranged at the top of the coupling part 12. The first rotary joint motor drives the first rotary joint 7 to rotate in the horizontal plane (as Figure 4 shown). A hoop 12-1 is sleeved on the coupling part 12. A connector 12-2 is fixed on the outer surface of the hoop 12-1. The connector 12-2 is connected to the power output end of the main drive motor 14. A bearing member 12-3 is arranged between the connector 12-2 and the cabin seat 1-1. The main drive motor 14 drives the coupling part 12 to rotate in the side projection plane (as Figure 4 shown). One end of the large arm 3 is hinged to the side surface of the first rotary joint 7. The other end of the large arm 3 is fixed to the driving fixed part 8-1 of the second rotary joint 8. The second rotary joint 8 contains a second rotary joint motor, and the second rotary joint motor drives the second rotary joint 8 to rotate in the horizontal plane. The telescopic end of a first hydraulic rod 9 is hinged to the bottom of the first rotary joint 7, and the other end of the first hydraulic rod 9 is hinged to the large arm 3. One end of the second hydraulic rod 10 is hinged to the rotating part 8-2 of the second rotary joint 8. The telescopic end of the second hydraulic rod 10 is hinged to the side surface of the crawler arm 5. One end of the forearm 4 is fixed to the rotating part 8-2 of the second rotary joint 8, and the other end of the forearm 4 is hinged to the side surface of the crawler arm 5. A protective foot 6 is hinged to the end of the crawler arm 5. One end of the third hydraulic rod 11 is connected to the side surface of the crawler arm 5, and the telescopic end of the third hydraulic rod 11 is hinged to the protective foot 6. The protective foot 6 is retracted and extended by the telescopic movement of the third hydraulic rod 11. Two sets of crawler assemblies 13 are symmetrically arranged on the front and rear surfaces of the plate body of the crawler arm 5.

[0027] In this embodiment, the crawler arm 5 is an obtuse triangle plate body. When in the standing state, the crawler arm 5 is erected, and the acute end of the crawler arm 5 is close to the ground; when in the wheel-foot state, the crawler arm 5 is laid flat, and the obtuse end of the crawler arm 5 is close to the ground.

[0028] The process of the foot-type configuration conversion (rugged terrain mode) of the variable-configuration lunar mobile scientific research station platform with wheel-foot conversion in this embodiment is as follows: Step 1: Attitude pre-adjustment The rotating part of the second rotary joint drives the forearm to rotate around the second rotary joint to ensure that the six variable-configuration wheel-foot crawler assemblies are evenly distributed at an interval of 60° in the circumferential direction, forming a six-foot symmetric support layout.

[0029] Step 2: Crawler retraction and foot deployment The second hydraulic rod contracts, pulling the crawler arm to rotate around the hinge axis of the forearm and the crawler arm, so that the crawler arm changes from the horizontal state to the vertical state; the main drive motor drives the boom to swing until the first rotary joint is perpendicular to the ground to ensure the consistency of the six crawler arms in the vertical direction; the third hydraulic rod contracts synchronously, pulling the protective foot to expand to the working position to form a discrete support foot.

[0030] Step 3: Foot-type walking Through the alternating lifting and stepping movements of the six protective feet, combined with the swing of the boom to compensate for the terrain undulation, stable crossing of soft lunar soil or gravel terrain is achieved.

[0031] The process of the wheel-type configuration conversion (flat terrain mode) of the variable-configuration lunar mobile scientific research station platform with wheel-foot conversion in this embodiment is as follows: Step 1: Foot folding and crawler deployment The third hydraulic rod extends, pushing the protective foot back above the crawler arm; the second hydraulic rod is pushed out, driving the crawler arm to rotate around the hinge axis of the forearm and the crawler arm to the horizontal state. At the same time, the rotating part of the second rotary joint drives the forearm to rotate around the second rotary joint, adjusting the forearm angle so that the front and rear rows of crawler assemblies are parallel.

[0032] Step 2: Wheel-type travel Moving forward in a tracked manner, active steering can be achieved by real-time deflection through the first rotary joint and the second rotary joint during movement.

[0033] In summary, the variable structure lunar mobile scientific research station platform with wheel-foot conversion of the present invention mainly consists of a cabin body and multiple variable structure wheel-foot tracked assemblies. When facing rough ground, the telescopic rod of the No. 3 hydraulic rod contracts and expands to protect the foot, and the telescopic rod of the No. 2 hydraulic rod contracts to erect the tracked arm. The variable structure wheel-foot tracked assembly becomes a machine foot, walks forward relying on the protection foot, and protects the track from wear.

Claims

1. A variable-configuration lunar mobile scientific research station platform with wheel-foot conversion, characterized in that The variable-configuration lunar mobile scientific research station platform with wheel-foot conversion includes a cabin body (1) and multiple variable-configuration wheel-foot track assemblies (2). A cabin seat (1-1) is provided on the lower surface of the cabin body (1), and a plurality of main drive motors (14) are fixedly arranged along the circumference of the cabin seat (1-1). The number of the main drive motors (14) is the same as that of the variable-configuration wheel-foot track assemblies (2). The variable-configuration wheel-foot track assembly (2) includes a large arm (3), a small arm (4), a track arm (5), a protection foot (6), a first rotary joint (7), a second rotary joint (8), a first hydraulic rod (9), a second hydraulic rod (10), a third hydraulic rod (11), a coupling part (12), and a track assembly (13). The first rotary joint (7) is rotatably connected to the lower part of the coupling part (12), and the side part of the coupling part (12) is rotatably connected to the main drive motor (14). One end of the large arm (3) is hinged to the side surface of the first rotary joint (7), and the other end of the large arm (3) is fixed to the driving fixed part of the second rotary joint (8). The telescopic end of the first hydraulic rod (9) is hinged to the bottom of the first rotary joint (7), and the other end of the first hydraulic rod (9) is hinged to the large arm (3). One end of the second hydraulic rod (10) is hinged to the rotating part of the second rotary joint (8), and the telescopic end of the second hydraulic rod (10) is hinged to the track arm (5). One end of the small arm (4) is fixed to the rotating part of the second rotary joint (8), and the other end of the small arm (4) is hinged to the track arm (5). A protection foot (6) is hinged to the end of the track arm (5). One end of the third hydraulic rod (11) is connected to the track arm (5), and the telescopic end of the third hydraulic rod (11) is hinged to the protection foot (6). The protection foot (6) is retracted and extended by the telescopic movement of the third hydraulic rod (11). Two groups of track assemblies (13) are symmetrically arranged on the front and rear arm surfaces of the track arm (5).

2. The variable-configuration lunar mobile scientific research station platform with wheel-foot conversion according to claim 1, characterized in that At least one cabin door (1-1) is provided on the cabin body (1).

3. The wheel-foot conversion variable structure lunar mobile scientific research station platform according to claim 1, characterized in that Observation windows are provided on the cabin body (1).

4. The wheel-foot conversion variable structure lunar mobile scientific research station platform according to claim 1, characterized in that The cabin seat (1-1) is cylindrical.

5. The wheel-foot conversion variable structure lunar mobile scientific research station platform according to claim 1, characterized in that The number of the variable-configuration wheel-foot track assemblies (2) is 4 to 8.

6. The wheel-foot conversion variable structure lunar mobile scientific research station platform according to claim 5, characterized in that The number of the variable-configuration wheel-foot track assemblies (2) is 6.

7. The lunar mobile scientific research station platform with wheel-foot conversion according to claim 1, characterized in that A hoop (12-1) is sleeved on the coupling part (12). A connector (12-2) is fixed on the outer surface of the hoop (12-1). The connector (12-2) is connected to the power output end of the main drive motor (14). A bearing part (12-3) is arranged between the connector (12-2) and the cabin seat (1-1).

8. The wheel-foot conversion variable structure lunar mobile scientific research station platform according to claim 1, characterized in that The two track assemblies are driven to rotate by a track motor.

9. The variable-configuration lunar mobile scientific research station platform with wheel-foot conversion according to claim 1, characterized in that The track arm (5) is an obtuse-angled triangular plate body.

10. The variable-configuration lunar mobile scientific research station platform with wheel-foot conversion according to claim 9, characterized in that A groove is formed in the acute-angled end of the track arm (5) along the thickness direction, and the protection foot (6) is hinged in the groove.

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