Legged landing inspection robot

Abstract

A legged landing patrol robot, including: a fuselage and multiple sets of mechanical legs arranged around the side wall of the fuselage, the mechanical legs can flexibly adjust the posture and relieve the impact of landing; the mechanical legs include: a parallel mechanism and foot pads, The two are connected by a ball pair; the parallel mechanism includes: a set of supporting chains with kinematic pairs, two sets of supporting chains and a set of transmission branch chains, wherein: the two sets of support chains are respectively located on both sides of the support chains containing kinematic pairs, and the transmission branch chains It is connected with the support chain containing the kinematic pair. The invention adopts a leg structure, which has a stronger obstacle-surmounting ability than a wheel or crawler structure; the legs adopt a parallel structure, which has a stronger load-carrying capacity than a series leg structure; the branch chain of the parallel mechanism above the leg It can realize the three-dimensional space movement of the end points of the legs and feet; the passive ball pair under the legs has the ability to adapt to local terrain; when the whole mechanism is in displacement detection, the fuselage has three-dimensional movement ability and three-dimensional rotation ability, which has a strong ability to adjust posture.

Description

technical field [0001] The invention relates to a technology in the field of walking robots, in particular to a legged landing inspection robot. Background technique [0002] The detection of extraterrestrial objects is an important way for human beings to develop and utilize space resources, and to innovate in space science and technology. The prior art landers with the functions of attitude adjustment and walking have the problems of low walking flexibility and difficulty in withstanding huge impact force during the landing buffer stage. With human beings' requirements for the construction of extraterrestrial bases in the future, it is becoming more and more important to propose a robot that integrates the five functions of folding and unfolding, landing buffer, terrain adaptation, attitude adjustment and walking displacement to expand the detection range of extraterrestrial bodies. more and more urgent. Contents of the invention [0003] Aiming at the above-mentioned ...

AI Technical Summary

Problems solved by technology

The prior art landers with the functions of attitude adjustment and walking have the problems of low walking flexibility and difficulty in withstanding the huge impact force during the landing buffer stage

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