A large-load landing buffer walking integrated mechanism and its parallel system

Abstract

The present invention discloses a large-load landing buffer walking integrated mechanism and its parallel system, the integrated mechanism includes: more than three driving pillars, a main buffer, more than two auxiliary buffers and a foot pad; one end of a driving pillar is connected to the lander, and the other end is coaxially docked with one end of the main buffer, and the other end of the main buffer is hinged to the middle of the foot pad; one end of the remaining driving pillars is respectively connected to the lander, and the other end is coaxially docked with one end of more than two auxiliary buffers in a one-to-one correspondence, and the other ends of more than two auxiliary buffers are connected to the side wall of the main buffer; the driving pillar can perform telescopic movement under the drive of the motor; the main buffer and the auxiliary buffer are both used to buffer the landing impact process of the lander. Before the landing impact of the lander, the present invention is in the landing buffer mode, which can achieve soft landing of an extraterrestrial body; after the lander lands safely, it is converted to the active walking mode, thereby providing the lander with walking ability.

Description

Technical Field

[0001] The invention belongs to the technical field of spacecraft landing buffer and walking robots, and in particular relates to a large-load landing buffer walking integrated mechanism and a parallel system thereof. Background Art

[0002] In the space landing exploration mission, the landing buffer mechanism plays a key role in buffering the landing impact and ensuring a stable landing. It faces harsh force and thermal environment conditions such as vacuum, high and low temperature, and large-load landing impact. Therefore, the space landing exploration missions currently implemented at home and abroad have adopted highly reliable and energy-absorbing passive buffer technology. However, the passive buffer technology does not have the ability to actively adjust after landing. Although the existing ground walking robots have active adjustment and walking functions, they generally do not have the ability to withstand large-load landing impacts. The harsh load conditions during the landing impact process will destroy their driving source, and they cannot achieve soft landing on the surface of extraterrestrial bodies through delivery. Based on the above factors, previous landers do not have both landing buffer and mobile walking functions, and can only perform in-situ detection after landing. The inherent potential of the lander, such as large carrying capacity, strong power supply capacity, and large payload capacity, has not been fully explored and utilized. Summary of the invention

[0003] In view of this, the present invention provides a large-load landing buffer and walking integrated mechanism and its parallel system, which have landing buffer and walking modes; before the landing impact of the lander, it is in the landing buffer mode, which can achieve soft landing of extraterrestrial bodies; after the lander lands safely, it is converted into an active walking mode, thereby providing the lander with walking ability.

[0004] The present invention is achieved through the following technical solutions:

[0005] A large-load landing buffer walking integrated mechanism, comprising: more than three driving pillars, a main buffer, more than two auxiliary buffers and a foot pad;

[0006] and the number of driving struts is one more than the number of auxiliary buffers;

[0007] The overall connection relationship is as follows: one end of a driving strut is connected to the lander, and the other end is coaxially docked with one end of the main buffer, and the other end of the main buffer is hinged to the middle part of the foot pad;

[0008] One end of the remaining driving pillars is connected to the lander respectively, and the other end is coaxially docked with one end of two or more auxiliary buffers in a one-to-one correspondence, and the other ends of the two or more auxiliary buffers are connected to the side wall of the main buffer;

[0009] Among them, the driving pillar can perform telescopic movement under the drive of the motor; the main buffer and the auxiliary buffer are both used to buffer the landing impact process of the lander.

[0010] Furthermore, each driving support comprises: an upper joint, a motor, a lead screw, a nut, a driving outer cylinder, a driving inner cylinder and a locking device;

[0011] The inner wall surface of the driving outer cylinder is processed with two limiting grooves along its axial direction;

[0012] One end of the upper joint is connected to the lander, and the other end is coaxially docked with one end of the driving outer tube. The driving inner tube is coaxially sleeved in the driving outer tube and extends out of the other end of the driving outer tube. The driving inner tube and the driving outer tube are slidably matched, and the driving inner tube can perform linear reciprocating motion along the axial direction of the driving outer tube. The end of the driving inner tube extending out of the driving outer tube is coaxially docked with the main buffer or the auxiliary buffer.

[0013] The motor is installed in the upper joint, and the lead screw is coaxially installed in the driving outer cylinder through the bearing seat; the output shaft of the motor is coaxially connected with the lead screw; the nut is sleeved on the outside of the lead screw and is threadedly connected with the lead screw; two guide blocks are provided on the outer circumferential surface of the nut, and the two guide blocks are respectively and one by one stuck in two limiting grooves on the inner wall of the driving outer cylinder, and are respectively slidably matched with the two limiting grooves; the nut is also fixedly connected to the end of the driving inner cylinder located in the driving outer cylinder;

[0014] The locking device is installed on the outer wall surface of the driving outer cylinder and is used to lock the driving inner cylinder.

[0015] Furthermore, the locking device comprises: a locking ring, a locking tongue, a locking spring, a plurality of steel balls, a locking assembly and a retaining ring;

[0016] An annular groove A is machined on the outer wall surface of the driving inner cylinder along its circumference, and the cross section of the annular groove is a trapezoid;

[0017] The lock tongue is an annular structure, and the outer circumferential surface of one end of the lock tongue is provided with a limiting boss A along its circumference, and the end of the lock tongue is coaxially installed between the inner wall surface of the driving outer cylinder and the outer wall surface of the driving inner cylinder, and the lock tongue is fixedly connected to the driving outer cylinder, and its limiting boss A is against the end surface of the driving outer cylinder; a circle of radial through holes distributed along its circumference is processed on the side wall of the other end of the lock tongue, and the position of the circle of radial through holes is opposite to the annular groove A of the driving inner cylinder, and the space formed by each radial through hole and the annular groove A is a steel ball installation groove, and a plurality of the steel balls are respectively installed in a circle of steel ball installation grooves in a one-to-one correspondence; and a retaining ring is fixed to the end of the lock tongue, and the retaining ring is higher than the outer circumferential surface of the lock tongue;

[0018] The inner circumferential surface of the lock ring is processed with an annular groove B along its circumference, the outer circumferential surface of the lock ring is provided with a limiting boss B along its circumference, and the outside of the lock ring is provided with a connecting ear; the lock ring is coaxially sleeved on the outside of the lock tongue, and the lock ring can move along the axial direction of the lock tongue, and the lock ring is axially limited by the limiting boss A of the lock tongue and the retaining ring; the lock spring is sleeved on the outside of the lock ring, the lock spring is in a compressed state, and its two ends are respectively in contact with the limiting boss A of the lock tongue and the limiting boss B of the lock ring;

[0019] Before the lander lands, the lock ring is locked in position under the action of the locking assembly, and the lock ring contacts the limiting boss of the lock tongue. At this time, the inner wall of the lock ring radially constrains the steel ball, pressing the steel ball into the steel ball installation groove, thereby fastening the driving inner cylinder to the driving outer cylinder;

[0020] After the lander lands, the locking assembly unlocks the locking ring, and the locking spring pushes the locking ring to slide until the locking ring contacts the retaining ring. At this time, the annular groove B on the inner circumference of the locking ring is opposite to the position of a circle of steel balls. The steel balls lose the radial constraint of the locking ring, thereby releasing the connection between the driving inner cylinder and the driving outer cylinder, and the two can slide against each other.

[0021] Further, the locking assembly includes: a clamping bolt, a pyrotechnic separation nut and a pyrotechnic support;

[0022] The pyrotechnic support is fixed on the outer wall surface of the driving outer cylinder, the pyrotechnic separation nut is installed on the pyrotechnic support, the clamping bolt and the pyrotechnic separation nut connect the connecting ear of the locking ring and the pyrotechnic support together, and after the pyrotechnic separation nut is detonated, the pyrotechnic separation nut is separated from the clamping bolt, and the limiting of the locking ring is released.

[0023] Furthermore, the main buffer comprises: a main buffer outer cylinder, a buffer honeycomb A, a main buffer inner cylinder, two or more non-return devices and a lower joint;

[0024] The two ends of the main buffer outer tube are end A and end B respectively;

[0025] The end A of the main buffer outer cylinder is coaxially connected to the driving support; the buffer honeycomb A is coaxially installed in the main buffer outer cylinder and is located at the end A of the main buffer outer cylinder;

[0026] The main buffer inner tube is coaxially installed in the main buffer outer tube, and the main buffer inner tube and the main buffer outer tube are in sliding fit, and the main buffer inner tube can move along the axial direction of the main buffer outer tube; and one end of the main buffer inner tube is in contact with the buffer honeycomb A, and the other end of the main buffer inner tube extends out of the end B of the main buffer outer tube, and the end of the main buffer inner tube is connected to the lower joint, and the lower joint is connected to the foot pad;

[0027] Two or more check devices are respectively installed at the end B of the main buffer outer cylinder, which are used to limit the axial movement of the main buffer inner cylinder in one direction, and only allow the main buffer inner cylinder to move in the direction where the buffer honeycomb A is located.

[0028] Furthermore, each non-return device comprises: a friction cam, a pin shaft, a torsion spring and a mounting seat;

[0029] One end of the mounting seat is fixed to the end B of the main damper outer cylinder, and the friction cam is installed on the other end of the mounting seat through a pin shaft, so that the friction cam can rotate around the axis of the pin shaft; the torsion spring is sleeved on the outside of the pin shaft, and the two ends of the torsion spring are respectively connected to the friction cam and the mounting seat. Under the action of the torsion spring, the friction cam is in contact with the outer circumferential surface of the main damper inner cylinder, and the outer circumferential surface of the main damper inner cylinder is processed with a long strip-shaped plane that cooperates with the friction cam.

[0030] Furthermore, the number of the buffer honeycombs A is two, and the two buffer honeycombs A are coaxially installed in parallel in the main buffer outer cylinder, and a honeycomb partition is installed between the two buffer honeycombs A.

[0031] Furthermore, the auxiliary buffer comprises: a tension inner cylinder, a left end cover, an auxiliary buffer outer cylinder, a buffer honeycomb B, a buffer honeycomb C, a right end cover, a pressure inner cylinder, a ball joint, and two or more check devices;

[0032] A partition is provided inside the auxiliary buffer outer cylinder to divide the inner cavity of the auxiliary buffer outer cylinder into two cavities, namely a pressure cavity and a tension cavity;

[0033] The left end cover and the right end cover are respectively installed at the two ends of the auxiliary buffer outer cylinder, and the left end cover is located at the end where the tension cavity is located, and the right end cover is located at the end where the pressure cavity is located;

[0034] One end of the tension inner tube is coaxially connected to the driving strut; the other end of the tension inner tube is provided with an annular boss A, and after the end of the tension inner tube passes through the left end cover, it is coaxially installed in the tension cavity of the auxiliary buffer outer tube; before the lander lands, the annular boss A of the tension inner tube abuts against the partition of the auxiliary buffer outer tube. At this time, the outer wall surface of the tension inner tube, the inner wall surface of the auxiliary buffer outer tube, the left end cover and the annular boss A of the tension inner tube form an annular cavity, and the annular buffer honeycomb B is coaxially installed in the annular cavity;

[0035] One end of the pressure inner tube is connected to the side wall of the main buffer through a ball joint; the other end of the pressure inner tube is provided with an annular boss B, and after the end of the pressure inner tube passes through the right end cover, it is coaxially installed in the pressure cavity of the auxiliary buffer outer tube; before the lander lands, the annular boss B of the pressure inner tube abuts against the right end cover, at this time, the inner wall surface of the auxiliary buffer outer tube, the partition of the auxiliary buffer outer tube and the annular boss B of the pressure inner tube form a cylindrical cavity, and the annular buffer honeycomb C is coaxially installed in the cylindrical cavity;

[0036] The tension inner cylinder and the compression inner cylinder are respectively slidably matched with the left end cover and the right end cover. When the auxiliary buffer is subjected to a tensile load, the tension inner cylinder moves axially in a direction away from the partition, and the annular boss A of the tension inner cylinder squeezes the buffer honeycomb B; when the auxiliary buffer is subjected to a compressive load, the compression inner cylinder moves axially in the direction where the partition is located, and the annular boss B of the compression inner cylinder squeezes the buffer honeycomb C.

[0037] Among them, more than two check devices are evenly installed at both ends of the auxiliary buffer outer cylinder, which are used to limit the axial movement of the tension inner cylinder and the compression inner cylinder in one direction, only allowing the tension inner cylinder to move axially away from the partition and only allowing the compression inner cylinder to move axially in the direction where the partition is located.

[0038] Furthermore, each non-return device comprises: a friction cam, a pin shaft, a torsion spring and a mounting seat;

[0039] One end of the mounting seat is fixed to the end of the auxiliary buffer outer cylinder, and the friction cam is installed on the other end of the mounting seat through a pin shaft, so that the friction cam can rotate around the axis of the pin shaft; the torsion spring is sleeved on the outside of the pin shaft, and the two ends of the torsion spring are respectively connected to the friction cam and the mounting seat. Under the action of the torsion spring, the friction cam is in contact with the outer circumferential surface of the tension inner cylinder or the compression inner cylinder. The outer circumferential surfaces of the tension inner cylinder and the compression inner cylinder are both processed with long strip-shaped planes that cooperate with the friction cam.

[0040] A large-load landing buffer walking parallel system comprises a lander and more than four integrated mechanisms, wherein the integrated mechanism adopts the above-mentioned integrated mechanism, and the more than four integrated mechanisms are respectively installed at the bottom of the lander.

[0041] Beneficial effects:

[0042] (1) The present invention provides a large-load landing buffer walking integrated mechanism and its parallel system, which integrates the landing buffer walking integrated design of motor drive and buffer. On the basis of the smooth landing of the lander, while maintaining the buffering function of the landing buffer mechanism unchanged, the posture adjustment and walking functions of the lander after landing are added. A single device can complete the landing and patrol tasks, realizing the integration of the spacecraft landing buffer mechanism and the walking robot, and converting the landing buffer mechanism into a new type of mechanism with landing buffer and walking functions. The survival and working ability of the lander in complex environments can be improved, the application scenarios of space landing detection missions are expanded, and the detection efficiency of the lander is significantly improved.

[0043] (2) The present invention integrates motor drive on the basis of the buffer energy absorption device composed of the main buffer and the auxiliary buffer, that is, a motor, a screw and a nut are arranged in the driving pillar, so that the driving pillar can be telescopically driven by the motor, thereby improving the reliability of the walking mode, and the screw is coaxially installed in the driving outer cylinder through the bearing seat. The two guide blocks of the nut are respectively and one by one stuck in the two limiting grooves on the inner wall of the driving outer cylinder, and slide with the two limiting grooves respectively. The driving outer cylinder is both a protective shell of the screw and radially limits the nut through the limiting grooves, which has the advantage of lightweight.

[0044] (3) The locking device of the present invention connects and locks the driving inner cylinder and the driving outer cylinder, protecting the motor driving part and the lead screw from damage during the landing impact process, and the mechanism can withstand large load impact; after safe landing, the locking device is unlocked, and the mechanism is converted to active walking mode, so that the lander has the ability to convert between landing buffering and active walking mode. In view of the specific needs of the landing buffering and walking stages, the connection and release of the locking device can be used to specifically implement the functions of each stage in different modes, thereby improving the buffering and walking performance indicators.

[0045] (4) The main buffer of the present invention can absorb energy under pressure. A buffer honeycomb A is provided inside the main buffer. During the landing impact of the lander, the inner tube of the main buffer moves toward the direction of the buffer honeycomb A, squeezing the buffer honeycomb A. The impact energy is absorbed by the plastic deformation of the buffer honeycomb A, thereby achieving the purpose of buffering energy absorption and realizing a soft landing.

[0046] (5) The auxiliary buffer of the present invention can play a buffering and energy-absorbing role under both compression and tension. The auxiliary buffer is provided with a buffer honeycomb B and a buffer honeycomb C. When the auxiliary buffer is subjected to a tensile load, the tension inner tube moves axially in a direction away from the partition, and the annular boss A of the tension inner tube squeezes the buffer honeycomb B, and the buffer honeycomb B deforms to absorb energy. When the auxiliary buffer is subjected to a compressive load, the compression inner tube moves axially in the direction where the partition is located, and the annular boss B of the compression inner tube squeezes the buffer honeycomb C, and the buffer honeycomb C deforms to absorb energy, thereby achieving the purpose of buffering energy absorption and realizing a soft landing.

[0047] (6) The non-return device of the present invention limits the unidirectional sliding of the main buffer inner tube, the auxiliary buffer compression inner tube and the tension inner tube, and can eliminate the sliding freedom of the above three components after the buffer honeycomb is compressed, eliminate the influence of the buffer honeycomb deformation during the walking process after landing, prevent uncontrolled reciprocating sliding, ensure the safety and reliability of the walking process, and solve the problem of mutual restraint and coupling between the landing impact process and the walking process. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 Schematic diagram of the parallel system composed of the landing cushioning walking integrated mechanism

[0049] Figure 2 Schematic diagram of the landing cushioning walking integrated mechanism

[0050] Figure 3 Schematic diagram of the driving pillar

[0051] Figure 4 Schematic diagram of driving outer cylinder

[0052] Figure 5 Schematic diagram of the locking device

[0053] Figure 6 Main buffer diagram

[0054] Figure 7 Schematic diagram of the check device

[0055] Figure 8 Auxiliary buffer schematic diagram

[0056] Among them, 100-driving pillar, 200-main buffer, 300-auxiliary buffer, 400-foot pad, 500-landing device, 101-upper joint, 102-motor, 103-coupling, 104-bearing seat, 105-screw, 106-nut, 107-driving outer cylinder, 108-driving inner cylinder, 110-locking device, 110-locking ring, 1102-locking tongue, 1103-locking spring, 1104-steel ball, 1105-tightening bolt, 1106-pyrotechnic separation nut, 1107 - pyrotechnic support, 1108- retaining ring, 201- main buffer outer cylinder, 202- buffer honeycomb A, 203- honeycomb partition, 204- main buffer inner cylinder, 205- lower joint, 210- non-return device, 2101- friction cam, 2102- pin shaft, 2103- torsion spring, 2104- mounting seat, 301- tension inner cylinder, 302- left end cover, 303- auxiliary buffer outer cylinder, 304- buffer honeycomb B, 305- buffer honeycomb C, 306- right end cover, 307- compression inner cylinder, 308- ball joint. DETAILED DESCRIPTION

[0057] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0058] Embodiment 1:

[0059] This embodiment provides a large load-bearing landing buffer walking parallel system, see the attached Figure 1 , including a lander 500 and four or more integrated mechanisms. Four or six integrated mechanisms can be used. This embodiment uses four integrated mechanisms, and the four integrated mechanisms are respectively installed at the bottom of the lander 500. The four integrated mechanisms can not only realize the soft landing of the lander 500 on the extraterrestrial body, but also realize the walking function of the lander 500 after landing.

[0060] Embodiment 2:

[0061] This embodiment provides a large-load landing buffer walking integrated mechanism based on embodiment 1, see attached Figure 2 , the integrated mechanism includes: more than three driving pillars 100, a main buffer 200, more than two auxiliary buffers 300 and a foot pad 400;

[0062] The number of driving pillars 100 is one more than the number of auxiliary buffers 300. In this embodiment, three driving pillars 100 and two auxiliary buffers 300 are used;

[0063] The overall connection relationship is as follows: one end of a driving pillar 100 is connected to the lander 500, and the other end is coaxially connected to one end of the main buffer 200, and the other end of the main buffer 200 is hinged to the middle of the foot pad 400. The foot pad 400 is a bowl-shaped structure, and the main buffer 200 is connected to the middle of the inner bottom surface of the foot pad 400;

[0064] One end of the other two driving pillars 100 is connected to the lander 500 respectively, and the other end is coaxially docked with one end of the two auxiliary buffers 300 in a one-to-one correspondence, and the other ends of the two auxiliary buffers 300 are connected to the side wall of the main buffer 200;

[0065] The driving strut 100 can perform telescopic movement, that is, the length is variable; the main buffer 200 and the auxiliary buffer 300 are both used to buffer the landing impact process of the lander 500 to achieve a soft landing of the lander 500.

[0066] The connection relationship of each component is as follows:

[0067] See attached Figure 3 ,Each driving pillar 100 includes: an upper joint 101, a motor 102, a coupling 103, a bearing seat 104, a lead screw 105, a screw nut 106, a driving outer cylinder 107, a driving inner cylinder 108 and a locking device 110;

[0068] See attached Figure 4 The driving outer cylinder 107 is a long cylinder with an elliptical cross section, and the inner wall surface of the driving outer cylinder 107 is processed with two limiting grooves along its axial direction, and the two limiting grooves are respectively located at the long axis of the elliptical cross section;

[0069] One end of the upper joint 101 is connected to the lander 500, and the other end is coaxially docked with one end of the driving outer cylinder 107. The driving inner cylinder 108 is coaxially sleeved in the driving outer cylinder 107 and extends out of the other end of the driving outer cylinder 107. The driving inner cylinder 108 and the driving outer cylinder 107 are slidably matched. The driving inner cylinder 108 can perform linear reciprocating motion along the axial direction of the driving outer cylinder 107, that is, extend or retract motion; the end of the driving inner cylinder 108 extending out of the driving outer cylinder 107 is coaxially docked with the main buffer 200 or the auxiliary buffer 300;

[0070] The motor 102 is installed in the upper joint 101, and the screw 105 is coaxially installed in the driving outer cylinder 107 through the bearing seat 104; the output shaft of the motor 102 is coaxially connected with the screw 105 through the coupling 103; the nut 106 is sleeved on the outside of the screw 105 and is threadedly connected with the screw 105; two guide blocks are provided on the outer circumferential surface of the nut 106, and the two guide blocks are respectively and one by one stuck in the two limiting grooves on the inner wall of the driving outer cylinder 107, and respectively slide with the two limiting grooves; the limiting grooves and guide blocks are used to radially limit the nut 106; the nut 106 is also fixedly connected to the end of the driving inner cylinder 108 located in the driving outer cylinder 107; when the motor drives the screw 105 to rotate, the rotation of the screw 105 is converted into a linear motion of the nut 106 on the screw 105, thereby driving the driving inner cylinder 108 to perform a linear reciprocating motion along the axial direction of the driving outer cylinder 107, so as to realize the extension and retraction of the driving pillar 100;

[0071] The locking device 110 is mounted on the outer wall of the driving outer cylinder 107 and is used to lock the driving inner cylinder 108. The locking device 110 includes: a locking ring 1101, a locking tongue 1102, a locking spring 1103, a plurality of steel balls 1104, a locking assembly and a retaining ring 1108.

[0072] An annular groove A is machined on the outer wall surface of the driving inner cylinder 108 along its circumference, and the cross section of the annular groove is a trapezoid;

[0073] The locking tongue 1102 is an annular structure, and the outer circumferential surface of one end of the locking tongue 1102 is provided with a limiting boss A along its circumference, and the end of the locking tongue 1102 is coaxially installed between the inner wall surface of the driving outer cylinder 107 and the outer wall surface of the driving inner cylinder 108, and the locking tongue 1102 is fixedly connected to the driving outer cylinder 107, and its limiting boss A is against the end surface of the driving outer cylinder 107; a circle of radial through holes distributed along its circumference is processed on the side wall of the other end of the locking tongue 1102, and the position of the circle of radial through holes is opposite to the annular groove A of the driving inner cylinder 108, and the space formed by each radial through hole and the annular groove A is a steel ball installation groove, and a plurality of the steel balls 1104 are respectively installed in a circle of steel ball installation grooves in a one-to-one correspondence; and a retaining ring 1108 is fixed to the end of the locking tongue 1102 by screws, and the retaining ring 1108 is higher than the outer circumferential surface of the locking tongue 1102;

[0074] The inner circumferential surface of the lock ring 1101 is processed with an annular groove B along its circumference, the outer circumferential surface of the lock ring 1101 is provided with a limiting boss B along its circumference, and the outside of the lock ring 1101 is provided with a connecting ear; the lock ring 1101 is coaxially sleeved on the outside of the lock tongue 1102, and the lock ring 1101 can move axially along the lock tongue 1102, and the lock ring 1101 is axially limited by the limiting boss A of the lock tongue 1102 and the retaining ring 1108; the lock spring 1103 is sleeved on the outside of the lock ring 1101, the lock spring 1103 is in a compressed state, and its two ends are respectively in contact with the limiting boss A of the lock tongue 1102 and the limiting boss B of the lock ring 1101;

[0075] In the initial state, that is, before the lander 500 lands, the lock ring 1101 is locked in position under the action of the locking assembly, and the lock ring 1101 contacts the limiting boss of the lock tongue 1102. At this time, the inner wall of the lock ring 1101 radially constrains the steel ball 1104, pressing the steel ball 1104 into the steel ball installation groove. Since the lock tongue 1102 is fixedly connected to the driving outer cylinder 107, the driving inner cylinder 108 is tightly connected to the driving outer cylinder 107. In this state, the driving inner cylinder 108 cannot slide relative to the driving outer cylinder 107, and the impact load is transmitted from the driving inner cylinder 108 to the driving outer cylinder 107, which can withstand a large impact load, thereby avoiding damage to the easily damaged screw 105 and the motor 102 under the impact load, resulting in failure of the walking function;

[0076] In the working state, that is, after the lander 500 lands, the locking assembly unlocks the lock ring 1101, and the lock spring 1103 pushes the lock ring 1101 to slide until the lock ring 1101 contacts the retaining ring 1108. At this time, the annular groove B on the inner circumference of the lock ring 1101 is opposite to the position of a circle of steel balls 1104, and the steel balls 1104 lose the radial constraint of the lock ring 1101, thereby releasing the connection between the driving inner cylinder 108 and the driving outer cylinder 107, and the two can slide against each other to realize the extension and retraction of the pillar, thereby converting to the walking mode;

[0077] Among them, see Appendix Figure 5 , the locking assembly includes: a clamping bolt 1105, a pyrotechnic separation nut 1106 and a pyrotechnic support 1107;

[0078] The pyrotechnic support 1107 is fixed on the outer wall surface of the driving outer cylinder 107, and the pyrotechnic separation nut 1106 is installed on the pyrotechnic support 1107. The clamping bolt 1105 and the pyrotechnic separation nut 1106 connect the connecting ear of the lock ring 1101 and the pyrotechnic support 1107 together. When the pyrotechnic separation nut 1106 is detonated, the pyrotechnic separation nut 1106 is separated from the clamping bolt 1105, and the limit of the lock ring 1101 is released;

[0079] See attached Figure 6The main buffer 200 plays a role in absorbing pressure energy, and includes: a main buffer outer tube 201, a buffer honeycomb A202, a honeycomb partition 203, a main buffer inner tube 204, more than two non-return devices 210 and a lower joint 205;

[0080] The two ends of the main buffer outer tube 201 are end A and end B respectively;

[0081] The end A of the main buffer outer cylinder 201 is coaxially connected to the end of the driving inner cylinder 108 extending from the driving outer cylinder 107; two buffer honeycombs A202 are coaxially installed in the main buffer outer cylinder 201 in parallel and located at the end A of the main buffer outer cylinder 201, and a honeycomb partition 203 is installed between the two buffer honeycombs A202. The honeycomb partition 203 is used to make the extrusion force evenly distributed when the buffer honeycombs A202 are subjected to extrusion force;

[0082] The main buffer inner cylinder 204 is coaxially installed in the main buffer outer cylinder 201, and the main buffer inner cylinder 204 and the main buffer outer cylinder 201 are in sliding cooperation, that is, the main buffer inner cylinder 204 can move along the axial direction of the main buffer outer cylinder 201; and one end of the main buffer inner cylinder 204 is in contact with the buffer honeycomb A202, and the other end of the main buffer inner cylinder 204 extends out of the end B of the main buffer outer cylinder 201, and the end of the main buffer inner cylinder 204 is connected to the lower joint 205, and the lower joint 205 is connected to the foot pad 400; during the landing impact process of the lander 500, the main buffer inner cylinder 204 moves in the direction of the buffer honeycomb A202, squeezes the buffer honeycomb A202, and the buffer honeycomb A202 absorbs the impact energy by plastic deformation, so as to achieve the purpose of buffering energy absorption and realizing soft landing;

[0083] Among them, more than two non-return devices 210 are respectively installed at the end B of the main buffer outer cylinder 201, which are used to limit the axial movement of the main buffer inner cylinder 204 in one direction, and only allow the main buffer inner cylinder 204 to move in the direction where the buffer honeycomb A202 is located; see the attached Figure 7 Each non-return device 210 includes: a friction cam 2101, a pin 2102, a torsion spring 2103 and a mounting seat 2104;

[0084] One end of the mounting seat 2104 is fixed to the end B of the main buffer outer cylinder 201, and the friction cam 2101 is mounted on the other end of the mounting seat 2104 through the pin shaft 2102, so that the friction cam 2101 can rotate around the axis of the pin shaft 2102; the torsion spring 2103 is sleeved on the outside of the pin shaft 2102, and the two ends of the torsion spring 2103 are respectively connected to the friction cam 2101 and the mounting seat 2104, and the friction cam 2101 is in contact with the outer circumference of the main buffer inner cylinder 204 under the action of the torsion spring 2103. The outer circumference of the main buffer inner cylinder 204 is processed with a long strip-shaped plane that cooperates with the friction cam 2101; using the friction ratchet principle of the friction cam 2101, the non-return device 210 does not limit the sliding of the main buffer inner cylinder 204 to squeeze the buffer honeycomb A 202, but limits the reverse sliding of the main buffer inner cylinder 204, which can eliminate the buffer honeycomb A The sliding freedom of the main buffer inner cylinder 204 after compression 202 can prevent the main buffer inner cylinder 204 from producing uncontrolled reciprocating sliding during the walking process after landing.

[0085] See attached Figure 8 The auxiliary buffer 300 can play a role in buffering and absorbing energy under compression and tension. The auxiliary buffer 300 includes: a tension inner tube 301, a left end cover 302, an auxiliary buffer outer tube 303, a buffer honeycomb B304, a buffer honeycomb C305, a right end cover 306, a compression inner tube 307, a ball joint 308, and more than two non-return devices 210;

[0086] A partition is provided inside the auxiliary buffer outer cylinder 303 to divide the inner cavity of the auxiliary buffer outer cylinder 303 into two cavities, namely a pressure cavity and a tension cavity;

[0087] The left end cover 302 and the right end cover 306 are respectively installed at the two ends of the auxiliary buffer outer cylinder 303 through threaded connection, and the left end cover 302 is located at the end where the tension cavity is located, and the right end cover 306 is located at the end where the pressure cavity is located;

[0088] One end of the tension inner tube 301 is coaxially connected to the end of the driving inner tube 108 extending out of the driving outer tube 107; the other end of the tension inner tube 301 is provided with an annular boss A, and after the end of the tension inner tube 301 passes through the left end cover 302, it is coaxially installed in the tension cavity of the auxiliary buffer outer tube 303; initially, the annular boss A of the tension inner tube 301 abuts against the partition of the auxiliary buffer outer tube 303, at this time, the outer wall surface of the tension inner tube 301, the inner wall surface of the auxiliary buffer outer tube 303, the left end cover 302 and the annular boss A of the tension inner tube 301 form an annular cavity, and the annular buffer honeycomb B304 is coaxially installed in the annular cavity;

[0089] One end of the pressure inner cylinder 307 is connected to the side wall of the main buffer outer cylinder 201 through a ball joint 308; the other end of the pressure inner cylinder 307 is provided with an annular boss B, and this end of the pressure inner cylinder 307 passes through the right end cover 306 and is coaxially installed in the pressure cavity of the auxiliary buffer outer cylinder 303; initially, the annular boss B of the pressure inner cylinder 307 abuts against the right end cover 306, at this time, the inner wall surface of the auxiliary buffer outer cylinder 303, the partition of the auxiliary buffer outer cylinder 303 and the annular boss B of the pressure inner cylinder 307 form a cylindrical cavity, and the annular buffer honeycomb C305 is coaxially installed in the cylindrical cavity;

[0090] The tension inner cylinder 301 and the compression inner cylinder 307 are slidably matched with the left end cover 302 and the right end cover 306 respectively. When the auxiliary buffer 300 is subjected to a tensile load, the tension inner cylinder 301 moves axially in a direction away from the partition, and the annular boss A of the tension inner cylinder 301 squeezes the buffer honeycomb B304, and the buffer honeycomb B304 deforms to absorb energy; when the auxiliary buffer 300 is subjected to a compressive load, the compression inner cylinder 307 moves axially in the direction where the partition is located, and the annular boss B of the compression inner cylinder 307 squeezes the buffer honeycomb C305, and the buffer honeycomb C305 deforms to absorb energy;

[0091] Among them, more than two non-return devices 210 are evenly installed at both ends of the auxiliary buffer outer cylinder 303, and are used to limit the axial movement of the tension inner cylinder 301 and the pressure inner cylinder 307 in one direction, allowing only the tension inner cylinder 301 to move axially in the direction away from the partition and only allowing the pressure inner cylinder 307 to move axially in the direction where the partition is located.

[0092] Each non-return device 210 has the same structure as the non-return device 210 of the main buffer 200 . Correspondingly, the outer circumferential surfaces of the tension inner cylinder 301 and the compression inner cylinder 307 are processed with long strip-shaped planes that cooperate with the friction cam 2101 .

[0093] Working principle:

[0094] Before the landing impact of the lander 500, the integrated mechanism is in the landing buffer mode, that is, the integrated mechanism can buffer and absorb energy but cannot actively move; according to the configuration characteristics of the mechanism, the main buffer 200 is only subjected to compression, while the auxiliary buffer 300 is subjected to both tension and compression; therefore, the main buffer 200 and the auxiliary buffer 300 can jointly play a buffering and energy-absorbing role when the lander 500 is impacted upon landing; that is, the main buffer inner tube 204 moves in the direction of the buffer honeycomb A202, squeezes the buffer honeycomb A202, and the impact energy is absorbed by the plastic deformation of the buffer honeycomb A202; when the auxiliary buffer 300 is subjected to a tensile load, the tension inner tube 301 moves axially in a direction away from the partition, and the annular boss A of the tension inner tube 301 squeezes the buffer honeycomb B304, and the buffer honeycomb B304 deforms and absorbs energy; when the auxiliary buffer 300 is subjected to a compressive load, the compression inner tube 307 moves axially in the direction of the partition, and the annular boss B of the compression inner tube 307 squeezes the buffer honeycomb C305, and the buffer honeycomb C306 is deformed and absorbs energy. 305 deformation energy absorption;

[0095] Among them, the locking device 110 connects the driving inner cylinder 108 with the driving outer cylinder 107, and the impact load is transmitted to the driving inner cylinder 108, the driving outer cylinder 107, and the upper joint 101 by the buffer, while the screw 105 and the motor 102 are not impacted; during the landing process, the foot pad 400 provides sufficient support area to prevent the lander 500 from excessively sinking.

[0096] After the landing impact of the lander 500, the integrated mechanism is converted to the walking mode, that is, the integrated mechanism can actively walk; due to the deformation caused by the energy absorption of the buffer honeycomb A202, the buffer honeycomb B304 and the buffer honeycomb C305 during the landing impact process, it will not only increase the attitude inclination angle of the lander 500 and worsen the landing attitude, but also cause the main buffer 200 and the auxiliary buffer 300 to have uncontrolled reciprocating sliding. The lander 500 can no longer move further and can only maintain its position in place. Therefore, in the walking mode, the non-return device 210 limits the reciprocating sliding of the main buffer inner tube 204, the tension inner tube 301 and the compression inner tube 307 to prevent uncontrolled reciprocating sliding; the pyrotechnic separation nut 1106 of the locking device 110 is detonated and unlocked, and the connection between the driving inner tube 108 and the driving outer tube 107 is released, and the pillar is extended and retracted under the drive of the motor 102, thereby completing the conversion of the walking mode. Each driving pillar 100 is extended and retracted under the drive of the motor 102, so that the lander 500 can adjust its posture and walk.

[0097] The walking integrated mechanism meets the main functional requirements of the two modes with different configuration angles, and improves the landing cushioning and walking performance respectively. In the landing cushioning mode, the main functional requirements are to ensure that the landing does not tip over and to achieve a soft landing by cushioning and absorbing energy. Therefore, the configuration angle of the landing cushioning and walking integrated mechanism is to ensure stable landing and maximum energy absorption. Generally, the configuration angle is larger to expand the support area of ​​the parallel system at the moment of landing and ensure a stable landing. In the walking mode, the main functional requirements are to improve the ability to climb and overcome obstacles and to walk quickly. The support area of ​​the parallel system only needs to ensure walking safety. Therefore, the configuration angle of the landing cushioning and walking integrated mechanism is relatively small.

[0098] The timing for switching from the landing buffer mode to the walking mode is after the lander 500 lands smoothly and before walking, the mode is switched according to the control command.

[0099] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A large-load landing buffer walking integrated mechanism, characterized in that: include: Three or more driving struts, one main buffer, two or more auxiliary buffers and one foot pad; and the number of driving struts is one more than the number of auxiliary buffers; The overall connection relationship is as follows: one end of a driving strut is connected to the lander, and the other end is coaxially docked with one end of the main buffer, and the other end of the main buffer is hinged to the middle part of the foot pad; One end of the remaining driving pillars is connected to the lander respectively, and the other end is coaxially docked with one end of two or more auxiliary buffers in a one-to-one correspondence, and the other ends of the two or more auxiliary buffers are connected to the side wall of the main buffer; The driving strut can be extended and retracted under the drive of the motor; the main buffer and the auxiliary buffer are used to buffer the landing impact process of the lander; Each driving support comprises: an upper joint, a motor, a lead screw, a nut, a driving outer cylinder, a driving inner cylinder and a locking device; The inner wall surface of the driving outer cylinder is processed with two limiting grooves along its axial direction; One end of the upper joint is connected to the lander, and the other end is coaxially docked with one end of the driving outer tube. The driving inner tube is coaxially sleeved in the driving outer tube and extends out of the other end of the driving outer tube. The driving inner tube and the driving outer tube are slidably matched, and the driving inner tube can perform linear reciprocating motion along the axial direction of the driving outer tube. The end of the driving inner tube extending out of the driving outer tube is coaxially docked with the main buffer or the auxiliary buffer. The motor is installed in the upper joint, and the lead screw is coaxially installed in the driving outer cylinder through the bearing seat; the output shaft of the motor is coaxially connected with the lead screw; the nut is sleeved on the outside of the lead screw and is threadedly connected with the lead screw; two guide blocks are provided on the outer circumferential surface of the nut, and the two guide blocks are respectively and one by one stuck in two limiting grooves on the inner wall of the driving outer cylinder, and are respectively slidably matched with the two limiting grooves; the nut is also fixedly connected to the end of the driving inner cylinder located in the driving outer cylinder; The locking device is installed on the outer wall surface of the driving outer cylinder and is used to lock the driving inner cylinder; The locking device comprises: a locking ring, a locking tongue, a locking spring, a plurality of steel balls, a locking assembly and a retaining ring; An annular groove A is machined on the outer wall surface of the driving inner cylinder along its circumference, and the cross section of the annular groove is a trapezoid; The lock tongue is an annular structure, and the outer circumferential surface of one end of the lock tongue is provided with a limiting boss A along its circumference, and the end of the lock tongue is coaxially installed between the inner wall surface of the driving outer cylinder and the outer wall surface of the driving inner cylinder, and the lock tongue is fixedly connected to the driving outer cylinder, and its limiting boss A is against the end surface of the driving outer cylinder; a circle of radial through holes distributed along its circumference is processed on the side wall of the other end of the lock tongue, and the position of the circle of radial through holes is opposite to the annular groove A of the driving inner cylinder, and the space formed by each radial through hole and the annular groove A is a steel ball installation groove, and a plurality of the steel balls are respectively installed in a circle of steel ball installation grooves in a one-to-one correspondence; and a retaining ring is fixed to the end of the lock tongue, and the retaining ring is higher than the outer circumferential surface of the lock tongue; The inner circumferential surface of the lock ring is processed with an annular groove B along its circumference, the outer circumferential surface of the lock ring is provided with a limiting boss B along its circumference, and the outside of the lock ring is provided with a connecting ear; the lock ring is coaxially sleeved on the outside of the lock tongue, and the lock ring can move along the axial direction of the lock tongue, and the lock ring is axially limited by the limiting boss A of the lock tongue and the retaining ring; the lock spring is sleeved on the outside of the lock ring, the lock spring is in a compressed state, and its two ends are respectively in contact with the limiting boss A of the lock tongue and the limiting boss B of the lock ring; Before the lander lands, the lock ring is locked in position under the action of the locking assembly, and the lock ring contacts the limiting boss of the lock tongue. At this time, the inner wall of the lock ring radially constrains the steel ball, pressing the steel ball into the steel ball installation groove, thereby fastening the driving inner cylinder to the driving outer cylinder; After the lander lands, the locking assembly unlocks the lock ring, and the lock spring pushes the lock ring to slide until the lock ring contacts the retaining ring. At this time, the annular groove B on the inner circumference of the lock ring is opposite to the position of a circle of steel balls, and the steel balls lose the radial constraint of the lock ring, thereby releasing the connection between the driving inner cylinder and the driving outer cylinder, and the two can slide against each other; The main buffer comprises: a main buffer outer cylinder, a buffer honeycomb A, a main buffer inner cylinder, two or more non-return devices and a lower joint; The two ends of the main buffer outer tube are end A and end B respectively; The end A of the main buffer outer cylinder is coaxially connected to the driving support; the buffer honeycomb A is coaxially installed in the main buffer outer cylinder and is located at the end A of the main buffer outer cylinder; The main buffer inner tube is coaxially installed in the main buffer outer tube, and the main buffer inner tube and the main buffer outer tube are in sliding fit, and the main buffer inner tube can move along the axial direction of the main buffer outer tube; and one end of the main buffer inner tube is in contact with the buffer honeycomb A, and the other end of the main buffer inner tube extends out of the end B of the main buffer outer tube, and the end of the main buffer inner tube is connected to the lower joint, and the lower joint is connected to the foot pad; Two or more non-return devices are respectively installed at the end B of the main buffer outer cylinder, which are used to limit the axial movement of the main buffer inner cylinder in one direction, and only allow the main buffer inner cylinder to move in the direction where the buffer honeycomb A is located; The auxiliary buffer comprises: a tension inner cylinder, a left end cover, an auxiliary buffer outer cylinder, a buffer honeycomb B, a buffer honeycomb C, a right end cover, a pressure inner cylinder, a ball joint, and more than two non-return devices; A partition is provided inside the auxiliary buffer outer cylinder to divide the inner cavity of the auxiliary buffer outer cylinder into two cavities, namely a pressure cavity and a tension cavity; The left end cover and the right end cover are respectively installed at the two ends of the auxiliary buffer outer cylinder, and the left end cover is located at the end where the tension cavity is located, and the right end cover is located at the end where the pressure cavity is located; One end of the tension inner tube is coaxially connected to the driving strut; the other end of the tension inner tube is provided with an annular boss A, and after the end of the tension inner tube passes through the left end cover, it is coaxially installed in the tension cavity of the auxiliary buffer outer tube; before the lander lands, the annular boss A of the tension inner tube abuts against the partition of the auxiliary buffer outer tube. At this time, the outer wall surface of the tension inner tube, the inner wall surface of the auxiliary buffer outer tube, the left end cover and the annular boss A of the tension inner tube form an annular cavity, and the annular buffer honeycomb B is coaxially installed in the annular cavity; One end of the pressure inner tube is connected to the side wall of the main buffer through a ball joint; the other end of the pressure inner tube is provided with an annular boss B, and after the end of the pressure inner tube passes through the right end cover, it is coaxially installed in the pressure cavity of the auxiliary buffer outer tube; before the lander lands, the annular boss B of the pressure inner tube abuts against the right end cover, at this time, the inner wall surface of the auxiliary buffer outer tube, the partition of the auxiliary buffer outer tube and the annular boss B of the pressure inner tube form a cylindrical cavity, and the annular buffer honeycomb C is coaxially installed in the cylindrical cavity; The tension inner cylinder and the compression inner cylinder are respectively slidably matched with the left end cover and the right end cover. When the auxiliary buffer is subjected to a tensile load, the tension inner cylinder moves axially in a direction away from the partition, and the annular boss A of the tension inner cylinder squeezes the buffer honeycomb B; when the auxiliary buffer is subjected to a compressive load, the compression inner cylinder moves axially in the direction where the partition is located, and the annular boss B of the compression inner cylinder squeezes the buffer honeycomb C. Among them, more than two check devices are evenly installed at both ends of the auxiliary buffer outer cylinder, which are used to limit the axial movement of the tension inner cylinder and the compression inner cylinder in one direction, only allowing the tension inner cylinder to move axially away from the partition and only allowing the compression inner cylinder to move axially in the direction where the partition is located.

2. A large-load-bearing integrated landing and buffering walking mechanism as claimed in claim 1, characterized in that: The locking assembly comprises: a clamping bolt, a pyrotechnic separation nut and a pyrotechnic support; The pyrotechnic support is fixed on the outer wall surface of the driving outer cylinder, the pyrotechnic separation nut is installed on the pyrotechnic support, the clamping bolt and the pyrotechnic separation nut connect the connecting ear of the locking ring and the pyrotechnic support together, and after the pyrotechnic separation nut is detonated, the pyrotechnic separation nut is separated from the clamping bolt, and the limiting of the locking ring is released.

3. A large load-bearing integrated landing and buffering walking mechanism as claimed in claim 1, characterized in that: Each non-return device in the main buffer includes: a friction cam, a pin shaft, a torsion spring and a mounting seat; One end of the mounting seat is fixed to the end B of the main damper outer cylinder, and the friction cam is installed on the other end of the mounting seat through a pin shaft, so that the friction cam can rotate around the axis of the pin shaft; the torsion spring is sleeved on the outside of the pin shaft, and the two ends of the torsion spring are respectively connected to the friction cam and the mounting seat. Under the action of the torsion spring, the friction cam is in contact with the outer circumferential surface of the main damper inner cylinder, and the outer circumferential surface of the main damper inner cylinder is processed with a long strip-shaped plane that cooperates with the friction cam.

4. A large-load-bearing integrated landing and buffering walking mechanism as claimed in claim 1, characterized in that: There are two buffer honeycombs A, which are coaxially installed in parallel in the main buffer outer cylinder, and a honeycomb partition is installed between the two buffer honeycombs A.

5. A large-load-bearing integrated landing and buffering walking mechanism as claimed in claim 1, characterized in that: Each non-return device in the auxiliary buffer includes: a friction cam, a pin shaft, a torsion spring and a mounting seat; One end of the mounting seat is fixed to the end of the auxiliary buffer outer cylinder, and the friction cam is installed on the other end of the mounting seat through a pin shaft, so that the friction cam can rotate around the axis of the pin shaft; the torsion spring is sleeved on the outside of the pin shaft, and the two ends of the torsion spring are respectively connected to the friction cam and the mounting seat. Under the action of the torsion spring, the friction cam is in contact with the outer circumferential surface of the tension inner cylinder or the compression inner cylinder. The outer circumferential surfaces of the tension inner cylinder and the compression inner cylinder are both processed with long strip-shaped planes that cooperate with the friction cam.

6. A large-load landing buffer walking parallel system, characterized in that: It comprises a lander and four or more integrated mechanisms, wherein the integrated mechanism adopts the integrated mechanism described in any one of claims 1 to 5, and the four or more integrated mechanisms are respectively installed on the bottom of the lander.

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