Bionic variable-structure lunar wheel with high obstacle crossing performance

Abstract

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

Description

Technical Field

[0001] This utility model relates to the field of biomimetic engineering technology, and in particular to a biomimetic modified lunar wheel with high obstacle-crossing performance. Background Technology

[0002] With the continuous development of science and technology, deep space exploration has gradually become an important research topic, with lunar exploration being a key focus of current research. As unmanned lunar research bases are established in the future, unmanned lunar surface exploration mobile platforms, primarily wheeled and combining high mobility with obstacle-avoidance capabilities, will be one of the main equipment for complex lunar surface exploration. Besides the risk of sinking and slipping on soft lunar soil, wheeled mechanisms are also prone to getting stuck and blocked by large lunar rocks when exploring lunar mountain terrain where soil and rocks coexist, causing the platform to become stuck or impeded. Therefore, developing a biomimetic lunar wheel that is primarily wheeled, combining the simplicity and high mobility of wheels with improved obstacle-crossing performance through modified design, has significant theoretical and practical value.

[0003] Bionic protrusion structures are widely used in vehicle tire surfaces, providing excellent traction and gripping force to cope with rough and irregular road surfaces. This invention utilizes bionic technology to add bionic protrusions to the wheel surface, employing a nipple-like structure, with each wheel slab surface featuring a bionic protrusion structure.

[0004] Research has revealed that ostriches use their toenails, similar to cleats, to act as traction and sand anchors when walking or running in the desert, effectively improving traction and resistance to sinking. This superior performance is closely related to the structure and morphology of their toenails. Furthermore, known data indicates that the dusty lunar regolith covering the moon's surface is very similar to desert sand, belonging to a typical soft medium. Therefore, using ostrich toenails as a biomimetic prototype for the design of biomimetic wheel spikes for lunar rover wheels will effectively improve the wheels' traction and resistance to sinking, which is of paramount importance for improving the traction and maneuverability of lunar rovers on soft lunar regolith. The wheel plates are equipped with spikes on both ends, with the spike tips featuring an optimized profile of an ostrich toenail, enabling gripping and traction.

[0005] The outer and inner edges of the hind tibiae of grasshoppers are covered with dense, serrated protrusions (micro-spines or bristles), resembling tiny saw teeth. This serrated structure contacts the ground during a jump, increasing friction to prevent slippage and ensuring stability at the moment of takeoff. In complex terrain, the serrations can embed into crevices or rough surfaces, aiding in climbing. The lunar wheel's biomimetic serrated structure enhances its stability on the loose lunar surface. Summary of the Invention

[0006] The purpose of this invention is to solve the problem that existing lunar surface mobile devices cannot guarantee their passability when encountering the adverse conditions of complex sand and gravel coexisting, and to improve the passability and environmental adaptability of lunar surface mobile devices. Using the serrated structure of ostrich toes and locust legs as biomimetic elements, a biomimetic modified lunar wheel with high obstacle-crossing performance is provided.

[0007] A biomimetic deformable lunar wheel with high obstacle-crossing performance includes a wheel surface, fixed spokes, a movable deformable mechanism, and wheel connecting rods;

[0008] The wheel rim comprises several identical wheel pieces, which are arranged sequentially to form a split wheel rim that can be split and integrated. Each wheel piece has several protruding structures on its outer side, which contact the ground during rolling and increase the frictional traction for obstacle crossing and climbing. The two sides where the wheel pieces connect are the main positions where the wheel pieces can form a climbing effect on the rock surface after opening. Claw structures are provided on the outside of these areas. The length and shape of the claw structures should be designed to prevent interference during the opening process, which could prevent the wheel from opening.

[0009] Each wheel has an assembly structure on its inner side.

[0010] The fixed spokes include flange spokes and grooved spokes. The flange spokes are provided with several connecting claws, and the grooved spokes are provided with spokes of the same number of connecting claws and in corresponding positions. The flange spokes and the grooved spokes are fixedly connected by connecting claws and spokes, forming a hollow space between the flange spokes and the grooved spokes for installing a movable and deformable mechanism. A groove is provided between every two spokes, and a first boss is provided at the far end of the groove's travel.

[0011] The movable deformable mechanism includes a crankshaft assembly, a crankshaft connecting rod, and a sliding module, wherein the number of crankshaft connecting rods and sliding modules is the same as the number of connecting claws; one end of the crankshaft connecting rod is provided with a groove structure, and one end of the sliding module is provided with a second boss, and the end of the crankshaft connecting rod with the groove structure is hinged to the end of the sliding module with the second boss; the other end of the crankshaft connecting rod is hinged to the crankshaft assembly through a flange shaft;

[0012] The flange spokes, the movable deformation mechanism, and the grooved spokes are arranged coaxially together in sequence; the second boss of the sliding module is embedded in the grooved structure of the grooved spoke, and the two form a sliding pair with sliding friction.

[0013] The wheel assembly structure consists of an integral mounting plate and a boss connecting rod. The mounting plate is hinged to the end of the sliding module without the second boss; the boss connecting rod is integrally hinged to the first boss.

[0014] The flange wheel spokes are provided with two sets of flange mounting structures: a first flange and a second flange. The first flange, with a larger radius, is connected to the power output shaft of the moving platform, and the second flange is connected to the drive motor of the movable deformation mechanism.

[0015] The crankshaft assembly comprises a connecting shaft, a double crank, a single crank, a connecting flange, and a flange shaft. The double crank is an integrated two-bar crank with a 120° included angle between the two bars. The connecting shaft, double crank, and single crank are fixed together via the flange shaft and the connecting flange. The connecting shaft contains mounting holes of the same size as the motor shaft. The flange shaft is mounted to the connecting shaft, double crank, and single crank via flanges and screws, and is assembled through corresponding mounting threaded holes on the connecting shaft, double crank, and single crank. The flange shaft has internal threaded holes. The connecting flange is also connected to the connecting shaft, double crank, and single crank via screws in the same manner, and is also connected to the flange shaft via the internal threaded holes of the flange shaft.

[0016] The dimensions of the groove structure of the crankshaft connecting rod are set with different depths according to the axial position of the flange shaft and the crankshaft assembly. This is because the crank connecting rods on the crankshaft structure are arranged sequentially in the axial direction, while the variable sliding module should be on the side plane of the wheel, i.e., the same plane. Therefore, different depths are needed to prevent non-coplanarity caused by different axial positions. On the other hand, since the crankshaft assembly moves at a 180° angle during the variable process, there is interference between the crankshaft connecting rod and the double crank and the single crank. Therefore, grooves of different depths are designed to prevent interference. The size of the groove is determined by the distance from the axial position of the double crank and the single crank where the connecting rod is located to the side plane of the wheel, as well as the thickness of the double crank and the single crank itself, so that each crankshaft connecting rod and the corresponding flange shaft can be hinged.

[0017] The two sides of the wheel pieces that are connected to each other are provided with wheel spikes.

[0018] The outer edge of the claw-like structure is provided with a serrated structure.

[0019] The working process and working principle of this utility model:

[0020] In the initial state of the wheel tread, the sliding module is located at the end of the stroke of the groove structure (close to the center of the groove spoke structure), and the wheel pieces are in a retracted state. The three wheel pieces form a complete circular wheel tread, enabling normal wheel travel. When the moving platform encounters a rock obstacle, the drive motor on the flange spokes drives the crankshaft assembly to rotate. In the crank-slider mechanism, which consists of the crankshaft assembly, crankshaft connecting rod, and sliding module, the sliding module is driven by the motor to slide along the groove structure towards the end of its stroke (away from the center of the groove spoke structure). On the other hand, due to the sliding of the sliding module, in the reverse crank-slider mechanism, which consists of the sliding module, wheel connecting rod, and wheel assembly structure, the wheel pieces will undergo a compound motion of outward rotation and translation. In addition, under the action of the output power, the entire wheel tread also rotates. As long as the wheel pieces slightly open, the wheel pieces receive additional frictional force in the opening direction due to the interaction between the wheel pieces and the ground. The combined force of these two forces drives the deformation mechanism, and the three wheel pieces will undergo the same opening motion, constituting the overall deformation mechanism of the wheel tread. The original round, complete wheel has evolved into a modified wheel with three open, claw-like wheel plates.

[0021] The beneficial effects of this utility model are:

[0022] 1. This utility model has a relatively fast movement speed, uses wheel movement on flat roads, and uses variable-structure wheels when blocked by lunar rocks, which can quickly get out of a stuck situation.

[0023] 2. In the modified configuration method adopted in this utility model, the wheel pads undergo a composite motion of translational sliding and rotational movement, which can maximize the envelope radius of the wheel after modification and effectively improve obstacle-crossing ability.

[0024] 3. This utility model's movable deformation mechanism uses fewer components, has a simple and compact structure, and is easy to process and install. The movement space of the movable deformation mechanism and the movement space of the wheel's slabs are both designed to meet the actual working requirements without causing interference.

[0025] 4. The design of the crankshaft assembly of this utility model enables the drive end of the movable deformable mechanism to achieve a maximum rotation angle of 180° while ensuring structural simplicity; without the crankshaft assembly, the connecting rod and the drive shaft will interfere with each other, reducing the rotation angle of the drive end.

[0026] 5. In a simulation experiment simulating obstacle crossing, this invention demonstrated that the modified wheel design can assist a lunar surface mobile platform in overcoming obstacles. Simulation results show that, compared to a wheeled mobility system, the bionic wheel with climbing and obstacle-crossing legs significantly improves obstacle-crossing capability. Attached Figure Description

[0027] Figure 1This is a three-dimensional schematic diagram of the modified wheel according to an embodiment of the present utility model;

[0028] Figure 2 This is a three-dimensional schematic diagram of the wheel sheet according to an embodiment of the present utility model;

[0029] Figure 3 This is a three-dimensional schematic diagram of the fixed spokes according to an embodiment of the present utility model;

[0030] Figure 4 This is a three-dimensional schematic diagram of the movable and deformable mechanism according to an embodiment of the present utility model;

[0031] Figure 5 This is a perspective view of crankshaft connecting rods with different groove sizes according to an embodiment of the present utility model;

[0032] Figure 6 This is a schematic diagram showing the disassembled crankshaft assembly according to an embodiment of the present utility model;

[0033] Figure 7 This is a schematic diagram of the wheel without structural changes according to an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the wheel deformation model after unfolding according to an embodiment of the present invention;

[0035] Figure 9 This is a simulation diagram of a modified wheel crossing an obstacle, representing an embodiment of this utility model.

[0036] Figure 10 This is a schematic diagram showing the biomimetic comparison of various parts of an embodiment of this utility model.

[0037] Among them: A. Wheel surface B. Fixed spokes C. Movable deformation mechanism C1. Crankshaft assembly 1. Wheel connecting rod 2. Wheel 3. Thrust 41. Claw finger 42. Wheel spike 5. Assembly boss 6. Flange spoke 7. Slide spoke 8. Slide groove 9. Crankshaft connecting rod 10. Sliding module 11. Connecting shaft 12. Double crank 13. Single crank 14. Connecting flange 15. Flange shaft 51. Mounting piece 52. Boss connecting rod integrated 61. Connecting claw 62. First flange 63. Second flange 71. Spoke 81. First boss 91. Groove structure 101. Second boss Detailed Implementation

[0038] Please see Figures 1 to 10 The image shown is an embodiment of this utility model.

[0039] A biomimetic deformable lunar wheel with high obstacle-crossing performance includes a wheel surface A, fixed spokes B, a movable deformable mechanism C, and three wheel-piece connecting rods 1;

[0040] The wheel rim A comprises three identical wheel pieces 2, which are arranged sequentially to form a split wheel rim A that can be split and integrated. Each wheel piece 2 has several protruding structures 3 on its outer side, which contact the ground during rolling and increase the frictional traction for obstacle crossing and climbing. The two sides where the wheel pieces 2 are connected are the main positions where the wheel pieces 2 can form a climbing effect on the surface of the rocks after they are opened. Claw structures 41 are provided on the outside of these positions. The length and shape of the claw structures 41 should be designed to prevent interference during the opening process, which would prevent the wheel pieces from opening. The outer edge of the claw structures 41 is provided with a serrated structure. Wheel spikes 42 are provided on the outer sides of the two sides where the wheel pieces 2 are connected. Each wheel piece 2 has an assembly structure 5 on its inner side.

[0041] The fixed spokes B include flange spokes 6 and grooved spokes 7. The flange spokes 6 are provided with several connecting claws 61, and the grooved spokes 7 are provided with spokes 71 in the same number and corresponding positions as the connecting claws 61. The flange spokes 6 and the grooved spokes 7 are fixedly connected by the connecting claws 61 and the spokes 71, forming a hollow space between the flange spokes 6 and the grooved spokes 7 for installing the movable and deformable mechanism C. A groove 8 is provided between every two spokes 71, and a first boss 81 is provided at the far end of the travel of the groove 8.

[0042] The movable deformable mechanism C includes a crankshaft assembly C1, a crankshaft connecting rod 9, and a sliding module 10, wherein the number of crankshaft connecting rods 9 and sliding modules 10 is the same as the number of connecting claws 61; one end of the crankshaft connecting rod 9 is provided with a groove structure 91, and one end of the sliding module 10 is provided with a second boss 101, and the end of the crankshaft connecting rod 9 with the groove structure 91 is hinged to the end of the sliding module 10 with the second boss 101; the other end of the crankshaft connecting rod 9 is hinged to the crankshaft assembly C1 through a flange shaft 15;

[0043] The flange spokes 6, the movable deformation mechanism C, and the groove spokes 7 are arranged coaxially together in sequence; the second boss 101 of the sliding module 10 is embedded in the groove structure 8 of the groove spokes 7, and the two form a sliding pair with sliding friction.

[0044] The assembly structure 5 of the wheel slab 2 consists of a mounting plate 51 and a boss connecting rod integral 52. The mounting plate 51 is hinged to the end of the sliding module 10 where the second boss 101 is not provided; the boss connecting rod integral 52 is hinged to the first boss 81.

[0045] The flange spoke 6 is provided with two sets of flange mounting structures, namely a first flange 62 and a second flange 63; wherein the first flange 62 with a larger radius is connected to the power output shaft of the moving platform, and the second flange 63 is connected to the drive motor of the movable deformation mechanism C.

[0046] The crankshaft assembly C1 comprises a connecting shaft 11, a double crank 12, a single crank 13, a connecting flange 14, and a flange shaft 15. The double crank 12 is an integrated two-bar crank with an included angle of 120° between the two bars. The connecting shaft 11, double crank 12, and single crank 13 are fixed together via the flange shaft 15 and the connecting flange 14. The connecting shaft 11 has mounting holes of the same size as the motor shaft. The flange shaft 15 is mounted on the connecting shaft 11, double crank 12, and single crank 13 via flanges and screws, and is assembled through corresponding mounting threaded holes on the connecting shaft 11, double crank 12, and single crank 13. The flange shaft 15 has internal threaded holes. The connecting flange 14 is also connected to the connecting shaft 11, double crank 13, and single crank 12 via screws in the same manner, and is also connected to the flange shaft 15 via the internal threaded holes.

[0047] The dimensions of the groove structure 91 of the crankshaft connecting rod 9 are set with different depths according to the distance between the flange shaft 15 and the crankshaft assembly C1, so that each crankshaft connecting rod 9 and the corresponding flange shaft 15 can be hinged.

[0048] The working principle and process of this embodiment:

[0049] In the initial state of wheel tread A, the sliding module 10 is located at the end of the stroke of the groove structure 8 (close to the center of the groove spoke 7 structure), and the wheel piece 2 is in the retracted state. The three wheel pieces 2 form a complete circular wheel tread A, enabling normal wheel travel. When the moving platform encounters a rock obstacle, the drive motor on the flange spoke 6 drives the crankshaft assembly C1 to rotate. In the crank-slider mechanism C, which is composed of the crankshaft assembly C1, crankshaft connecting rod 9, and sliding module 10, the sliding module 10 is driven by the motor to slide along the groove structure 8 towards the end of the stroke (away from the center of the groove spoke 7 structure). On the other hand, due to the sliding of the sliding module 10, in the reverse crank-slider mechanism, which is composed of the assembly structure 5 of the sliding module 10, wheel piece connecting rod 1, and wheel piece 2, the wheel piece 2 will undergo a combined motion of outward rotation and translation. Furthermore, under the action of the output power, the entire wheel surface A is also rotating. As long as the wheel piece 2 slightly opens, under the action of the wheel piece 2 and the ground, the wheel piece 2 receives an additional frictional force in the opening direction. The combined force of the two forces drives the transformation, and the three wheel pieces 2 will undergo the same opening motion, constituting the overall transformation of the wheel surface A. From the initial complete circular wheel, it becomes a transformed wheel with three opening, gripping claw-like wheel pieces 2.

Claims

1. A bionic metamorphic lunar rover wheel with high obstacle crossing performance, characterized in that: It comprises a wheel surface (A), a fixed spoke (B), a movable deformation mechanism (C) and a wheel piece connecting rod (1); The wheel surface (A) comprises a plurality of identical wheel pieces (2), and the plurality of wheel pieces (2) are arranged in series to form a split type wheel surface (A) which can be split and integrated; the outer side of each wheel piece (2) is provided with a plurality of papillary structures (3), and the inner side of each wheel piece (2) is provided with a claw structure (41) on the two side edges connected with each other; the inner side of each wheel piece (2) is provided with an assembly structure (5); The fixed spoke (B) comprises a flange spoke (6) and a sliding groove spoke (7), the flange spoke (6) is provided with a plurality of connecting claws (61), the sliding groove spoke (7) is provided with a plurality of spokes (71) which are the same in number and corresponding in position with the connecting claws (61), the flange spoke (6) and the sliding groove spoke (7) are fixedly connected through the connecting claws (61) and the spokes (71), and a hollow space for installing the movable deformation mechanism (C) is formed between the flange spoke (6) and the sliding groove spoke (7); a sliding groove (8) is arranged between every two spokes (71), and a first boss (81) is arranged at the far end of the sliding groove (8); The movable deformation mechanism (C) comprises a crankshaft assembly (C1), a crankshaft connecting rod (9) and a sliding module (10), wherein the number of the crankshaft connecting rod (9) and the sliding module (10) is the same as that of the connecting claw (61); one end of the crankshaft connecting rod (9) is provided with a groove structure (91), one end of the sliding module (10) is provided with a second boss (101), and the end of the crankshaft connecting rod (9) provided with the groove structure (91) is hingedly connected with the end of the sliding module (10) provided with the second boss (101); the other end of the crankshaft connecting rod (9) is hingedly arranged on the crankshaft assembly (C1) through a flange shaft (15); The flange spoke (6), the movable deformation mechanism (C) and the sliding groove spoke (7) are coaxially arranged in sequence; the second boss (101) of the sliding module (10) is embedded in the sliding groove (8) of the sliding groove spoke (7), and the two form a sliding pair of sliding friction; The assembly structure (5) of the wheel piece (2) is composed of a mounting piece (51) and a boss connecting rod (52), wherein the mounting piece (51) is hingedly connected with the end of the sliding module (10) without the second boss (101); the boss connecting rod (52) is hingedly connected with the first boss (81).

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

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

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

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

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

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

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