The invention discloses a variable-configuration wheel-leg-foot mobile detection robot in the technical field of deep space exploration and space robots. The variable-configuration wheel-leg-foot mobile detection robot comprises four six-degree-of-freedom legs, a damping rocker arm and a damping rocker arm unfolding mechanism, a vehicle body, wheels, feet and a tail end tool. The four six-degree-of-freedom legs are arranged at the four ends of the bottom side of the vehicle body correspondingly. A cavity matched with the damping rocker arm is formed in the bottom side of the vehicle body, the damping rocker arm is connected with the vehicle body through a damping rocker arm unfolding mechanism, and the damping rocker arm unfolding mechanism is used for folding or unfolding the damping rocker arm out of the cavity of the vehicle body; the multi-functional star catalogue mobile detection robot integrates various functions of wheel traveling, leg traveling, walking, tool replacement, cooperative operation, damping suspension and the like, has two suspension modes of a wheel-leg suspension and a quadrilateral suspension, greatly improves the capabilities of moving, obstacle crossing, escaping, cooperative operation, sample collection and the like of the star catalogue mobile detection robot, and enriches the types of star catalogue mobile robots at the same time.
本发明公开了深空探测、空间机器人技术领域的可变构型轮腿足移动探测机器人,包括有四个六自由度腿、阻尼摇臂、阻尼摇臂展开机构)、车体、车轮、足部和末端工具;四个所述六自由度腿分别设置在所述车体底侧四端;所述车体底侧设置有与阻尼摇臂适配的空腔,所述阻尼摇臂与车体之间通过阻尼摇臂展开机构进行连接,所述阻尼摇臂展开机构用于将阻尼摇臂收拢或者展出车体的空腔内部;实现了其将轮行、腿行、步行、工具更换、协同操作、阻尼悬架等多种功能融为一体,具有轮腿悬架和四边形悬架两种悬架模式,极大提高了星表移动探测机器人的移动、越障、脱困、协同操作、样品采集等方面的能力,同时丰富了星表移动机器人种类。
Moving detection robot with variable-configuration wheels, legs and feet
可变构型轮腿足移动探测机器人
2023-01-17
Patent
Electronic Resource
Chinese
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