Wheel-step type Mars rover walking system

Abstract

The invention discloses a wheel-step type Mars rover walking system. A center shaft piece of a vehicle body is horizontally installed in the middle of the interior of a vehicle body shell, the two ends of the center shaft piece penetrate out of the two sides of the vehicle body shell respectively and then are connected with driving steering assemblies respectively, and the two driving steering assemblies are symmetrically arranged on the two sides of the lower portion of the vehicle body shell. Each driving and steering assembly comprises a driving device and a steering device, the driving device is hinged to one end of the center shaft piece, the steering device is fixedly connected to the same end of the center shaft piece connected with the driving device, and the driving device is located behind the steering device. The wheel-step combined type main and auxiliary rocker arm type advancing is adopted, the wheel type and the step type can be flexibly switched in the climbing and obstacle crossing process, the propelling efficiency is greatly improved, the structure is simple, the mass is small, the size is compact, maintenance is convenient, the overall propelling stability is good, the robot is suitable for different landforms, and the better obstacle crossing capacity is achieved.

Description

technical field [0001] The invention relates to a Mars rover walking system, in particular to a wheel-walking Mars rover walking system. Background technique [0002] Mars is the planet most similar to Earth in the solar system, which has reference significance for studying the evolution of Earth. It's also the most likely planet to harbor life other than Earth. Scientists have been exploring whether there is water on Mars, or whether liquid water ever existed. Research on its soil and atmosphere is the basis for future Martian immigration, and determines whether humans can use the in-situ resources on Mars to establish a base. Mars exploration has always been a hot research topic in the aviation community and even the scientific community, and it is also one of the highest manifestations of the national defense force in science and technology. The Martian dust storm makes the surface soil relatively soft, and the wheel-type movement is used, which is prone to wheel slip a...

AI Technical Summary

Problems solved by technology

Without exception, the addition of the gait function makes the mechanism of these planetary vehicles very complicated, and there are problems of large size and heavy weight

Therefore, there is currently a lack of how to optimize the driving structure of the wheel legs, reduce the volume and weight of the mechanism, so as to greatly improve the practicability of the wheel-leg compound moving mechanism

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