A wheel-step compound planetary patrol vehicle and its walking method

A technology of compound planets and patrol cars, applied in the field of planetary exploration, can solve problems such as poor adaptability

CN113022889BActive Publication Date: 2022-07-12HARBIN INST OF TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Patents(China)
Current Assignee / Owner
Publication Date
2022-07-12

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Abstract

The invention provides a wheel-step compound planetary patrol vehicle and a walking method, and relates to the technical field of planetary patrol vehicles. The wheel-step compound planetary patrol vehicle includes a vehicle body, a locking mechanism and a plurality of wheel leg assemblies, and the wheel leg assemblies include wheels The main body, the swing assembly, the steering assembly and the suspension arm; the suspension arm is respectively rotatably connected with the vehicle body and the steering assembly, and the locking mechanism is arranged between the suspension arm and the vehicle body. The swing range of the body locks or unlocks the suspension arm; the steering assembly drives and connects the swing assembly to drive the swing assembly to rotate in the first direction, and the swing assembly is connected to the wheel body at the end away from the steering assembly to drive the wheel body to swing in the second direction , the first direction and the second direction form a first preset angle. The wheel-walking compound planetary patrol vehicle of the present invention can realize leg-type walking through the combination of steering components and swing components, realize wheel-type walking through the rotation of the wheel body, and realize any switching between leg-type walking and wheel-type walking through the locking mechanism .
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Description

technical field

[0001] The invention relates to the technical field of planetary exploration, in particular to a wheel-step compound planetary patrol vehicle and a walking method. Background technique

[0002] For example, the surface of the extraterrestrial planet of Mars is complex and changeable. When the planetary patrol vehicle encounters sunken ground, rough terrain or soft ground during the patrol, it is easy to get stuck. If it cannot get out of trouble in time, it will seriously affect the patrol work and increase the Difficulty of planetary patrol. SUMMARY OF THE INVENTION

[0003] The invention aims to propose a wheel-step compound planetary patrol vehicle to solve the technical problem of poor walking adaptability of the existing planetary patrol vehicle.

[0004] To achieve the above object, the technical scheme of the present invention is as follows:

[0005] A wheel-step compound planetary patrol vehicle includes a vehicle body, a locking mechanism and a p...

Examples

Embodiment Construction

[0030] In order to make the above-mentioned objects, features and advantages of the present invention more clearly understood, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0031] In the description of the present invention, it should be noted that the terms and nouns in the various embodiments, such as "upper", "lower", "front", "rear" and other words indicating orientation, are only for simplifying the description based on the accompanying drawings. The positional relationship does not mean that the referred elements and devices must be operated according to the specific orientation and limited operations, methods, and structures in the description, and such orientation nouns do not limit the present invention.

[0032] A coordinate system XYZ is set in this paper, in which the positive direction of the X axis represents the left direction, the reverse direction of the X axis represents the right...