Six-wheel/leg hemispherical outer casing detecting robot

Abstract

The invention relates to a six-wheel/leg half ball shell detecting robot, pertaining to the celestial body detecting facility field, which comprises a body and a moving mechanism connected which the body. The body comprises an upper chassis and a lower chassis, and a vision mechanism positioned at the upper end and a half ball shell; wherein the upper and lower chassis consists of two layers of round tray type structures which are parallelly arranged; the interlayer of the component is provided with an energy module; the circumferential edge between the upper chassis and the lower chassis is evenly provided with six wheel/leg structures. The middle part of the upper chassis is provided with an interlayer supporting component which fixes the vision mechanism which can be lifted. The robot can adapt to special environment through changing the different moving manners of the robot. The invention has the advantages of the foot type walking mechanism of a wheel type steering mechanism; the six groups of wheels/legs can realize a plurality of moving manners so as to realize no-radius turning; the two legs of the detecting robot can realize the function of an operation arm; flexible and reliable operation also can be progressed in special environment through arranging various additional devices.

Description

technical field [0001] The invention belongs to the field of planetary detection equipment, in particular to a six-wheel / leg hemispherical shell detection robot suitable for planetary detection. Background technique [0002] With the continuous rise of research in the field of planetary exploration, there is an increasing demand for robots that can better adapt to complex detection environments in different forms of motion. The detection robot must have good adaptability to complex terrain, and also have the ability to drive stably and at high speed. In the current field, most of the planetary exploration robots are mainly wheeled exploration rovers, such as the Mars rover of Spirit, etc. There are also some exploration robots that move on foot and crawler. They are distinguished according to the form of movement. At present, there are mainly three types of movement. Form, these three all have their own advantages, but also have the shortcoming of a single movement form, th...

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Problems solved by technology

[0003] The technical problem to be solved in the present invention is that in view of the poor adaptability of wheeled detection vehicles to complex landforms in the current known technology, the slow movement speed of existing foot-type walking detection robots, and complicated control, it is necessary to propose As an improved solution, the purpose of the present invention is to provide a six-wheeled / legged hemispherical shell detection robot, which can change its own movement mode according to the actual topography to adapt to complex special environments. It has many advantages such as strong adaptability and fast wheeled driving speed, and realizes complementary advantages

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