The invention belongs to the technical field of lunar surface environment detection, and particularly relates to a rolling type lunar surface patrol detection robot. Comprising a shell and a main frame, a central main shaft, a vertical pendulum mechanism, a rolling driving mechanism, patrol camera modules and a main controller module which are arranged in the shell, the central main shaft is rotationally connected with the shell, and the patrol camera modules used for collecting lunar surface environment information are arranged at the two ends of the central main shaft; the main frame is rotatably mounted on the central main shaft, the rolling driving mechanism is arranged between the main frame and the central main shaft and used for driving the main frame to rotate around the central main shaft, the vertical pendulum mechanism is arranged at the bottom of the main frame, and rolling and steering of the shell are achieved through front-back and left-right eccentricity of the vertical pendulum mechanism; and the main controller module is arranged on the main frame and is used for controlling the vertical swinging mechanism, the rolling driving mechanism and the patrol camera module. The invention has the advantages of favorable terrain adaptability, small turning radius and flexibility, and can drill into various karst caves for detection.

    本发明属于月面环境探测技术领域,特别涉及一种滚动式月面巡视探测机器人。包括外壳及设置于外壳内的主框架、中心主轴、垂摆机构、滚动驱动机构、巡视摄像机模块及主控制器模块,其中中心主轴与外壳转动连接,中心主轴的两端设置用于月面环境信息采集的巡视摄像机模块;主框架转动安装在中心主轴上,滚动驱动机构设置于主框架和中心主轴之间,滚动驱动机构用于驱动主框架绕中心主轴转动,垂摆机构设置于主框架的底部,通过垂摆机构前后和左右偏心实现外壳的滚动及转向;主控制器模块设置于主框架上,用于垂摆机构、滚动驱动机构及巡视摄像机模块的控制。本发明具有良好的地形适应性,转弯半径小,机动灵活而且可以钻入各种溶洞中进行探测。


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    Title :

    Rolling type lunar surface inspection and detection robot


    Additional title:

    一种滚动式月面巡视探测机器人


    Contributors:
    LI JUNLIN (author) / SUN QIANG (author) / ZHANG WEI (author) / ZHAO FUCHENG (author)

    Publication date :

    2025-04-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B64G Raumfahrt , COSMONAUTICS



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