The invention discloses a lunar surface mobile robot capable of jumping. Deformation wheel type walking mechanisms are symmetrically installed on the two sides of a main body structure, a take-off angle adjusting mechanism is fixed in a pneumatic jumping mechanism, the pneumatic jumping mechanism is connected to the main body structure, two motors on the main body structure respectively control two gear transmission systems to drive the wheels to walk and deform, and the robot can cross low obstacles. The steering function is achieved through forward and reverse rotation of the two motors, andpivot steering can be achieved because only one pair of hubs are provided. When a large obstacle is encountered, the take-off angle adjusting mechanism controls a crank connecting rod through an angle adjusting motor, so that an air cylinder rotates to a proper angle, and the jumping direction is changed. Then a gas storage bottle in the pneumatic jumping mechanism inflates the air cylinder, gasin the air cylinder expands to push out a cylinder rod to hit against the lunar surface, and the lunar surface generates counter-acting force on the cylinder rod to enable the robot to jump up to cross obstacles. The lunar surface mobile robot has the functions of high-speed movement, climbing and jumping, can flexibly adapt to the terrain change of the moon, and provides technical reference for implementation of lunar surface inspection and detection tasks.
本发明公开了一种可跳跃的月面移动机器人,变形轮式行走机构对称的安装在主体结构的两侧,起跳角度调节机构固定在气动跳跃机构的内部,气动跳跃机构连接在主体结构上,通过主体结构上的两个电机分别控制两组齿轮传动系统驱动车轮行走和变形,可跨越较为低矮的障碍。利用两个电机的正反转实现转向功能,由于只有一对轮毂可原地转向。当遇到较大障碍物时,起跳角度调节机构通过角度调节电机控制曲柄连杆,使气缸转动至合适的角度,改变跳跃方向。而后气动跳跃机构中的储气瓶给气缸充气,气缸内的气体膨胀将气缸杆推出撞向月面,月面对气缸杆产生反作用力使机器人跳起越障。本发明同时具备高速移动、爬坡和跳跃的功能,可灵活自适应月球地形变化,为月面巡视探测任务的实施提供技术参考。
Lunar surface mobile robot capable of jumping and movement mode thereof
一种可跳跃的月面移动机器人及其运动方式
2020-05-08
Patent
Elektronische Ressource
Chinesisch
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