Miniature all-terrain four-wheel planet vehicle for extraterrestrial exploration

Abstract

The utility model relates to the technical field of extraterrestrial exploration, in particular to a microminiature all-terrain four-wheel planet vehicle for extraterrestrial exploration. The embodiment of the utility model provides a microminiature all-terrain four-wheel planet vehicle for extraterrestrial exploration. The microminiature all-terrain four-wheel planet vehicle comprises four wheels and a box body, four independent motors are installed in the box body, shafts of the four independent motors penetrate out of the box body to be connected with four external wheels so that the four wheels can be independently driven, the wheels protrude out of the front box body and the rear box body, and the diameter of each wheel is larger than the thickness of the box body. A driving shaft of the motor penetrates out of the thickness center position of the side wall of the box body, a bearing is arranged outside the box body, and a shaft of the wheel penetrates through the bearing to be connected with a shaft of the motor. The embodiment of the utility model provides a miniature all-terrain four-wheel planet vehicle for extraterrestrial exploration. The miniature all-terrain four-wheel planet vehicle for extraterrestrial exploration has excellent obstacle crossing capacity and terrain adaptive capacity.

Description

Technical Field

[0001] The utility model relates to the technical field of extraterrestrial exploration, and in particular to a miniature all-terrain four-wheeled planetary rover for extraterrestrial exploration. Background Art

[0002] Extraterrestrial exploration is a key area of ​​human spaceflight, an inevitable path for humanity to explore the mysteries of the universe and pursue long-term development. It is also a crucial indicator of a country's comprehensive national strength and scientific and technological development. A wide variety of exploration robots have been developed for extraterrestrial bodies such as Mars, the Moon, and asteroids, acquiring information on their atmospheres, star catalogs, and profiles.

[0003] An intelligent extraterrestrial exploration robot is a type of robot that can be deployed on a probe or lander to autonomously explore its surroundings and transmit this information back. Microrobots have experienced rapid development in recent years due to their numerous advantages, including being lightweight, small, and fully autonomous.

[0004] Intelligent robots are playing an increasingly critical role in extraterrestrial missions. They can be deployed to the surface of extraterrestrial bodies through a detachable release mechanism to perform topographic and geomorphic surveys, resource exploration, and other tasks, providing rich geomorphological and geological information for further deep space exploration. Wheeled mobile robots offer high speed and efficiency, but their ability to navigate obstacles and adapt to terrain is limited. Utility Model Content

[0005] The embodiment of the utility model provides a miniature all-terrain four-wheeled planetary rover for extraterrestrial exploration, which has excellent obstacle-crossing ability and terrain adaptability.

[0006] The embodiment of the utility model provides a miniature all-terrain four-wheeled planetary rover for extraterrestrial exploration, comprising four wheels and a box;

[0007] Four independent motors are installed inside the box, and the shafts of the four independent motors pass through the box and are connected to the four wheels outside, so that the four wheels can be driven independently. The wheels protrude from the front and rear of the box, and the diameter of the wheels is greater than the thickness of the box. The drive shaft of the motor passes through the center of the thickness of the side wall of the box, and a bearing is provided on the outside of the box. The shaft of the wheel passes through the bearing and is connected to the shaft of the motor.

[0008] In a possible design, the wheel includes a circular connecting surface and a cylindrical rolling surface, a circular edge of the rolling surface is connected to an outer edge of the connecting surface, and the connecting surface is fixedly connected to the shaft of the motor.

[0009] In a possible design, edges perpendicular to the surface are provided outwardly on the rolling surface.

[0010] In a possible design, the connection surface is provided with a plurality of weight-reducing holes.

[0011] In a possible design, the rolling surface is provided with sand discharge holes.

[0012] In one possible design, a connecting seat is installed on the housing, and a connecting flange is installed on the wheel. The connecting seat includes a cylindrical part and an annular part. The annular part is located at the end of the cylindrical part away from the housing. The connecting flange is hollow so that the shaft of the motor passes through the hollow part and is connected to the wheel. The part where the connecting flange is fixed on the wheel first extends radially outward and then extends axially outward to form a groove. The annular part of the connecting seat is inserted into the groove to form a reserved space between the inner side of the cylindrical part and the outer side of the connecting flange. The reserved space is used to install the bearing.

[0013] In a possible design, a sealing ring is provided on the side wall of the groove away from the axle.

[0014] In a possible design, the four-wheeled planetary vehicle is centrally symmetrical about the center of the box.

[0015] In a possible design, the diameter of the wheel is 2 to 3 times the thickness of the box.

[0016] Compared with the prior art, the present invention has at least the following beneficial effects:

[0017] The four-wheeled rover features independent four-wheel drive, enabling forward and reverse, differential steering, and escape from traps. Because the wheel diameter is significantly larger than the housing and the entire robot is symmetrical, it maintains normal movement even after a 180° flip, as shown in Figure 2. The wheels protrude from the front and rear housings. When the robot encounters extreme terrain and flips forward or backward, the wheels first contact the lunar surface. Because contact with only the front and rear wheels is unstable, the robot quickly recovers and avoids a flip, as shown in Figure 3. The four-wheeled, four-wheeled rover allows it to escape from traps by independently controlling the wheels when encountering extreme terrain and tipping over. The large wheels provide strong obstacle-crossing and climbing capabilities. Combined with autonomous obstacle avoidance features such as visual sensors, the rover can quickly analyze the terrain ahead and adjust its movement strategy accordingly, effectively preventing the robot from tipping over or flipping over, allowing it to adapt to various extraterrestrial terrains. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is a structural schematic diagram of a miniature all-terrain four-wheeled planetary rover for extraterrestrial exploration provided by an embodiment of the utility model.

[0020] Figure 2a This is a schematic diagram of a normal driving state structure provided by an embodiment of the utility model;

[0021] Figure 2b This is a schematic diagram of a 180° flip driving state structure provided by an embodiment of the utility model;

[0022] Figure 3a This is a schematic diagram of a wheel contact posture structure provided by an embodiment of the present utility model;

[0023] Figure 3b This is another schematic diagram of the posture structure of the wheel contacting the ground provided by an embodiment of the present utility model;

[0024] Figure 3c This is another schematic diagram of a wheel contact posture structure provided by an embodiment of the present utility model;

[0025] Figure 4 This is a schematic diagram of a wheel structure provided by an embodiment of the present utility model;

[0026] Figure 5 This is a structural schematic diagram of a wheel box connection method provided by an embodiment of the utility model.

[0027] In the picture:

[0028] 1-wheel; 2-housing; 3-bearing; 4-connecting seat; 5-connecting flange; 6-sealing ring; 7-edge; 8-weight reduction hole; 9-sand discharge hole. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0030] In the description of the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance; unless otherwise specified or explained, the term "plurality" refers to two or more; the terms "connected" and "fixed" should be understood in a broad sense. For example, "connected" can mean a fixed connection, a detachable connection, an integral connection, or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances.

[0031] In the description of this specification, it should be understood that the directional words such as "upper" and "lower" described in the embodiments of the present invention are described from the perspectives shown in the accompanying drawings and should not be understood as limiting the embodiments of the present invention. In addition, in the context, it should be understood that when it is mentioned that an element is connected to another element "on" or "under", it can not only be directly connected to the other element "on" or "under", but also indirectly connected to the other element "on" or "under" through an intermediate element.

[0032] like Figure 1 As shown, the embodiment of the utility model provides a miniature all-terrain four-wheeled planetary rover for extraterrestrial exploration, comprising four wheels 1 and a box 2;

[0033] Four independent motors are installed inside the box 2. The shafts of the four independent motors pass through the box 2 and are connected to the four wheels 1 on the outside so that the four wheels 1 can be driven independently. The wheels 1 protrude from the front and rear boxes 2. The diameter of the wheels 1 is larger than the thickness of the box 2. The drive shaft of the motor passes through the center of the thickness of the side wall of the box 2. A bearing 3 is provided on the outside of the box 2. The shaft of the wheel 1 passes through the bearing 3 and is connected to the shaft of the motor.

[0034] The four-wheeled rover features independent four-wheel drive, enabling forward and reverse, differential steering, and escape from traps. Because the diameter of the wheels (1) is significantly larger than the size of the housing (2), and the entire robot is symmetrical, the robot can navigate normally even after a 180° flip, as shown in Figure 2. The wheels (1) protrude beyond the front and rear housings (2). When the robot encounters extreme terrain and flips forward or backward, the wheels (1) first contact the lunar surface. Because contact with only the front and rear wheels (1) is unstable, the robot quickly recovers and avoids a flip, as shown in Figure 3. The four-wheeled, four-wheeled rover allows the robot to escape from traps by independently controlling the wheels (1). The large-diameter wheels (1) provide strong obstacle-crossing and climbing capabilities. Combined with autonomous obstacle avoidance features such as visual sensors, the rover can quickly analyze the terrain ahead and adjust its action strategy accordingly, effectively preventing the robot from rolling over or flipping, allowing it to smoothly adapt to various extraterrestrial terrains.

[0035] In summary, the use of large-diameter wheels 1 and four-wheel independent four-wheel drive has the advantages of high rigidity, light weight, and all-terrain adaptability. It has basic functions such as forward, backward, steering, and obstacle crossing. It can enable the four-wheeled vehicle to walk normally when flipping forward and backward, up and down when encountering extreme terrain, and the side rollover can be disengaged through the cooperation of the wheels 1.

[0036] Please refer to Figure 4 In some embodiments of the present invention, the wheel 1 includes a circular connecting surface and a cylindrical rolling surface, a circular edge of the rolling surface is connected to the outer edge of the connecting surface, and the connecting surface is fixedly connected to the shaft of the motor.

[0037] In this embodiment, the wheel 1 composed of two surface structures can achieve a lighter mass while ensuring the wheel 1 has the function of bearing load and rotating.

[0038] In some embodiments of the present invention, the rolling surface is provided with outwardly perpendicular ridges 7. These raised ridges 7 increase the roughness of the contact surface, increasing friction and preventing slipping during travel. Furthermore, the width of the planetary vehicle's wheels 1 can be increased. This design increases the force-bearing area, reduces pressure on the planetary surface, and prevents the vehicle from sinking into the surface during travel.

[0039] In some embodiments of the present invention, the connection surface is provided with a plurality of weight-reducing holes 8. The plurality of weight-reducing holes 8 may be of the same size or different sizes, and the design of the weight-reducing holes 8 can further reduce the mass of the wheel 1.

[0040] In some embodiments of the present invention, the rolling surface is provided with sand discharge holes 9. The sand discharge holes 9 can effectively prevent soil accumulation and achieve a lightweight design.

[0041] Please refer to Figure 5In some embodiments of the present invention, a connecting seat 4 is installed on the box body 2, and a connecting flange 5 is installed on the wheel 1. The connecting seat 4 includes a cylindrical part and an annular part. The annular part is located at the end of the cylindrical part away from the box body 2. The connecting flange 5 is hollow so that the shaft of the motor passes through the hollow part and is connected to the wheel 1. The part where the connecting flange 5 is fixed on the wheel 1 first extends outward in its radial direction and then extends outward in the axial direction to form a groove. The annular part of the connecting seat 4 is inserted into the groove to form a reserved space between the inner side of the cylindrical part and the outer side of the connecting flange 5. The reserved space is used to install the bearing 3.

[0042] Wheel 1 is mounted on the side of housing 2 via flange 5, bearing 3, and connector 4. This transfers the load acting on wheel 1 to housing 2, preventing direct transfer of force to the motor. This effectively improves the rigidity and reliability of the four-wheeled rover. Special preload devices and anti-loosening designs are used at the joints to prevent loosening of wheel 1 during extraterrestrial travel and complex temperature fluctuations, ensuring reliable load-bearing during launch, transfer, and separation and release.

[0043] In some embodiments of the present invention, a sealing ring 6 is provided on the side wall of the groove away from the axle. The sealing ring 6 can prevent dust from entering the space where the bearing 3 is located.

[0044] In some embodiments of the present invention, the four-wheeled rover is centrally symmetrical about the center of the housing 2. If the extraterrestrial environment is rough and complex after the probe or lander lands, the small four-wheeled rover can land normally if the front and rear wheels 1 of the small robot first touch the ground or form a certain contact angle with the extraterrestrial object due to the complex ground environment. Even if it flips 180°, the symmetrical design allows the small robot to power up and operate normally. If it lands sideways, it can be successfully unhooked using the four-wheel drive escape strategy. This system can meet the requirements of landing in complex and rugged extraterrestrial environments and carry out extraterrestrial exploration and other related activities normally.

[0045] In some embodiments of the present invention, the diameter of the wheel 1 is 2 to 3 times the thickness of the box 2 .

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A miniature all-terrain four-wheeled planetary rover for extraterrestrial exploration, characterized in that: It includes four wheels and a box; Four independent motors are installed inside the box, and the shafts of the four independent motors pass through the box and are connected to the four wheels outside, so that the four wheels can be driven independently. The wheels protrude from the front and rear of the box, and the diameter of the wheels is greater than the thickness of the box. The drive shaft of the motor passes through the center of the thickness of the side wall of the box, and a bearing is provided on the outside of the box. The shaft of the wheel passes through the bearing and is connected to the shaft of the motor.

2. The miniature all-terrain four-wheeled planetary rover for extraterrestrial exploration according to claim 1, characterized in that: The wheel includes a circular connecting surface and a cylindrical rolling surface, a circular edge of the rolling surface is connected to the outer edge of the connecting surface, and the connecting surface is fixedly connected to the shaft of the motor.

3. The extraterrestrial exploration miniature all-terrain four-wheeled rover according to claim 2, characterized in that: The rolling surface is provided with edges perpendicular to the surface outward.

4. The extraterrestrial exploration miniature all-terrain four-wheeled planetary rover according to claim 2, characterized in that: The connecting surface is provided with a plurality of weight-reducing holes.

5. The miniature all-terrain four-wheeled planetary rover for extraterrestrial exploration according to claim 2, characterized in that: The rolling surface is provided with sand discharge holes.

6. The extraterrestrial exploration miniature all-terrain four-wheeled planetary rover according to claim 1, characterized in that: A connecting seat is installed on the box body, and a connecting flange is installed on the wheel. The connecting seat includes a cylindrical part and an annular part. The annular part is located at the end of the cylindrical part away from the box body. The connecting flange is hollow so that the shaft of the motor passes through the hollow part and is connected to the wheel. The part where the connecting flange is fixed on the wheel first extends radially outward and then extends axially outward to form a groove. The annular part of the connecting seat is inserted into the groove to form a reserved space between the inner side of the cylindrical part and the outer side of the connecting flange. The reserved space is used to install the bearing.

7. The extraterrestrial exploration micro all-terrain four-wheeled rover according to claim 6, characterized in that: A sealing ring is provided on the side wall of the groove away from the axle.

8. The extraterrestrial exploration miniature all-terrain four-wheeled rover according to claim 1, characterized in that: The four-wheeled planetary vehicle is centrally symmetrical about the center of the box.

9. The miniature all-terrain four-wheeled planetary rover for extraterrestrial exploration according to claim 1, characterized in that: The diameter of the wheel is 2 to 3 times the thickness of the box body.

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