The invention discloses a wheel-step type Mars rover walking system. A center shaft piece of a vehicle body is horizontally installed in the middle of the interior of a vehicle body shell, the two ends of the center shaft piece penetrate out of the two sides of the vehicle body shell respectively and then are connected with driving steering assemblies respectively, and the two driving steering assemblies are symmetrically arranged on the two sides of the lower portion of the vehicle body shell. Each driving and steering assembly comprises a driving device and a steering device, the driving device is hinged to one end of the center shaft piece, the steering device is fixedly connected to the same end of the center shaft piece connected with the driving device, and the driving device is located behind the steering device. The wheel-step combined type main and auxiliary rocker arm type advancing is adopted, the wheel type and the step type can be flexibly switched in the climbing and obstacle crossing process, the propelling efficiency is greatly improved, the structure is simple, the mass is small, the size is compact, maintenance is convenient, the overall propelling stability is good, the robot is suitable for different landforms, and the better obstacle crossing capacity is achieved.
本发明公开了一种轮‑步式火星车行走系统。车体的中心轴件水平安装在车体外壳内部中间,中心轴件的两端分别穿设出车体外壳的两侧后并再分别连接一个驱动转向组件,两个驱动转向组件对称布置在车体外壳的下部两侧;每个驱动转向组件包括驱动装置和转向装置,驱动装置铰接中心轴件的一端,转向装置固定连接在和驱动装置所连接的中心轴件的同一端,驱动装置位于转向装置的后方。本发明采用轮‑步复合式主副摇臂式行进,在爬坡及越障过程中可灵活切换轮式和步式,极大提高推进效率,结构简单,质量小,尺寸紧凑,便于维修,总体推进的稳定性好,适用于不同地形地貌,拥有更好的障碍物跨越能力。
Wheel-step type Mars rover walking system
一种轮-步式火星车行走系统
2022-07-29
Patent
Electronic Resource
Chinese
Assessing Mars Curiosity Rover Wheel Damage
IEEE | 2022
|Assessing Mars Curiosity Rover Wheel Damage
NTRS | 2022
|Active suspension type planetary rover wheel lifting walking control method and system
European Patent Office | 2020
|