Lunar surface mobile robot capable of jumping and movement mode thereof

Abstract

The invention discloses a lunar surface mobile robot capable of jumping. Deformation wheel type walking mechanisms are symmetrically installed on the two sides of a main body structure, a take-off angle adjusting mechanism is fixed in a pneumatic jumping mechanism, the pneumatic jumping mechanism is connected to the main body structure, two motors on the main body structure respectively control two gear transmission systems to drive the wheels to walk and deform, and the robot can cross low obstacles. The steering function is achieved through forward and reverse rotation of the two motors, andpivot steering can be achieved because only one pair of hubs are provided. When a large obstacle is encountered, the take-off angle adjusting mechanism controls a crank connecting rod through an angle adjusting motor, so that an air cylinder rotates to a proper angle, and the jumping direction is changed. Then a gas storage bottle in the pneumatic jumping mechanism inflates the air cylinder, gasin the air cylinder expands to push out a cylinder rod to hit against the lunar surface, and the lunar surface generates counter-acting force on the cylinder rod to enable the robot to jump up to cross obstacles. The lunar surface mobile robot has the functions of high-speed movement, climbing and jumping, can flexibly adapt to the terrain change of the moon, and provides technical reference for implementation of lunar surface inspection and detection tasks.

Description

technical field [0001] The invention belongs to the technical field of lunar surface robot design, in particular to a jumpable lunar surface mobile robot and its movement mode. Background technique [0002] Because the moon contains many resources and unsolved secrets needed by human beings, it has become an important place to carry out deep space exploration activities, and deep space exploration must rely on lunar surface robots. However, due to the complex topography of the lunar surface, a large number of craters and massive lunar rocks are distributed, traditional lunar robots (such as conventional wheeled robots: simple in structure, high in motion speed, but only suitable for flat terrain, low obstacle ability; jumping Type robot: it has good traffic ability in the environment with complex terrain, but the carrying capacity is low and the mobility is poor.) It is easy to encounter obstacles that are difficult to overcome during operation, and the mobility is poor, whi...

AI Technical Summary

Problems solved by technology

[0004] In order to solve the problem of single obstacle surmounting method and insufficient obstacle surmounting ability in the prior art, the present invention provides a jumpable lunar surface mobile robot. Different modes of movement, and has the characteristics of simple structure, small size, light weight, good stability, strong ability to overcome obstacles, etc.

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