A lunar rover wheel for lunar crater exploration and its working method

Abstract

This invention belongs to the field of lunar rover wheel technology, and discloses a lunar rover wheel for lunar crater exploration and its working method. The wheel includes a hub, and the outer rim of the hub is provided with multiple lunar soil actuation plates that can switch between unfolded and folded states. In the folded state, the lunar soil actuation plates are in the lunar soil walking state in the forward direction of the wheel; in the unfolded state, they are in the lunar soil actuation state in the backward direction of the wheel. In the lunar soil walking state, the lunar soil actuation plates under the wheel that are in contact with the lunar soil are in the folded state, and the lunar soil actuation plates only interact with the surface of the lunar soil, resulting in a small degree of wheel-soil mechanical interaction. This wheel has low traction force, low driving energy consumption, and high driving efficiency. In the lunar soil actuation state, the lunar soil actuation plates under the wheel that are in contact with the lunar soil are in the unfolded state, and the lunar soil actuation plates interact with deeper lunar soil, resulting in a larger degree of wheel-soil mechanical interaction. This wheel has high traction force and strong passability, but high driving energy consumption.

Description

Technical Field

[0001] This invention relates to the field of lunar rover wheel technology, and more specifically to a lunar rover wheel for exploring lunar craters and its working method. Background Technology

[0002] With continuous breakthroughs in deep space exploration technology, lunar exploration has become a focal point of space activities for various countries. Early missions have successfully validated soft landing and lunar rover technologies, driving the evolution of exploration methods from large-scale mobile reconnaissance to refined in-situ detection and sampling analysis. Under this trend, scientific objectives are gradually focusing on key areas with more complex terrain and richer geological information, particularly the widespread impact craters on the lunar surface.

[0003] Craters preserve crucial information about the Moon's early impact history and geological evolution, possessing immense scientific research value. However, these areas, especially near the crater walls, often exhibit steep slopes and highly undulating terrain. Furthermore, the loose lunar regolith, with its weak bearing capacity and low shear strength, creates an extreme geomorphic environment characterized by a combination of steepness and softness. This presents significant challenges for lunar rovers: they are prone to sinking and becoming trapped, failing to climb slopes, and other problems, significantly increasing mission risks. This clearly places higher demands on the rover's mobility. Therefore, how to safely and efficiently enter and traverse lunar crater regions is one of the key issues that aerospace engineering and technology must address in current lunar exploration.

[0004] To address the problems existing in the current technology and to solve the issues that the lunar rover is prone to sinking and getting stuck or failing to climb slopes due to the steep slope and low bearing capacity of the lunar soil in lunar crater exploration missions, a lunar rover wheel for lunar crater exploration and its working method are proposed. Summary of the Invention

[0005] In view of this, the present invention provides a lunar rover wheel for lunar crater exploration and its working method, in order to solve the problem that the large slope and low bearing capacity of the lunar soil in lunar crater exploration missions easily cause the lunar rover to sink and get stuck and fail to climb the slope.

[0006] To achieve the above objectives, the present invention adopts the following technical solution:

[0007] A lunar rover wheel for exploring lunar craters includes: a hub, the outer rim of which is provided with a plurality of lunar soil actuation plates that can be switched between an unfolded and a folded state. When the lunar soil actuation plates are in the folded state, they are in the lunar soil walking state in the forward direction of the wheel, and when the lunar soil actuation plates are in the unfolded state, they are in the lunar soil actuation state in the backward direction of the wheel.

[0008] The inner ring of the hub is provided with a rotatable paddle connecting ring, and the paddle connecting ring is connected to each of the lunar soil actuating paddles through a corresponding main spring.

[0009] Furthermore, the hub includes: an inner hub ring, an outer hub ring, and two hub side plates. The inner hub ring is located inside the outer hub ring. The first flanges at both ends of the inner hub ring are fixedly connected to the second flanges of the two hub side plates, respectively. The outer edges of the two hub side plates are fixed to both sides of the outer hub ring. The paddle connecting ring is rotatably sleeved on the inner hub ring. Multiple hollow holes are opened on the outer peripheral wall of the outer hub ring. Each lunar actuating paddle includes: a fixed mounting shaft, a paddle assembly, and the main spring.

[0010] The fixed mounting shaft is horizontally fixed to the outer peripheral wall of the outer ring of the wheel hub, and the fixed mounting shaft and the hollow hole are arranged alternately.

[0011] The actuating plate assembly is rotatably connected to the fixed mounting shaft;

[0012] The main leaf spring is sleeved on the fixed mounting shaft. The upper spring connecting rod of the main leaf spring is connected to the actuating plate assembly. The lower spring connecting rod of the main leaf spring passes through the hollow hole and extends into the outer ring of the hub to connect with the actuating plate connecting ring. The actuating plate assembly is in an unfolded state under the reset action of the main leaf spring. When the actuating plate assembly contacts the lunar soil in the lunar soil walking state, it can rotate around the fixed mounting shaft, thereby switching from the unfolded state to the folded state and covering the hollow hole.

[0013] Furthermore, the toggle assembly includes:

[0014] The main actuating plate has its bottom rotatably connected to the fixed mounting shaft, and the upper spring connecting rod is fixedly connected to the inner side of the main actuating plate facing the hollow hole.

[0015] The auxiliary toggle piece, comprising two pieces, is respectively disposed on both sides of the main toggle piece and located below the inner surface of the main toggle piece;

[0016] The secondary spring is provided in two parts. The first spring on the secondary spring is fixedly connected to the inner side of the secondary actuating piece facing the hollow hole, and the second spring on the secondary spring passes around the fixed mounting shaft and is fixedly connected to the outer ring of the wheel hub.

[0017] Furthermore, the outer edge of the outer rim of the wheel hub is provided with a plurality of actuating plate limiting teeth at intervals, and the actuating plate assembly further includes:

[0018] A right-angle limiting plate is sleeved on the fixed mounting shaft. The vertical plate on the right-angle limiting plate can stop on the outer side of the main actuating plate and the auxiliary actuating plate and on one side of the limiting tooth of the actuating plate.

[0019] The limiting plate springs consist of two springs, with the third spring on each spring fixedly connected to the bottom end face of the horizontal plate on the right-angle limiting plate, and the fourth spring on each spring fixedly connected to the outer ring of the wheel hub.

[0020] The horizontal plate and the vertical plate are arranged perpendicularly.

[0021] Furthermore, the horizontal plate and the vertical plate are integrally connected by four first limiting rings, which are sleeved on the fixed mounting shaft; the bottom of the auxiliary actuating plate has two second limiting rings fixed at intervals for sleeved on the fixed mounting shaft, and the auxiliary plate spring is placed between the two second limiting rings, with the two second limiting rings located between two adjacent first limiting rings; the bottom of the main actuating plate has three third limiting rings fixed at intervals for sleeved on the fixed mounting shaft, with the three third limiting rings located between the two middle first limiting rings; there are two main plate springs, each located between two adjacent third limiting rings.

[0022] Furthermore, the paddle connecting ring includes a connecting ring body rotatably sleeved on the inner ring of the hub. The connecting ring body has multiple connecting holes along its circumferential direction. The lower spring connecting rods of the two main leaf springs are staggered and installed on the corresponding two connecting holes. A pressure plate is fixed on the inner side of the main actuating plate facing the hollow hole, and the upper spring connecting rods of the two main leaf springs are pressed into the pressure plate.

[0023] Furthermore, the lower spring connecting rod has a hook at its end, which is hooked into the connecting hole, and the end of the hook is fitted with an anti-dislodgement cap to prevent the hook from coming out of the connecting hole.

[0024] Furthermore, the connecting ring body has multiple weight-reducing holes along its circumferential direction.

[0025] Furthermore, multiple gripping teeth are fixed on the inner side of the auxiliary actuating piece facing the hollow hole.

[0026] This invention provides a method for operating lunar rover wheels for exploring lunar craters. The method involves using a lunar rover equipped with the aforementioned wheels to enter, explore, and traverse lunar craters based on the selected direction of travel. The specific details are as follows:

[0027] When a lunar rover using its wheels travels outside a crater, the relatively dense lunar regolith allows it to explore and approach the crater's outer edge using a forward-moving motion (lunar regolith walking). At this point, the rover consumes little energy and travels efficiently. However, because the crater walls have loose lunar regolith and steep slopes, making it difficult for a normal lunar rover to pass, the rover using its wheels can turn in place at the crater's outer edge and use a backward-moving motion (lunar regolith shifting) to descend into the crater. This provides excellent mobility, reduces the risk of slipping, and allows for strong slope traversal. Upon reaching the crater bottom, the rover can turn in place and use a forward-moving motion (lunar regolith walking) to explore the crater interior. Similarly, after completing exploration inside the crater, the rover can turn in place at the crater's bottom edge and use a backward-moving motion (lunar regolith shifting) to climb the crater wall to the outside. After turning in place at the outer edge, it can then use a forward-moving motion (lunar regolith walking) to continue exploring the lunar surface outside the crater.

[0028] The beneficial effects of this invention are as follows:

[0029] (1) Fully passive and adaptive, with high system reliability: The lunar rover's wheels rely entirely on the mechanical feedback of their interaction with the lunar soil to switch working modes, eliminating the need for additional active actuators such as motors and hydraulic cylinders, and also eliminating the need for a complex electronic control system. This purely mechanical passive design greatly simplifies the system structure and fundamentally improves the reliability and robustness of long-term operation in the extreme lunar environment.

[0030] (2) Two-way traction, achieving dual-purpose use of one vehicle. Through ingenious mechanical linkage design, the wheels exhibit distinctly different structural forms and ground mechanical properties in the forward and reverse directions. When moving forward, the wheels exhibit a "lunar soil walking state," emphasizing low resistance and high efficiency; when moving backward, the wheels switch to a "lunar soil pushing state," pursuing high traction and passability. This core characteristic enables a single wheel system to simultaneously meet the dual needs of efficient cruising on flat terrain and powerful climbing / braking on steep and soft terrain.

[0031] (3) Intelligent matching of terrain requirements, with superior overall performance. In the lunar soil walking state (forward), the actuating plate in contact with the lunar soil is in a folded state, mainly experiencing slight shearing action with the surface of the lunar soil. In this state, the wheel-soil interaction is weak, and the resulting hook traction force is moderate, which significantly reduces driving energy consumption, resulting in smooth driving and high efficiency, suitable for long-distance exploration. In the lunar soil actuating state (reverse or braking), the actuating plate is fully extended, which can penetrate into the lower layer of the lunar soil and experience strong shearing and pressure action with a larger range of lunar soil media. In this state, the wheel-soil interaction is intense, generating a huge hook traction force several times that of the walking state. This characteristic is specifically designed to overcome the bottleneck of passability in terrains with large slopes and low bearing capacity, such as crater walls, effectively preventing wheel slippage, sinking, and overall vehicle instability, and is the key to solving the risk of "not being able to go down or up" in exploration missions.

[0032] (4) Enhanced obstacle-crossing ability and wide terrain adaptability. The combined actuation structure consisting of the main actuating plate and the two auxiliary actuating plates can increase the effective contact area and the lever arm when encountering protruding obstacles (such as rocks) through the contact between the two. Combined with the biomimetic grip teeth design on the inner side of the auxiliary actuating plates, it can effectively hook and climb over obstacles, thereby improving the overall traversing ability of the wheel in the rugged lunar terrain.

[0033] (5) Multiple elastic buffers provide excellent impact resistance. The integrated main spring, secondary spring, and limiting plate spring constitute a multi-level buffer system. Whether in the "walking" or "pushing" state, these elastic elements can effectively absorb and dissipate the instantaneous impact energy generated when the wheel collides with the irregular lunar surface. This not only protects the wheel structure itself but also reduces the vibration and impact transmitted to the lunar rover chassis and precision loads, thereby improving the overall system durability.

[0034] (6) Simple control strategy and flexible mission planning. Based on the characteristics of its wheels, the lunar rover can seamlessly switch between two high-performance modes simply by issuing "forward" or "backward" directional commands. This provides great flexibility for mission planning: "forward mode" is used for efficient cruising in flat areas outside the crater; "backward mode" is switched to ensure safe passage when entering or exiting steep slopes in and out of the crater; and "forward mode" can be resumed at the bottom of the crater for detailed exploration. This "on-demand switching" capability enables the lunar rover to safely and completely complete the entire process of entering, exploring, and withdrawing from complex crater areas with optimal energy consumption and mobility configuration. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0036] Figure 1 This is a schematic diagram of the structure of a lunar rover wheel for lunar crater exploration in its initial state, provided by the present invention.

[0037] Figure 2 for Figure 1 A schematic diagram of the installation of the lunar soil actuation plate.

[0038] Figure 3 This is an exploded view of the wheel hub.

[0039] Figure 4 This is a schematic diagram of the main structure of the wheel hub.

[0040] Figure 5 for Figure 4 A schematic cross-sectional view of the mid-section AA.

[0041] Figure 6 This is a schematic diagram of the assembly process of the lunar soil agitator.

[0042] Figure 7 This is a schematic diagram of the structure of a lunar soil particle during decomposition.

[0043] Figure 8 This is a schematic diagram of the paddle connecting ring.

[0044] Figure 9 A schematic diagram of the internal structure of the wheel hub to conceal one side of the wheel hub panel.

[0045] Figure 10 This is a schematic diagram showing the hook on the main leaf spring being attached to the connecting hole.

[0046] Figure 11 This is a first-view structural schematic diagram of a lunar rover wheel used for lunar crater exploration, as provided by the present invention, when it is in a state of being moved by lunar soil.

[0047] Figure 12 for Figure 11 A magnified schematic diagram of the structure of part A in the middle.

[0048] Figure 13 This is a second-view structural schematic diagram of a lunar rover wheel used for lunar crater exploration, as provided by the present invention, when the wheel is being moved by lunar soil.

[0049] Figure 14 for Figure 13 A magnified schematic diagram of the structure of part B in the middle.

[0050] Figure 15 This invention provides schematic diagrams of two states of a lunar rover wheel used for lunar crater exploration, wherein... Figure 15 (a) is a schematic diagram of the unfolded state of the lunar soil flaps. Figure 15 (b) is a schematic diagram of the folded state of the lunar soil flap.

[0051] Figure 16 This invention provides a schematic diagram of the driving principle of a lunar rover wheel used for lunar crater exploration, wherein... Figure 16 (a) is a schematic diagram of the lunar soil moving plate in its initial state. Figure 16 (b) is a schematic diagram of the lunar soil agitator in the backward motion of the wheel when the lunar soil agitator is in the unfolded state. Figure 16 (c) is a schematic diagram of the lunar soil traveling in the direction of the wheel when the lunar soil actuation plate is in the folded state.

[0052] Figure 17This is a flowchart illustrating the working method of a lunar rover wheel for exploring lunar craters, as provided by the present invention.

[0053] Figure label:

[0054] 1-Hub, 11-Inner ring of hub, 111-First flange, 12-Outer ring of hub, 121-Hollow hole, 13-Side plate of hub, 131-Second flange, 14-Limiting tooth of actuating plate;

[0055] 2-Lunar soil actuating plate, 21-Main actuating plate, 211-Third limiting ring, 212-Cover plate, 22-Secondary actuating plate, 221-Second limiting ring, 23-Grip tooth, 24-Right angle limiting plate, 241-Horizontal plate, 242-Vertical plate, 243-First limiting ring, 25-Main plate spring, 251-Lower spring connecting rod, 2511-Hook, 25111-Anti-detachment stop cap, 252-Upper spring connecting rod, 26-Secondary plate spring, 261-Second spring, 262-First spring, 27-Limiting plate spring, 271-Fourth spring, 272-Third spring, 28-Fixed mounting shaft, 29-Actuating plate assembly;

[0056] 3-Paddle connecting ring, 31-Connecting ring body, 32-Connecting hole, 33-Weight reduction hole. Detailed Implementation

[0057] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0058] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0060] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0061] like Figures 1-16 As shown, this embodiment of the invention discloses a lunar rover wheel for exploring lunar craters, comprising: a hub 1, and a plurality of lunar soil agitators 2 evenly distributed on the outer circumference surface of the hub 1, which can switch between unfolded and folded states. When the lunar soil agitators 2 are in the folded state, they are in the lunar soil walking state in the forward direction of the wheel, and when the lunar soil agitators 2 are in the unfolded state, they are in the lunar soil agitating state in the backward direction of the wheel.

[0062] This embodiment aims to address the engineering challenges posed by the steep terrain and loose lunar regolith in lunar crater areas, such as vehicle sinking and difficulty climbing, by providing a passive and efficient lunar rover wheel. Specifically, the wheel's operating mode is entirely triggered by a change in direction, without relying on any additional active drive devices or complex electronic control systems. This purely mechanical adaptive mechanism, while ensuring functionality, greatly enhances the system's structural simplicity and operational reliability in the extreme lunar environment.

[0063] Specifically, the wheel has two optimized operating modes for different terrains:

[0064] Mode 1, the forward-moving lunar soil walking state:

[0065] In this mode, the lunar soil actuation plate 2, which is in contact with the lunar soil, is folded, and the wheel mainly interacts with the surface of the lunar soil. This relatively mild wheel-soil dynamics allows the wheel to achieve smooth and efficient travel with low traction and driving energy consumption, making it very suitable for long-distance movement and exploration missions in relatively flat and dense areas of the lunar surface.

[0066] Mode 2, Lunar soil movement in reverse:

[0067] In this mode, the lunar soil chock plate 2 fully deploys, penetrating deep into the lunar soil and engaging with deeper layers of the soil in a powerful mechanical manner. This action generates extremely high hook traction, providing the wheels with superior traction, braking force, and climbing ability. This mode is specifically designed to overcome the challenges of movement on loose, steep, and extreme terrain such as crater walls, effectively preventing slippage and getting stuck.

[0068] In addition, in this embodiment, a rotatable paddle connecting ring 3 is provided on the inner ring of the hub 1. The paddle connecting ring 3 is connected to each lunar soil actuating piece 2 via a corresponding main leaf spring 25. This enables coordinated deformation of multiple lunar soil actuating pieces 2. That is, when one or more lunar soil actuating pieces 2 are deformed by force, the paddle connecting ring 3 is pulled slightly by the main leaf spring 25, thereby synchronously adjusting the preload state of the main leaf spring 25 on all other lunar soil actuating pieces 2, so that all lunar soil actuating pieces 2 have a consistent unfolding trend, ensuring the uniformity and stability of the mechanical properties in the circumferential direction of the wheel.

[0069] See Figure 3 , Figure 4 , Figure 5 As shown, in some embodiments, the hub 1 includes: an inner hub ring 11, an outer hub ring 12, and two hub side plates 13. The inner hub ring 11 is located inside the outer hub ring 12. The first flanges 111 at both ends of the inner hub ring 11 are fixedly connected to the second flanges 131 of the two hub side plates 13, respectively. The outer edges of the two hub side plates 13 are fixed to both sides of the outer hub ring 12. A paddle connecting ring 3 is rotatably sleeved on the inner hub ring 11. Multiple hollow holes 121 are opened on the outer peripheral wall of the outer hub ring 12. Each paddle 2 includes: a fixed mounting shaft 28, a paddle assembly 29, and a main spring 25.

[0070] The fixed mounting shaft 28 is horizontally fixed on the outer peripheral wall of the outer ring 12 of the hub, and the fixed mounting shaft 28 and the hollow hole 121 are arranged alternately.

[0071] The toggle assembly 29 is rotatably connected to the fixed mounting shaft 28, thereby enabling the toggle assembly 29 to rotate around the fixed mounting shaft 28, which facilitates the unfolding and folding operation of the toggle assembly 29;

[0072] The main spring 25 is sleeved on the fixed mounting shaft 28. The upper spring connecting rod 252 of the main spring 25 is connected to the actuating plate assembly 29. The lower spring connecting rod 251 of the main spring 25 passes through the hollow hole 121 and extends into the outer ring 12 of the hub to connect with the actuating plate connecting ring 3. The actuating plate assembly 29 is in an unfolded state under the reset action of the main spring 25. When the actuating plate assembly 29 contacts the lunar soil in the lunar soil walking state, it can rotate around the fixed mounting shaft 28, and then switch from the unfolded state to the folded state, covering the hollow hole 121.

[0073] In this embodiment, the structural design of the hub 1 integrates functionality, reliability, and engineering convenience. By using flanges to connect the inner and outer rings of the hub with the side plates, a high-rigidity, high-load-bearing integral wheel frame is established, which also facilitates subsequent precision machining, component disassembly and assembly, on-orbit maintenance, or ground repair operations.

[0074] In addition, the multiple hollow holes 121 on the outer ring 12 of the hub have a dual function: firstly, they provide a connection channel for the main leaf spring 25 that runs through it, forming a transmission link between the toggle assembly 29 and the internal toggle connecting ring 3; secondly, by removing redundant materials in non-load-bearing areas, the weight of the hub 1 is effectively reduced, realizing a key lightweight design for aerospace applications.

[0075] Meanwhile, using the main leaf spring 25 as the core transmission and energy storage element, the external actuation plate assembly 29 is connected to the internal actuation plate connecting ring 3, cleverly converting the reaction force of the lunar soil on the actuation plate into the driving force for its deformation. This design achieves a fully passive, adaptive deformation cycle of the actuation plate assembly 29, which "folds upon contact with the ground and unfolds upon leaving the ground," without requiring external energy input or active control intervention.

[0076] Furthermore, the rotatable paddle connecting ring 3 acts as the synchronization and coordination center within the system. Its working principle is as follows: when one or more paddle assemblies 29 fold or unfold due to contact with the terrain, the deformation of their corresponding main leaf spring 25 generates a small pulling or pushing force on the paddle connecting ring 3, causing it to rotate relative to the terrain. This rotation immediately and synchronously changes the preload of all other main leaf springs 25, causing the paddle assemblies 29 that are not currently in contact with the terrain to also exhibit a tendency to unfold or fold uniformly. This mechanism ensures that at any given moment, all paddle assemblies 29 in the circumferential direction of the wheel can move in concert, thereby guaranteeing the uniformity, continuity, and driving stability of the wheel's ground contact mechanical characteristics, and avoiding motion instability or efficiency reduction caused by uneven local force distribution.

[0077] See Figure 6 and Figure 7 As shown, in some embodiments, the toggle assembly 29 includes:

[0078] The main actuating plate 21 is rotatably connected to the fixed mounting shaft 28 at its bottom, and the upper spring connecting rod 252 is fixedly connected to the inner side of the main actuating plate 21 facing the hollow hole 121.

[0079] There are two auxiliary levers 22, which are respectively disposed on both sides of the main lever 21 and located below the inner side of the main lever 21.

[0080] There are two secondary springs 26. The first spring 262 on the secondary spring 26 is fixedly connected to the inner side of the secondary actuating plate 22 facing the hollow hole 121. The second spring 261 on the secondary spring 26 passes around the fixed mounting shaft 28 and is fixedly connected to the outer ring 12 of the wheel hub.

[0081] In this embodiment, the main actuating plate 21 and the two auxiliary actuating plates 22 adopt a differentiated and coordinated elastic connection design. They are respectively connected to the wheel structure via independent main plate springs 25 and auxiliary plate springs 26. This design enables the main and auxiliary actuating plates to achieve time-sharing, graded, and progressive deformation responses when encountering lunar undulations or obstacle impacts, rather than rigid collisions, thereby significantly enhancing the wheel's ability to buffer and adapt to dynamic loads from complex and rugged terrain.

[0082] Furthermore, the primary and secondary actuating plates are spatially separated and staggered. In the fully deployed "actuating state," this arrangement allows multiple actuating plates to collectively form a significantly wider composite grounding interface. This not only multiplies the effective contact area with lunar soil or rock but also optimizes the force distribution and transmission path by increasing discrete points of contact. Consequently, the wheel achieves a more complete and stable ground engagement and macroscopic meshing effect on soft or uneven surfaces, thereby substantially improving the wheel's overall traction performance and extreme climbing ability.

[0083] See you again Figure 3 , Figure 6 and Figure 7 In some embodiments, a plurality of actuating tab limiting teeth 14 are provided at intervals on the outer edge of the outer rim 12 of the hub, and the actuating tab assembly 29 further includes:

[0084] Right-angle limiting plate 24 is sleeved on fixed mounting shaft 28. The vertical plate 242 on the right-angle limiting plate 24 can stop on the outer side of the main actuating plate 21 and the auxiliary actuating plate 22 and on one side of the actuating plate limiting tooth 14.

[0085] There are two limit plate springs 27. The third spring 272 on each limit plate spring 27 is fixedly connected to the bottom end face of the horizontal plate 241 on the right angle limit plate 24. The fourth spring 271 on each limit plate spring 27 is fixedly connected to the outer ring 12 of the wheel hub.

[0086] The horizontal plate 241 and the vertical plate 242 are arranged vertically, with the horizontal plate 241 positioned close to the outer surface of the outer ring 12 of the wheel hub.

[0087] In this embodiment, in the lunar soil pushing state (reverse), the vertical plate 242 of the right-angle limiting plate 24 abuts against the main pushing piece 21 and the auxiliary pushing piece 22, strictly limiting the maximum unfolding angle of the main pushing piece 21 and the auxiliary pushing piece 22 (usually perpendicular to the wheel surface), ensuring that they can effectively and vertically penetrate the lunar soil, providing maximum thrust and preventing excessive unfolding that could lead to structural damage or reduced efficiency. Moreover, the limiting plate spring 27 provides elasticity to the right-angle limiting plate 24 itself, making the limiting action not a rigid impact, but a buffered process, protecting the limiting mechanism and the pushing pieces. In addition, in the lunar soil walking state (forward), when other pushing pieces fold, they will press down the horizontal plate 241 of the limiting plate, helping it to reset and preparing for the next working cycle.

[0088] Of course, in some embodiments, the horizontal plate 241 and the vertical plate 242 are integrally connected by four first limiting rings 243, which are sleeved on the fixed mounting shaft 28; the bottom of the auxiliary actuating plate 22 is fixed with two second limiting rings 221 for sleeved on the fixed mounting shaft 28 at intervals, and the auxiliary plate spring 26 is placed between the two second limiting rings 221, which are located between two adjacent first limiting rings 243; the bottom of the main actuating plate 21 is fixed with three third limiting rings 211 for sleeved on the fixed mounting shaft 28 at intervals, which are located between the two middle first limiting rings 243; there are two main plate springs 25, each located between two adjacent third limiting rings 211.

[0089] In this embodiment, the rotating components are physically isolated axially, ensuring that the main actuating plate, the auxiliary actuating plate, and the right-angle limiting plate can rotate independently and smoothly within their respective ranges, completely avoiding jamming and friction between them. Moreover, the limiting ring structure facilitates the assembly of the various components and can maintain the relative positions of the components for a long time, ensuring the stability and consistency of the mechanism for the wheel to operate in the harsh lunar environment for a long time.

[0090] like Figure 8 and Figure 9 As shown, in some embodiments, the paddle connecting ring 3 includes a connecting ring body 31 sleeved on the inner ring 11 of the hub. Multiple connecting holes 32 are evenly distributed on the connecting ring body 31 along its circumferential direction. The lower spring connecting rods 251 of the two main leaf springs 25 are staggered and installed on the corresponding two connecting holes 32. A pressure plate 212 is fixed on the inner side of the main paddle 21 facing the hollow hole 121. The upper spring connecting rods 252 of the two main leaf springs 25 are pressed into the pressure plate 212.

[0091] In this embodiment, by optimizing the spring connection and force transmission structure, the load distribution balance and connection reliability of the core moving parts are significantly improved, thereby enhancing the durability and functional stability of the entire mechanism.

[0092] Specifically, the two main leaf springs 25 are connected in an asymmetrical, staggered manner, with their lower spring connecting rods 251 respectively hooked into connecting holes 32 at different positions on the paddle connecting ring 3. This design disperses the tension of the springs on the connecting ring body 31, and the driving force fed back from the connecting ring body 31 to the main actuating plate 21 is also more balanced. This effectively eliminates the uneven torque and uneven wear that may be caused by single-point force, and has a positive effect on extending the service life of key moving parts such as the paddle connecting ring 3 and the main actuating plate 21.

[0093] Meanwhile, the pressure plate 212 located inside the main actuating plate 21 serves as an integrated force transmission interface, pressing and fixing the upper spring connecting rods 252 at the upper ends of the two main springs 25 together. This design integrates the two previously potentially discrete force points into a wide and stable force transmission area, fundamentally avoiding the risk of fatigue damage or accidental loosening of the connection due to stress concentration at points under repeated alternating loads, and ensuring that the driving force transmission path from the actuating plate connecting ring to the main actuating plate is always firm and reliable.

[0094] like Figure 10 As shown, in some embodiments, the lower spring connecting rod 251 has a hook 2511 at its end, which is hooked into the connecting hole 32. The end of the hook 2511 is equipped with an anti-dislodgement cap 25111 to prevent the hook 2511 from coming out of the connecting hole 32. The connecting hole 32 is an elongated hole, and the hook 2511 can slide up and down inside the hole.

[0095] In this embodiment, the lower spring connecting rod 251 at the lower end of the main leaf spring 25 is provided with a hook 2511, which cooperates with the elongated connecting hole 32 on the paddle connecting ring 3. This sliding connection method provides the necessary axial position adjustment freedom for the deformation of the main leaf spring 25 during the stretching and restoring process. This design can effectively absorb and compensate for the small dimensional changes that may occur in the manufacturing precision, assembly cumulative errors, and extreme high and low temperature cycles on the moon, ensuring that the spring mechanism can work smoothly under different working conditions and avoiding jamming or abnormal preload caused by tolerances or thermal stress.

[0096] In addition, the design of the anti-detachment cap 25111 completely eliminates the possibility of the hook 2511 accidentally detaching from the connection hole 32 under extreme conditions such as continuous vibration and impact load when the lunar rover travels on rugged terrain, thus meeting the high reliability and failure prevention requirements of aerospace products.

[0097] See you again Figure 8 In some embodiments, the connecting ring body 31 has a plurality of weight-reducing holes 33 along its circumferential direction.

[0098] In this embodiment, these weight-reducing holes 33 effectively reduce the mass of the connecting ring body 31 by removing material from non-critical stress areas. This has dual benefits: firstly, it directly contributes to the overall mass reduction of the wheel, which is of great value for reducing launch costs and improving the lunar rover's payload capacity; secondly, the lighter connecting ring body 31 means a reduced moment of inertia, making it more sensitive and rapid when undergoing small rotations in response to the tension of the main leaf spring 25, thereby optimizing the dynamic response characteristics of the entire passive deformation system.

[0099] like Figure 6 and Figure 7 As shown, in some embodiments, a plurality of gripping teeth 23 are fixed on the inner side of the auxiliary actuating piece 22 facing the hollow hole 121. The number of gripping teeth 23 is not limited, and the shape of the gripping teeth 23 is usually a hook-like shape imitating the claws of animals such as pangolins.

[0100] In this embodiment, when the lunar soil is disturbed or encounters rocks, these biomimetic claw-like gripping teeth 23 can penetrate deeper and more firmly into the lunar soil or hook onto the rock surface, generating a gripping force and anti-slip capability far greater than that on smooth surfaces. Therefore, the design of the gripping teeth 23 can directly enhance the vehicle's performance on the most challenging and slippery terrain, such as crater walls, and is a strengthening means to solve the problem of "climbing failure".

[0101] like Figure 16 As shown, the driving principle of the lunar rover wheels of this invention is as follows:

[0102] (1) For example Figure 16 (a) and combination Figure 2 As shown, in the initial state, that is, when the lunar soil actuating plate 2 is not under force, the entire lunar soil actuating plate 2 is in an inclined state. At this time, the main plate spring 25, the secondary plate spring 26, and the limiting plate spring 27 are all in an undeformed state. The vertical plate 242 of the right angle limiting plate 24 abuts against the actuating plate limiting tooth 14 of the hub, and the horizontal plate 241 is in a tilted state.

[0103] (2) For example Figure 16 (c) and combined Figure 15As shown in (b), when the lunar rover's wheels are moving forward on the lunar surface, i.e., the direction of wheel rotation is the same as the direction of rotation of the folded lunar soil actuating plate 2, the lunar soil actuating plate 2 below the front of the lunar rover's wheels begins to contact the lunar surface as the wheel rotates. Under the pressure of the contact between the lunar soil actuating plate 2 and the lunar soil, the main actuating plate 21 and the auxiliary actuating plate 22 begin to rotate around the fixed mounting shaft 28 and fold and deform. At this time, the main plate spring 25 and the auxiliary plate spring 26 deform. At this time, because the vertical plate 242 of the right-angle limiting plate 24 abuts against the actuating plate limiting tooth 14, the right-angle limiting plate 24 does not rotate. As the wheel continues to rotate, the lunar soil actuating plate 2 will be completely folded, at which point the main actuating plate 21 and the auxiliary actuating plate 22 will almost touch the wheel hub. When the outer surface of the outer ring 12 is reached, the outer edges of the main actuating plate 21 and the auxiliary actuating plate 22 will press against the horizontal plate 241 of the right-angle limiting plate 24 of the next lunar soil actuating plate 2, which is in a raised state, causing the horizontal plate 241 to rotate around the fixed mounting shaft 28. When the main actuating plate 21 and the auxiliary actuating plate 22 are attached to the outer surface of the outer ring 12, the horizontal plate 241 of the right-angle limiting plate 24 of the next lunar soil actuating plate 2 will also be attached to the outer surface of the outer ring 12. At this time, the vertical plate 242 of the right-angle limiting plate 24 will be in a vertical state, that is, perpendicular to the outer surface of the outer ring 12. In this way, when the wheel is moving, the vertical plate 242 in the vertical state can be inserted into the lunar soil and actuated, thereby improving the wheel's maneuverability and preventing the wheel from slipping on the lunar soil surface. As the wheels continue to rotate, the lunar soil actuating plate 2 rotates to the rear and lower part of the lunar rover wheels and begins to gradually detach from the lunar soil. At this time, the compression force of the main spring 25 and the secondary spring 26 is gradually released, causing the main actuating plate 21 and the secondary actuating plate 22 to rotate back. When the lunar soil actuating plate 2 is completely detached from the lunar soil, the main actuating plate 21 and the secondary actuating plate 22 return to their initial state.

[0104] During this process, due to the mechanical action of the lunar soil and the lunar soil actuating plate 2, the lunar soil actuating plate 2 is passively folded and deformed. The lunar soil actuating plate 2 under the lunar rover wheel is in a folded state. During the journey, only the outer surface of the lunar rover wheel has mechanical action with the lunar soil on the lunar surface. The degree of action is small, which is the lunar soil walking state. In this driving state, the hook traction force obtained by the lunar rover wheel is small, the required driving torque, i.e., energy consumption is also small, and the driving efficiency is high.

[0105] (3) For example Figure 16 (b) and combined Figure 15 (a) Figure 12 , Figure 14As shown, when the lunar rover's wheels are moving backward on the lunar surface, i.e., the direction of wheel rotation is the same as the direction of rotation of the lunar soil actuating plate 2, the lunar soil actuating plate 2 below the rear of the lunar rover's wheels begins to contact the lunar surface as the wheels rotate. Under the pressure of the contact between the lunar soil actuating plate 2 and the lunar soil, the main actuating plate 21 and the auxiliary actuating plate 22 begin to rotate around the fixed mounting shaft 28 and unfold and deform. At this time, the main plate spring 25 and the auxiliary plate spring 26 deform; at this time, due to the main actuating plate 2... The main and auxiliary actuating plates 21 and 22 abut against the vertical plate 242 of the right-angle limiting plate 24, thus causing the right-angle limiting plate 24 to rotate. As the wheel continues to rotate, the main actuating plate 21 will fully unfold, at which point the main actuating plate 21 and the auxiliary actuating plate 22 will be in a vertical state, that is, perpendicular to the outer surface of the outer ring of the wheel hub. At this time, the horizontal plate 241 of the right-angle limiting plate 24 of the main actuating plate 21 will also be in a limiting state against the outer surface of the outer ring 12 of the wheel hub. At this time, the main actuating plate 21 and the auxiliary actuating plate 22 will not continue to rotate. As the wheels continue to rotate, the lunar soil actuating plate 2 rotates to the rear and lower part of the lunar rover wheels and begins to gradually detach from the lunar soil. At this time, the compression force of the main plate spring 25, the secondary plate spring 26, and the limiting plate spring 27 is gradually released, causing the main actuating plate 21 and the secondary actuating plate 22 to rotate back. When the lunar soil actuating plate 2 is completely detached from the lunar soil, the main actuating plate 21 and the secondary actuating plate 22 return to their initial state, and the horizontal plate 241 returns to its tilted state.

[0106] During this process, due to the mechanical action of the lunar soil and the lunar soil agitator, the lunar soil agitator 2 is passively unfolded and deformed. The lunar soil agitator 2 under the lunar rover wheels is in the unfolded state. During the journey, the vertical main agitator 21 and auxiliary agitator 22 are embedded deep into the lunar soil and have a mechanical action with the lunar soil deep in the moon. The degree of action is relatively large, which is the lunar soil agitation state. In this driving state, the lunar rover wheels obtain a large hook traction force, have high passability, and require a large driving torque, i.e., energy consumption.

[0107] In the above process, it is also necessary to further explain:

[0108] (1) Since there are multiple main springs 25, secondary springs 26 and limiting plate springs 27 in the lunar soil actuation plate 2, when the lunar rover wheels are moving in the forward or backward direction and are subjected to impact or collision, the main springs 25, secondary springs 26 and limiting plate springs 27 will deform and dampen in time to avoid excessive impact on the wheel drive motor or the entire lunar rover.

[0109] (2) Function of the paddle connecting ring 3: The main paddle 21 of each lunar soil actuating piece 2 is connected to the paddle connecting ring 3 through the main spring 25. This can ensure the consistency of the deformation trend of each lunar soil actuating piece 2. That is, when several sets of lunar soil actuating pieces 2 are folded or unfolded, the main paddle 21 of the deformed lunar soil actuating piece 2 will drive the main spring 25 to deform. The lower spring connecting rod 251 of the main spring 25 will generate force and deformation trend, causing the paddle connecting ring 3 to rotate relative to the inner ring 11 of the hub. After the paddle connecting ring 3 rotates, it drives the lower spring connecting rod 251 of the lunar soil actuating piece 2 that has not been folded or unfolded to rotate and deform, so that the main paddle 21 that has not been folded or unfolded will rotate, thereby obtaining a consistent deformation trend.

[0110] (3) When driving on the rugged terrain of the moon or when the lunar rover wheels are crossing obstacles, it can drive in the reverse direction. When the lunar soil agitator 2 contacts and unfolds with the obstacle rock, the contact area with the obstacle rock is increased due to the contact between the main agitator 21 and the secondary agitator 22. At the same time, gripping teeth 23 are provided on the lower surface of the secondary agitator 22, which makes it easier for the lunar soil agitator of the wheel to hook the obstacle rock during the rotation of the wheel and drive the wheel to cross the obstacle, thereby enhancing the obstacle crossing ability of the lunar rover wheels.

[0111] According to the lunar rover wheel in the above embodiment, since the lunar rover wheel has two different deformations in the forward and backward directions, it exhibits two different driving characteristics: a lunar soil walking state in the forward direction and a lunar soil jostling state in the backward direction. Therefore, this invention provides a method for operating a lunar rover wheel for lunar crater exploration, such as... Figure 17 As shown, depending on the chosen direction of travel, the lunar rover equipped with the aforementioned lunar rover wheels will enter, explore, and traverse lunar craters. Specific details are as follows:

[0112] When a lunar rover using its wheels travels outside a crater, the relatively dense lunar regolith allows it to explore and approach the crater's outer edge using a forward-moving motion (lunar regolith walking). At this point, the rover consumes little energy and travels efficiently. However, because the crater walls have loose lunar regolith and steep slopes, making it difficult for a normal lunar rover to pass, the rover using its wheels can turn in place at the crater's outer edge and use a backward-moving motion (lunar regolith shifting) to descend into the crater. This provides excellent mobility, reduces the risk of slipping, and allows for strong slope traversal. Upon reaching the crater bottom, the rover can turn in place and use a forward-moving motion (lunar regolith walking) to explore the crater interior. Similarly, after completing exploration inside the crater, the rover can turn in place at the crater's bottom edge and use a backward-moving motion (lunar regolith shifting) to climb the crater wall to the outside. After turning in place at the outer edge, it can then use a forward-moving motion (lunar regolith walking) to continue exploring the lunar surface outside the crater.

[0113] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0114] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A lunar rover wheel for exploring lunar craters, characterized in that, include: The hub (1) has multiple lunar soil actuation plates (2) that can be switched between unfolded and folded states on its outer ring. When the lunar soil actuation plates (2) are in the folded state, they are in the lunar soil walking state in the forward direction of the wheel. When the lunar soil actuation plates (2) are in the unfolded state, they are in the lunar soil actuation state in the backward direction of the wheel. The inner ring of the hub (1) is provided with a rotatable paddle connecting ring (3), and the paddle connecting ring (3) is connected to each of the lunar soil paddles (2) through a corresponding main plate spring (25). The hub (1) includes: an inner hub ring (11), an outer hub ring (12), and two hub side plates (13). The inner hub ring (11) is located inside the outer hub ring (12). The first flanges (111) at both ends of the inner hub ring (11) are fixedly connected to the second flanges (131) of the two hub side plates (13). The outer edges of the two hub side plates (13) are fixed to both sides of the outer hub ring (12). The paddle connecting ring (3) is rotatably sleeved on the inner hub ring (11). Multiple hollow holes (121) are opened on the outer peripheral wall of the outer hub ring (12). Each lunar soil actuating piece (2) includes: a fixed mounting shaft (28), a paddle assembly (29), and the main plate spring (25). The fixed mounting shaft (28) is horizontally fixed on the outer peripheral wall of the outer ring (12) of the hub, and the fixed mounting shaft (28) and the hollow hole (121) are arranged alternately; The actuating paddle assembly (29) is rotatably connected to the fixed mounting shaft (28); The main leaf spring (25) is sleeved on the fixed mounting shaft (28). The upper spring connecting rod (252) of the main leaf spring (25) is connected to the actuating plate assembly (29). The lower spring connecting rod (251) of the main leaf spring (25) passes through the hollow hole (121) and extends into the outer ring (12) of the hub to connect with the actuating plate connecting ring (3). The actuating plate assembly (29) is in an unfolded state under the reset action of the main leaf spring (25). When the actuating plate assembly (29) contacts the lunar soil in the lunar soil walking state, it can rotate around the fixed mounting shaft (28) and switch from the unfolded state to the folded state, and cover the hollow hole (121). The toggle assembly (29) includes: The main actuating plate (21) is rotatably connected to the fixed mounting shaft (28) at its bottom, and the upper spring connecting rod (252) is fixedly connected to the inner side of the main actuating plate (21) facing the hollow hole (121). There are two auxiliary toggle pieces (22), which are respectively disposed on both sides of the main toggle piece (21) and located below the inner side of the main toggle piece (21); Sub-piece spring (26), there are two sub-piece springs (26), the first spring (262) on the sub-piece spring (26) is fixedly connected to the inner side of the sub-push plate (22) facing the hollow hole (121), and the second spring (261) on the sub-piece spring (26) passes around the fixed mounting shaft (28) and is fixedly connected to the outer ring of the hub (12); The outer edge of the hub outer ring (12) is provided with a plurality of actuating plate limiting teeth (14) spaced apart, and the actuating plate assembly (29) further includes: A right-angle limiting plate (24) is sleeved on the fixed mounting shaft (28). The vertical plate (242) on the right-angle limiting plate (24) can stop on the outer side of the main actuating plate (21), the auxiliary actuating plate (22), and one side of the actuating plate limiting tooth (14). Limiting plate spring (27), there are two limiting plate springs (27), the third spring (272) on each limiting plate spring (27) is fixedly connected to the bottom end face of the horizontal plate (241) on the right angle limiting plate (24), and the fourth spring (271) on each limiting plate spring (27) is fixedly connected to the outer ring of the wheel hub (12); The horizontal plate (241) and the vertical plate (242) are arranged vertically.

2. A lunar rover wheel for exploring lunar craters according to claim 1, characterized in that, The horizontal plate (241) and the vertical plate (242) are integrally connected by four first limiting rings (243), which are sleeved on the fixed mounting shaft (28). The bottom of the auxiliary actuating plate (22) is fixed with two second limiting rings (221) for sleeved on the fixed mounting shaft (28). The auxiliary plate spring (26) is placed between the two second limiting rings (221), and the two second limiting rings (221) are located between two adjacent first limiting rings (243). The bottom of the main actuating plate (21) is fixed with three third limiting rings (211) for sleeved on the fixed mounting shaft (28), and the three third limiting rings (211) are located between the two middle first limiting rings (243). There are two main plate springs (25), and each main plate spring (25) is located between two adjacent third limiting rings (211).

3. A lunar rover wheel for exploring lunar craters according to claim 2, characterized in that, The paddle connecting ring (3) includes a connecting ring body (31) rotatably sleeved on the inner ring (11) of the hub. The connecting ring body (31) has multiple connecting holes (32) along its circumferential direction. The lower spring connecting rods (251) of the two main leaf springs (25) are staggered and installed on the corresponding two connecting holes (32). A pressure plate (212) is fixed on the inner side of the main paddle (21) facing the hollow hole (121). The upper spring connecting rods (252) of the two main leaf springs (25) are pressed into the pressure plate (212).

4. A lunar rover wheel for exploring lunar craters according to claim 3, characterized in that, The lower spring connecting rod (251) has a hook (2511) at its end, which is hooked in the connecting hole (32). The end of the hook (2511) is equipped with an anti-detachment stop cap (25111) to prevent the hook (2511) from coming out of the connecting hole (32).

5. A lunar rover wheel for exploring lunar craters according to claim 3, characterized in that, The connecting ring body (31) has multiple weight-reducing holes (33) along its circumferential direction.

6. A lunar rover wheel for exploring lunar craters according to any one of claims 1-5, characterized in that, Multiple gripping teeth (23) are fixed on the inner side of the auxiliary actuating piece (22) facing the hollow hole (121).

Images