阅读说明：本技术 一种可变直径及可变凸耳形态的月球车轮 (A kind of moon wheel of variable-diameter and variable lug form ) 是由 杨扬 王舜 邵文韫 钟宋义 杨毅 彭艳 蒲华燕 谢少荣 罗均 于 2019-08-26 设计创作，主要内容包括：本发明公开了一种可变直径及可变凸耳形态的月球车轮,包括轮毂、轮胎和凸耳,轮毂包括轴套、伸缩杆机构和弧形轮圈,轴套上均匀设置有至少两个伸缩杆机构,伸缩杆机构的外端连接弧形轮圈,弧形轮圈为至少两个且均布于同一圆柱面上,弧形轮圈上设置有轮胎,轮胎内均布有若干个充气腔,每个充气腔内各设置有一气囊,每个气囊的上表面上连接一凸耳,凸耳嵌套于轮胎的外表面上,且凸耳设置有不同的形状。本发明可在月球车工作过程中改变车轮的直径,车轮质量轻,可以减少车轮下沉量；可根据不同的工作环境选择性的改变凸耳数量、凸耳高度和凸耳角度,能够稳定的改变轮胎的直径和凸耳的形态,适应不同的工况条件。(The invention discloses a kind of variable-diameter and the moon wheels of variable lug form, including wheel hub, tire and lug, wheel hub includes axle sleeve, expansion link mechanism and arc wheel rim, at least two expansion link mechanisms are evenly arranged on axle sleeve, the outer end of expansion link mechanism connects arc wheel rim, arc wheel rim is at least two and is distributed on same cylindrical surface, tire is provided on arc wheel rim, several inflatable chambers are evenly equipped in tire, an air bag is each provided in each inflatable chamber, a lug is connected on the upper surface of each air bag, lug is nested on the outer surface of tire, and lug is provided with different shapes.The present invention can change the diameter of wheel in the lunar rover course of work, and wheel mass is light, it is possible to reduce wheel deflection；Can be according to change lug quantity, lug height and the lug angle of different working environment selectivity, the diameter of change tire that can be stable and the form of lug adapt to different working conditions.)

1. the moon wheel of a kind of variable-diameter and variable lug form, it is characterised in that: including wheel hub, tire and lug, institute Stating wheel hub includes axle sleeve, expansion link mechanism and arc wheel rim, and at least two telescopic rod machines are evenly arranged on the axle sleeve Structure, the outer end of the expansion link mechanism connect the arc wheel rim, and the arc wheel rim is at least two and is distributed in same circle On cylinder, it is provided with the tire on the arc wheel rim, several inflatable chambers, each inflation are evenly equipped in the tire It is intracavitary to be each provided with an air bag, a lug is connected on the upper surface of each air bag, the lug is nested in the wheel On the outer surface of tire, and the lug is provided with different shapes.

2. the moon wheel of variable-diameter according to claim 1 and variable lug form, it is characterised in that: the inflation Chamber is located at the inside of the tire, and a top pillar is connected on the upper surface of the air bag, and the top pillar connects the lug, the wheel The recessed portion to match respectively with the lug and the top pillar is provided in tire.

3. the moon wheel of variable-diameter according to claim 1 and variable lug form, it is characterised in that: the tire For rubber tyre, the air bag is silica gel air bag.

4. the moon wheel of variable-diameter according to claim 1 and variable lug form, it is characterised in that: the air bag For rectangular balloon, and a supporting block is provided on the lower surface of the air bag, the height of the supporting block is not more than the inflation The height of chamber.

5. the moon wheel of variable-diameter according to claim 1 and variable lug form, it is characterised in that: each described An aeration aperture is respectively provided on the side wall of inflatable chamber, the aeration aperture is described for wearing the pipeline that the air bag is connect with air pump Solenoid valve is provided on pipeline.

6. the moon wheel of variable-diameter according to claim 5 and variable lug form, it is characterised in that: described flexible Linkage is telescopic cylinder or electric telescopic rod, and the expansion link mechanism and the arc wheel rim are provided with three, described Telescopic cylinder is connect with the air pump, and the electric telescopic rod connects electricity.

7. the moon wheel of variable-diameter according to claim 6 and variable lug form, it is characterised in that: the gas Pump, the solenoid valve and the expansion link mechanism are electrically connected with a controller respectively.

8. the moon wheel of variable-diameter according to claim 1 and variable lug form, it is characterised in that: the lug Including straight lug and oblique lug, the straight lug setting is there are two types of height, opposite gradient that there are two types of the oblique lug settings, Every kind of lug is respectively distributed on the outer surface of the tire, and the adjacent lug is not identical and spacing is equal.

Technical field

The present invention relates to the technical fields of moon wheel, more particularly to a kind of variable-diameter and the moon of variable lug form Ball wheel.

Background technique

With science and technology it is increasingly developed, the mankind are also getting faster the step of space lunar exploration.Lunar soil is very thin Greasy, soft, what is relied in moon collect specimen is unmanned lunar rover to complete work, and traditional lunar rover quality is very big, in work It is easy to skid during making, wheel sinking etc. causes work to fail.In this way, just inevitably bringing many problems. It is found in previous research, wheel diameter, lug quantity height and lug angle etc. have the sinking for inhibiting moon wheel Very big influence.Because diameter can be changed during the motion there is an urgent need to one kind, the moon wheel of lug form solves The Problem of Failure of lunar rover during the work time.

Summary of the invention

It is above-mentioned existing to solve the object of the present invention is to provide a kind of variable-diameter and the moon wheel of variable lug form Technology there are the problem of, make lunar rover at work, adapt to different geographical environments by changing wheel form, avoid occurring Wheel-slip is sunk phenomena such as excessive.

To achieve the above object, the present invention provides following schemes:

The present invention provides a kind of variable-diameter and the moon wheel of variable lug form, including wheel hub, tire and lug, The wheel hub includes axle sleeve, expansion link mechanism and arc wheel rim, and at least two telescopic rods are evenly arranged on the axle sleeve Mechanism, the outer end of the expansion link mechanism connect the arc wheel rim, and the arc wheel rim is at least two and is distributed in same On cylindrical surface, it is provided with the tire on the arc wheel rim, several inflatable chambers are evenly equipped in the tire, it is each described to fill It is each provided with an air bag in air cavity, a lug is connected on the upper surface of each air bag, the lug is nested in described On the outer surface of tire, and the lug is provided with different shapes.

Preferably, the inflatable chamber is located at the inside of the tire, connects a top pillar on the upper surface of the air bag, described Top pillar connects the lug, is provided with the recessed portion to match respectively with the lug and the top pillar in the tire.

Preferably, the tire is rubber tyre, and the air bag is silica gel air bag.

Preferably, the air bag is rectangular balloon, and a supporting block is provided on the lower surface of the air bag, the support The height of block is not more than the height of the inflatable chamber.

Preferably, an aeration aperture is respectively provided on the side wall of each inflatable chamber, the aeration aperture is for wearing the gas The pipeline that capsule is connect with air pump is provided with solenoid valve on the pipeline.

Preferably, the expansion link mechanism is telescopic cylinder or electric telescopic rod, and the expansion link mechanism and the arc There are three shape wheel rim is respectively provided with, the telescopic cylinder is connect with the air pump, and the electric telescopic rod connects electricity.

Preferably, the air pump, the solenoid valve and the expansion link mechanism are electrically connected with a controller respectively.

Preferably, the lug includes straight lug and oblique lug, and there are two types of height, the oblique lugs for the straight lug setting It is arranged there are two types of opposite gradient, every kind of lug is respectively distributed on the outer surface of the tire, and adjacent is described convex Ear is not identical and spacing is equal.

The present invention achieves following technical effect compared with the existing technology:

The present invention can change the diameter of wheel in the lunar rover course of work, and wheel mass is light, it is possible to reduce wheel sinks Amount；Can be according to change lug quantity, lug height and the lug angle of different working environment selectivity, change that can be stable The diameter of tire and the form of lug, adapt to different working conditions.

Detailed description of the invention

It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings Obtain other attached drawings.

Fig. 1 is the structural schematic diagram of the moon wheel of variable-diameter of the present invention and variable lug form；

Fig. 2 is the structural schematic diagram of wheel hub in variable-diameter of the present invention and the moon wheel of variable lug form；

Fig. 3 is that the moon wheel inflatable chamber of variable-diameter of the present invention and variable lug form and the connection structure of lug are illustrated Figure；

Wherein: 1- axle sleeve, 2- tire, the straight lug of 3-, the oblique lug of 4-, 5- arc wheel rim, 6- expansion link mechanism, 7- inflation Chamber, 8- top pillar, 9- supporting block, 10- aeration aperture.

Specific embodiment

Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on Embodiment in the present invention, those of ordinary skill in the art under the premise of not making the creative labor it is obtained it is all its His embodiment, shall fall within the protection scope of the present invention.

The object of the present invention is to provide a kind of variable-diameter and the moon wheels of variable lug form, to solve the prior art There are the problem of, make lunar rover at work, adapt to different geographical environments by changing wheel form, avoid that wheel occurs It skids, sink phenomena such as excessive.

In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real Applying mode, the present invention is described in further detail.

It is as shown in Figure 1 to Figure 3: to present embodiments provide the moon wheel of a kind of variable-diameter and variable lug form, wrap Wheel hub, tire 2 and lug are included, wheel hub includes axle sleeve 1, expansion link mechanism 6 and arc wheel rim 5, is evenly arranged at least on axle sleeve 1 Two expansion link mechanisms 6, the outer end of expansion link mechanism 6 connect arc wheel rim 5, and arc wheel rim 5 is at least two and is distributed in same On one cylindrical surface, it is provided with tire 2 on arc wheel rim 5, is evenly equipped with several inflatable chambers 7 in tire 2, it is each in each inflatable chamber 7 It is provided with an air bag, a lug is connected on the upper surface of each air bag, lug is nested on the outer surface of tire 2, and lug is set It is equipped with different shapes.The central angle of the every arc wheel rim 5 of the present embodiment is 110 °, and arc wheel rim 5 is fixed in tire 2 Side, as telescopic rod is elongated, arc wheel rim 5 withstands 2 inside of tire, so that wheel is held round during variable diameter.

Inflatable chamber 7 is located at the inside of tire 2, and a top pillar 8 is connected on the upper surface of air bag, and top pillar 8 connects lug, tire 2 It is inside provided with the recessed portion to match respectively with lug and top pillar 8, the lug of the present embodiment is slightly above the recessed portion of lug.

Tire 2 is rubber tyre, and air bag is silica gel air bag.Air bag is rectangular balloon, and is provided on the lower surface of air bag One supporting block 9, the height of supporting block 9 are not more than the height of inflatable chamber 7.The airbag structure of the present embodiment also could alternatively be direct In inflatable chamber 7 and lug coupling part, one layer of very thin layer of silica gel is set.When being inflated to inflatable chamber 7 or air bag, silica gel material It can expand, and then the top pillar 8 of junction and lug is driven up to move, realize the effect for changing the protrusion height of lug. The supporting block 9 of one cuboid is set in 7 bottom of inflatable chamber or the lower surface of air bag, 9 top of supporting block is not glued with silica gel material It closes, when inflatable chamber 7 or non-aerating air bag, lug stress in wheel moving process is made not contract inward.The side of each inflatable chamber 7 An aeration aperture 10 is respectively provided on wall, aeration aperture 10 is provided with solenoid valve on pipeline for wearing the pipeline that air bag is connect with air pump.

Expansion link mechanism 6 is telescopic cylinder or electric telescopic rod, and expansion link mechanism 6 and arc wheel rim 5 are provided with three A, telescopic cylinder is connect with air pump, and electric telescopic rod connects electricity.Flexible by control telescopic cylinder controls wheel diameter.Outside Wheel is rubber material, has certain elasticity, the diameter of itself can be changed under the action of telescopic cylinder.

Lug includes straight lug 3 and oblique lug 4, and there are two types of height for the straight setting of lug 3, and there are two types of opposite for the oblique setting of lug 4 Gradient, every kind of lug is respectively distributed on the outer surface of tire 2, and adjacent lug is not identical and spacing is equal.This implementation There are four types of lugs altogether in example: the opposite oblique lug 4 of high straight lug, low straight lug, two kinds of angles, is straight between two oblique lugs 4 Lug 3, high straight lug and low straight lug are arranged at equal intervals.Wherein, low straight lug is as the height of two kinds of oblique lugs 4.

Air pump, solenoid valve and expansion link mechanism 6 are electrically connected with a controller respectively, realize lug form freely convert with The variation of 2 radius of tire.

The specific works mode of the variable-diameter of the present embodiment and the moon wheel of variable lug form is as follows: each work Mode is that solenoid valve on each pipeline is controlled by controller to realize.

The first operating mode: the only inflatable chamber 7 under high straight lug or air bag inflation control high straight lug and cut with lunar soil Shear force increases the mobile pulling force of lunar rover.

Second of operating mode: high directly lug and the inflatable chamber 7 under low straight lug or air bag are inflated simultaneously, low straight lug The straight lug of variable elongation Cheng Yugao is contour outward, and the increase of lug quantity is able to ascend the driving performance of wheel.

The third mode: high directly lug and the inflatable chamber 7 under two kinds of oblique lugs 4 or air bag are inflated simultaneously, and oblique lug 4 is past Outer elongation is changing into contour with high directly lug, and the angle difference of oblique lug 4 can increase the turn performance of wheel.

Apply that a specific example illustrates the principle and implementation of the invention in this specification, above embodiments Explanation be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion in this specification Appearance should not be construed as limiting the invention.