A wheel-leg composite mobile robot with repeatable flight

Abstract

The invention discloses a wheel and leg recombination mobile robot capable of flying repeatedly. The robot comprises a main cabin body, a wheel and leg recombination mobile mechanism, a propulsion system, a measuring and controlling device and a load, wherein the main cabin body serves as a main force-bearing structure of the robot and provides mounting interfaces for the wheel and leg recombination mobile mechanism, the propulsion system, a guidance navigation and control system, a power supply, the measuring and controlling device and the load; the wheel and leg recombination mobile mechanism serves as the mobile device of the robot and is mounted on the main cabin body; and the propulsion system is mounted on the main cabin body in a manner that a main thruster is mounted in the centerand auxiliary thrusters are symmetrically mounted on the edge.The wheel and leg recombination mobile robot can realize movement on the surface of an unstructured terrain in the wheel and leg linkage manner, wheel manner or foot manner, can carry out air injection for low-altitude flight, overcomes the limitation of the pure wheel type or foot type robot on the moving capacity and realizes all-terrain passing of the complex terrain on the surface of a planet.

Description

technical field [0001] The invention relates to a technology of a wheel-leg compound mobile robot capable of repeated flight. Background technique [0002] Lunar surface mobile robots for the construction and exploration of future lunar bases need to work for a long time (lunar vehicles should have the ability to work on the lunar surface for at least several months), and the detection range needs to be significantly increased (the driving distance must reach hundreds of kilometers). Most of the terrain on the lunar surface. At the same time, the utilization of resources in situ on the moon requires mobile robots to have high mobility efficiency. The existing lunar / Mars exploration mainly adopts pure wheel type or rocker-suspension type mobile mechanism. The pure wheeled mobile robot has fast moving speed, but weak obstacle surmounting ability; although the rocker-suspension mechanism can make the lunar surface wheeled mobile robot adapt to the terrain passively during the...

AI Technical Summary

Problems solved by technology

[0006] The technical solution of the present invention is to overcome the disadvantages of wheel-type, foot-type and wheel-foot robots in terms of movement efficiency under complex terrain, and propose a wheel-leg composite mobile robot that can repeat flight, and has the ability of repeated jet flight and high-efficiency movement on complex terrain surfaces.

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