A driving support and driving walking mechanism with single-source electric drive locking and release

Abstract

The present invention discloses a driving pillar and driving walking mechanism with single-source electric drive locking and release, the driving pillar comprising: a motor, a nut, a lead screw, a driving outer cylinder, a driving inner cylinder, an outer cylinder end cover and a locking unit; the end of the driving outer cylinder is provided with an outer cylinder end cover; the driving inner cylinder is coaxially sleeved in the driving outer cylinder and extends out of the outer cylinder end cover, and the driving inner cylinder and the central mounting hole of the outer cylinder end cover are slidably matched; the lead screw is coaxially installed in the driving outer cylinder; the output shaft of the motor is coaxially connected with the lead screw; the nut is threadedly connected with the lead screw, and the nut is circumferentially limited; the nut is fixedly connected with the driving inner cylinder; when the motor rotates forward, the driving pillar is extended, and when the motor rotates reversely, the driving pillar is contracted; the locking unit is used to lock the folding of the driving pillar. The present invention uses the motor to realize its own folding and locking, unlocking and releasing, and the driving and telescopic functions of the pillar, which can meet the requirements of the small envelope launch space and the mechanical resistance environment, and does not require pyrotechnic clamping measures.

Description

Technical Field

[0001] The present invention belongs to the technical field of spacecraft drive mechanisms, and in particular relates to a single-source electric drive locking and releasing drive strut and a drive walking mechanism. Background Art

[0002] Parallel walking robots have broad application prospects due to their flexibility, strong carrying capacity and strong adaptability to the environment. In the field of space exploration, robots can assist astronauts in completing tasks, or even replace astronauts in completing corresponding tasks. They can significantly reduce the complexity of space systems and greatly reduce the risks of space exploration. They are an important direction for the development of space technology.

[0003] During the launch of a spacecraft, the robot needs to have a smaller retracted envelope and a stronger ability to resist the mechanical environment in the active section. Generally, additional pyrotechnic clamping measures are required. One is to reduce the robot envelope in the launch state, and the other is to reduce the vibration response and protect the motor drive components that are easily damaged. The required pyrotechnic clamping measures must consider the installation feasibility of the layout on the spacecraft and provide a control channel for the entire device. However, the various resources of the spacecraft system are often limited, which is not conducive to giving full play to the payload utility of the spacecraft. Summary of the invention

[0004] In view of this, the present invention provides a single-source electric drive locking and release driving pillar and driving walking mechanism, which utilizes the motor in the driving pillar to realize its own retraction and locking, unlocking and release as well as the pillar driving and retracting functions, which can not only meet the requirements of small envelope launch space and mechanical environment resistance, but also facilitate the spatial layout of the detector, and does not require pyrotechnic compression measures.

[0005] The present invention is achieved through the following technical solutions:

[0006] A single-source electric drive locking and releasing driving support, comprising: a motor, a connecting housing, a bearing seat, a nut, a lead screw, a driving outer cylinder, a driving inner cylinder, an outer cylinder end cover and a locking unit;

[0007] The connecting shell is coaxially connected to one end of the driving outer cylinder, and the other end of the driving outer cylinder is installed with an outer cylinder end cover, and the outer cylinder end cover is processed with a central mounting hole; the driving inner cylinder is coaxially sleeved in the driving outer cylinder and extends out of the outer cylinder end cover, and the driving inner cylinder and the central mounting holes of the outer cylinder end cover are slidably matched;

[0008] The motor is installed in the connecting shell; the screw is coaxially installed in the driving outer cylinder through the bearing seat; the output shaft of the motor is coaxially connected to the screw; the nut is threadedly connected to the screw, and the nut is circumferentially limited by the limiting component A; the nut is fixedly connected to the end of the driving inner cylinder located in the driving outer cylinder; when the motor rotates forward, the driving pillar extends, and when the motor rotates reversely, the driving pillar contracts; the locking unit is used to lock the retraction of the driving pillar.

[0009] Furthermore, the locking unit comprises: a torsion spring, a rotating cylinder, a plurality of disc springs, a rotating clamping ring and a locking ring;

[0010] An annular space is left between the outer circumferential surface of the bearing seat and the inner wall surface of the driving outer cylinder;

[0011] The rotating drum is located in the driving outer drum, and one end of the rotating drum is coaxially sleeved on the outer circumferential surface of the end of the bearing seat, and the rotating drum can rotate circumferentially around the axis of the bearing seat; the torsion spring is located in the annular space between the outer circumferential surface of the bearing seat and the inner wall surface of the driving outer drum, one end of the torsion spring is fixed on the bearing seat, and the other end is fixed on the rotating drum, providing power for the circumferential rotation of the rotating drum; and the rotating drum is axially limited by the limiting component B;

[0012] The locking ring is located between the nut and the bearing seat, and is sleeved on the outside of the lead screw without contacting the lead screw. The locking ring is coaxially fixedly connected to the nut.

[0013] The outer circumferential surface of the locking ring is processed with external splines; the inner circumferential surface of the other end of the rotating drum is fixedly connected with a coaxial rotating clamp ring; the inner circumferential surface of the rotating clamp ring is processed with internal splines, and when the internal splines cooperate with the external splines of the locking ring, the circumferential rotation of the rotating drum can be restricted, but the axial movement of the rotating drum is not restricted;

[0014] Several disc springs are arranged in parallel inside the drum and are mounted on the outside of the lead screw without contacting the lead screw. The disc spring is used to provide a preload force when the drive support is in a retracted state. One end of the disc spring is pressed against the end face of the limiting component B, and the other end is pressed against the end face of the locking ring.

[0015] Furthermore, the limiting component B includes: a limiting ring and a step surface of a bearing seat;

[0016] The limiting ring is located inside the drum and is coaxially fixed to the end surface of the bearing seat;

[0017] The inner circumferential surface of the rotating drum is provided with an annular boss along its circumference, and the two ends of the annular boss on the inner circumferential surface of the rotating drum respectively abut against the step surface of the bearing seat and the limiting ring. The step surface of the bearing seat and the limiting ring axially limit the rotating drum, so that the rotating drum can rotate circumferentially under the action of the torsion spring, but cannot move axially.

[0018] Furthermore, the locking unit also includes a pressure cover, which has a circular ring configuration, is located inside the rotating drum, and is mounted on the outside of the screw without contacting the screw. The pressure cover is coaxially fixed to the end of the disc spring, and the disc spring is squeezed onto the end face of the locking ring through the pressure cover.

[0019] Furthermore, an adjustment hole is reserved on the side wall of the driving outer cylinder, and the rotation angle of the rotating cylinder and the locking ring can be adjusted through the adjustment hole.

[0020] Furthermore, the motor has the ability to maintain a power-off position when the motor is powered off.

[0021] Furthermore, the limiting component A comprises: two limiting grooves along the axial direction processed on the inner wall surface of the driving outer cylinder and two guide blocks provided on the outer circumferential surface of the nut;

[0022] The two guide blocks are respectively and one by one clamped in the two limiting grooves on the inner wall surface of the driving outer cylinder, and are respectively slidably matched with the two limiting grooves.

[0023] Further, the connection housing comprises: an upper joint and a connection cylinder;

[0024] The upper joint and the connecting tube are coaxially connected to form an integrated structure, and the connecting tube is coaxially connected to the driving outer tube;

[0025] The end of the driving inner cylinder extending out of the end cover of the outer cylinder is connected with a lower joint, and the upper joint and the lower joint are both used to realize the connection between the driving support and the external components.

[0026] A single-source electric drive locking and releasing driving walking mechanism, comprising: three or more driving pillars as mentioned above, a main buffer, and two or more auxiliary buffers;

[0027] The number of driving struts is one more than the number of auxiliary buffers;

[0028] One end of a driving strut is connected to the spacecraft, and the other end is coaxially docked with the main buffer;

[0029] One end of the remaining driving pillars is connected to the spacecraft 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 auxiliary buffers are connected to the side wall of the main buffer;

[0030] Both the main buffer and the auxiliary buffer are used to cushion the landing impact process of the spacecraft.

[0031] Beneficial effects:

[0032] (1) The present invention proposes a driving strut with a single-source electric drive locking and release. The single motor driving source in the driving strut realizes the self-folding, locking, unlocking, releasing and retracting functions of the driving strut, which can greatly reduce the folding envelope space of the walking mechanism without occupying additional spacecraft system resources, thereby realizing the optimized design of the walking mechanism.

[0033] (2) The locking unit in the driving pillar of the present invention realizes locking when the driving pillar is retracted. The locking unit uses a disc spring to maintain the preload in the retracted state. After the driving pillar completes the preload application process, the retraction and locking of the driving pillar is achieved by relying on the rotating retaining ring spline and the disc spring preload. The motor no longer needs to provide a preload and does not need to participate in force transmission and load-bearing. The problem that the motor is easily affected by vibration and causes unsafe and reliable locking is solved. The locking unit has strong resistance to mechanical environments and is safe and reliable in the locked state.

[0034] (3) An adjustment hole is reserved on the side wall of the driving outer cylinder of the present invention, through which the rotation angle of the rotating cylinder and the locking ring can be adjusted, thereby adjusting whether the internal spline of the rotating clamp ring is matched with the external spline of the locking ring. At the same time, when the rotating cylinder rotates, the torsion spring is twisted to generate a restoring force that can drive the rotating cylinder to rotate around its own axis.

[0035] (4) The motor of the driving support of the present invention has the ability to maintain power supply after power failure. During the walking process, the power can be cut off according to the task requirements, and the walking mechanism can still maintain a stable configuration without the need for continuous power supply of the detector.

[0036] (5) The present invention provides a driving walking mechanism with single-source electric drive locking and release, which realizes the self-retraction and locking, unlocking and releasing and extension functions of the driving pillar through the motor in the driving pillar, and only utilizes the preload of the disc spring, does not occupy additional spacecraft system resources, and meets the small envelope retraction and locking and mechanical environment resistance requirements of the walking mechanism. The present invention also proposes a workflow of preload application, unloading transfer and unlocking and releasing, and provides the judgment criteria in the process, which can meet the unlocking and releasing requirements under the autonomous control of the probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 The schematic diagram of the driving support of the present invention in the folded and locked state

[0038] Figure 2 A schematic diagram of the locking unit of the present invention

[0039] Figure 3 Schematic diagram of the rotating clamp

[0040] Figure 4 Schematic diagram of locking ring

[0041] Figure 5 Schematic diagram of the angle adjustment hole for driving the outer cylinder

[0042] Figure 6 Schematic diagram of the driving walking mechanism composed of the driving pillars connected in parallel

[0043] Figure 7 Flow chart of the process of applying preload to the drive strut

[0044] Figure 8Unlocking and releasing process flow chart for driving pillar

[0045] Fig. 9 Schematic diagram of the state after unlocking the driving pillar

[0046] Among them, 1-upper joint, 2-motor, 3-connecting cylinder, 4-coupling, 5-torsion spring, 6-bearing seat, 7-rotating cylinder, 8-limiting ring, 9-disc spring, 10-pressure cover, 11-rotating clamping ring, 12-locking ring, 13-nut, 14-screw, 15-driving outer cylinder, 16-driving inner cylinder, 17-outer cylinder end cover, 18-lower joint, 19-adjustment hole, 100-driving pillar, 200-main buffer, 300-auxiliary buffer. DETAILED DESCRIPTION

[0047] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0048] Embodiment 1:

[0049] This embodiment provides a single-source electric drive locking and releasing driving support, see the attached Figure 1 The driving support 100 includes: an upper joint 1, a motor 2, a connecting tube 3, a coupling 4, a bearing seat 6, a nut 13, a lead screw 14, a driving outer tube 15, a driving inner tube 16, an outer tube end cover 17, a lower joint 18 and a locking unit;

[0050] The driving outer cylinder 15 is a long cylinder with an elliptical cross section. The inner wall surface of the driving outer cylinder 15 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;

[0051] The overall connection relationship is as follows:

[0052] The upper joint 1 is coaxially connected to one end of the connecting tube 3 by screws, and the other end of the connecting tube 3 is coaxially connected to one end of the driving outer tube 15, that is, the connecting end surfaces of the connecting tube 3 and the driving outer tube 15 are both provided with flanges, and the connecting tube 3 and the driving outer tube 15 are connected by flanges; the other end of the driving outer tube 15 is installed with an outer tube end cover 17 by screws, and the outer tube end cover 17 is processed with a central mounting hole;

[0053] The driving inner cylinder 16 is coaxially sleeved in the driving outer cylinder 15 and extends out of the outer cylinder end cover 17. The driving inner cylinder 16 and the central mounting hole of the outer cylinder end cover 17 are slidably matched. The driving inner cylinder 16 can perform linear reciprocating motion along the axial direction of the driving outer cylinder 15, that is, extend or retract motion; wherein, the end of the driving inner cylinder 16 extending out of the outer cylinder end cover 17 is connected with a lower joint 18, and both the upper joint 1 and the lower joint 18 are used to realize the connection between the driving support and the external components;

[0054] The motor 2 is installed in the upper joint 1, and the upper joint 1 serves as a protective shell of the motor 2; the lead screw 14 is coaxially installed in the driving outer cylinder 15 through the bearing seat 6; the output shaft of the motor 2 is coaxially connected to the lead screw 14 through the coupling 4; the nut 13 is sleeved on the outside of the lead screw 14 and is threadedly connected to the lead screw 14; two guide blocks are provided on the outer circumferential surface of the nut 13, 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 15, and respectively slide with the two limiting grooves; the limiting grooves and guide blocks are used The nut 13 is limited circumferentially and cannot rotate circumferentially; the nut 13 is also fixedly connected to the end of the driving inner cylinder 16 located in the driving outer cylinder 15; when the motor drives the lead screw 14 to rotate, the rotation of the lead screw 14 is converted into a linear motion of the nut 13 on the lead screw 14, thereby driving the driving inner cylinder 16 to perform a linear reciprocating motion along the axial direction of the driving outer cylinder 15, thereby realizing the extension and retraction of the driving pillar, and when the motor 2 rotates forward, the driving pillar extends, and when the motor 2 rotates reversely, the driving pillar contracts, and the motor 2 has the ability to maintain the power-off position when the motor 2 is powered off.

[0055] The bearing seat 6 is located in the driving outer cylinder 15, and a flange is processed on one end thereof. The bearing seat 6 is fixedly connected to the driving outer cylinder 15 through the flange, that is, the flange of the bearing seat 6 is located between the flange of the connecting cylinder 3 and the flange of the driving outer cylinder 15, and the three flanges are connected as a whole by long bolts; and an annular space is left between the outer circumferential surface of the bearing seat 6 and the inner wall surface of the driving outer cylinder 15;

[0056] The locking unit is used to lock the retraction of the driving support, see the attached Figure 2 The locking unit includes: a torsion spring 5, a rotating drum 7, a limiting ring 8, a plurality of disc springs 9, a pressure cover 10, a rotating clamping ring 11 and a locking ring 12;

[0057] The rotating drum 7 is located in the driving outer drum 15, and one end of the rotating drum 7 is coaxially sleeved on the outer circumferential surface of the end of the bearing seat 6 without a flange, and the rotating drum 7 and the bearing seat 6 rotate relative to each other, that is, the rotating drum 7 can rotate circumferentially around the axis of the bearing seat 6; the torsion spring 5 is located in the annular space between the outer circumferential surface of the bearing seat 6 and the inner wall surface of the driving outer drum 15, and is sleeved on the outside of the bearing seat 6, one end of the torsion spring 5 is fixed on the bearing seat 6, and the other end is fixed on the rotating drum 7, providing power for the circumferential rotation of the rotating drum 7;

[0058] The limiting ring 8 is located inside the rotating drum 7 and is coaxially fixed to the end face of the bearing seat 6 by screws. The inner circumferential surface of the rotating drum 7 is provided with an annular boss along its circumference, and the two ends of the annular boss respectively abut against the step surface of the bearing seat 6 and the limiting ring 8. The step surface of the bearing seat 6 and the limiting ring 8 limit the rotating drum 7 axially, so that the rotating drum 7 can rotate circumferentially under the action of the torsion spring 5, but cannot move axially;

[0059] The locking ring 12 is located between the nut 13 and the bearing seat 6, and is sleeved on the outside of the lead screw 14, and does not contact the lead screw 14. The locking ring 12 is coaxially fixedly connected to the nut 13, and the locking ring 12 can perform synchronous linear motion with the nut 13;

[0060] See attached Figure 4-5 , the outer circumferential surface of the locking ring 12 is processed with external splines; the inner circumferential surface of the other end of the rotating drum 7 is installed with a coaxial rotating clamp ring 11, that is, the rotating clamp ring 11 is provided with an external thread, the rotating drum 7 is provided with an internal thread, and the rotating clamp ring 11 is fixedly connected to the rotating drum 7 through the thread; the inner circumferential surface of the rotating clamp ring 11 is processed with an internal spline, when the internal spline cooperates with the external spline of the locking ring 12, it can limit the circumferential rotation of the rotating drum 7, but does not limit the axial movement of the rotating drum 7; wherein, an adjustment hole 19 is reserved on the side wall of the driving outer cylinder 15, through which the rotation angle of the rotating drum 7 and the locking ring 12 can be adjusted, and then whether the internal spline of the rotating clamp ring 11 cooperates with the external spline of the locking ring 12 can be adjusted;

[0061] A plurality of disc springs 9 are arranged in parallel inside the rotating drum 7, and are mounted on the outside of the lead screw 14 without contacting the lead screw 14. The disc spring 9 is used to provide a preload force when the driving support is in a retracted state. One end of the disc spring 9 is pressed against the end face of the limit ring 8, and the other end is coaxially connected to a pressure cover 10, and is pressed against the end face of the locking ring 12 through the pressure cover 10. The pressure cover 10 is in a circular ring configuration, located inside the rotating drum 7, and is mounted on the outside of the lead screw 14 without contacting the lead screw 14.

[0062] Embodiment 2:

[0063] This embodiment provides a single-source electric drive locking and releasing driving walking mechanism based on the embodiment 1, see the attached Figure 6 , comprising: three or more driving pillars 100 of embodiment 1, a main buffer 200, and two or more auxiliary buffers 300;

[0064] 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;

[0065] One end of a driving strut 100 is connected to the spacecraft, and the other end is coaxially docked with the main buffer 200;

[0066] One end of the other two driving pillars 100 is connected to the spacecraft 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;

[0067] The main buffer 200 and the auxiliary buffer 300 are both used to buffer the landing impact process of the spacecraft to achieve a soft landing of the spacecraft.

[0068] Working principle:

[0069] See attached Figure 7 , when the spacecraft is in the launch state, the walking mechanism needs to be in the retracted state, that is, each driving pillar 100 is in the retracted state. The retracting process of the driving pillar 100 is as follows: the motor 2 reverses to drive the lead screw 14 to rotate so that the nut 13 and the driving inner cylinder 16 are retracted, the length of the driving pillar 100 is shortened, and the locking ring 12 also moves linearly with the nut 13 in the direction of the motor 2. At the initial time (that is, when the torsion spring 5 is not under force), the spline groove of the inner spline of the rotating retaining ring 11 is opposite to the spline position of the outer spline of the locking ring 12 (at the same time, the spline of the inner spline of the rotating retaining ring 11 is opposite to the spline of the outer spline of the locking ring 12). 2, the spline groove of the outer spline of the locking ring 12 is relatively positioned), so that the locking ring 12 can pass through the rotating retaining ring 11 (when the outer spline of the locking ring 12 cooperates with the inner spline of the rotating retaining ring 11, the two can slide relative to each other). After the locking ring 12 passes through the rotating retaining ring 11, the locking ring 12 moves to the inside of the rotating drum 7. Relying on the driving action of the reverse rotation of the motor 2, the nut 13 and the locking ring 12 continue to move in the direction of the motor 2 and squeeze the disc spring 9, so that the disc spring 9 is compressed to generate a pre-tightening force; after the driving support 100 is retracted to the predetermined position according to the number of revolutions of the motor 2, the motor 2 is powered off and maintains the position.

[0070] Subsequently, the rotation angle of the rotating drum 7 and the rotating clamp ring 11 is adjusted by driving the adjustment hole 19 reserved on the outer cylinder 15, so that the spline groove of the inner spline of the rotating clamp ring 11 is relative to the spline groove of the outer spline of the locking ring 12 (at the same time, the spline of the inner spline of the rotating clamp ring 11 is relative to the spline of the outer spline of the locking ring 12), so that the rotating clamp ring 11 can axially limit the locking ring 12 to prevent the locking ring 12 from escaping from the rotating drum 7. In the process of adjusting the rotation angle of the rotating drum 7, the torsion spring 5 is stressed to generate a restoring force. After the rotation angle of the rotating drum 7 is adjusted to the right position, the motor 2 is powered on, the screw screw 14 is driven in the forward direction, the nut 13 generates movement in the extension direction of the driving support 100, and the locking ring 12 also moves with the nut 13 It moves linearly in the direction away from the motor 2 until the locking ring 12 contacts the rotating retaining ring 11 (at this time, the spline groove of the inner spline of the rotating retaining ring 11 is relative to the spline groove of the outer spline of the locking ring 12, and the spline of the inner spline of the rotating retaining ring 11 is relative to the spline of the outer spline of the locking ring 12). After the locking ring 12 contacts the rotating retaining ring 11, since the mating end faces of the locking ring 12 and the rotating retaining ring 11 are both provided with limit grooves, the position of the rotating drum 7 is fixed by the disc spring 9 and the limit grooves of the end face. The motor 2 is stopped after being judged by the number of turns, and the unloading of the motor 2 is completed, and the preload force application power source is transferred from the motor 2 to the disc spring 9, thereby completing the process of retracting the drive pillar 100 and applying the preload force. In this state, the locking ring 12 is mechanically limited by the rotating retaining ring 11 and the disc spring 9. The compressed disc spring 9 has sufficient preload to ensure the structural stability of the driving pillar 100, and the motor 2 does not provide a preload, ensuring safe and reliable locking.

[0071] See attached Figure 8 After the spacecraft lands, the walking mechanism enters the working state, and the driving pillar 100 needs to be unlocked and released. The unlocking and releasing process of the driving pillar 100 is as follows: the motor 2 is started to reverse and further contract the nut 13, driving the locking ring 12 to overcome the preload force of the disc spring 9, and the nut 13 moves linearly in the direction of the motor 2. The end face of the locking ring 12 no longer conflicts with the end face of the rotating clamping ring 11, and the two are separated. The rotating drum 7 is released from the constraint, and the rotating drum 7 and the rotating clamping ring 11 can rotate naturally under the action of the torsion spring 5. After rotating to the initial position (that is, when the torsion spring 5 is not under force), the spline groove of the inner spline of the rotating clamping ring 11 is opposite to the spline position of the outer spline of the locking ring 12 (at the same time, the spline of the inner spline of the rotating clamping ring 11 is opposite to the spline groove of the outer spline of the locking ring 12), providing conditions for the locking ring 12 to be separated from the rotating drum 7;

[0072] Then the motor 2 stops and starts to rotate forward again, the driving pillar 100 is extended in length, driving the locking ring 12 to pass through the rotating clamping ring 11 and disengage from the drum 7, thereby completing the unlocking and release of the driving pillar 100. During this process, the current of the motor 2 can be used to determine whether the unlocking and release process is as expected.

[0073] like Fig. 9 , which is a schematic diagram of the unlocked state of the driving pillar 100. The unlocked driving pillar 100 can smoothly realize the extension and retraction of the driving pillar under the driving action of the motor 2, and drive the walking mechanism to realize the expansion and walking.

[0074] 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 single-source electric drive locking and releasing driving support, characterized in that: include: Motor, connecting housing, bearing seat, nut, lead screw, driving outer cylinder, driving inner cylinder, outer cylinder end cover and locking unit; The connecting shell is coaxially connected to one end of the driving outer cylinder, and the other end of the driving outer cylinder is installed with an outer cylinder end cover, and the outer cylinder end cover is processed with a central mounting hole; the driving inner cylinder is coaxially sleeved in the driving outer cylinder and extends out of the outer cylinder end cover, and the driving inner cylinder and the central mounting holes of the outer cylinder end cover are slidably matched; The motor is installed in the connecting housing; the lead screw is coaxially installed in the driving outer cylinder through the bearing seat; the output shaft of the motor is coaxially connected to the lead screw; the nut is threadedly connected to the lead screw, and the nut is circumferentially limited by the limiting component A; the nut is fixedly connected to the end of the driving inner cylinder located in the driving outer cylinder; when the motor rotates forward, the driving pillar extends, and when the motor rotates reversely, the driving pillar contracts; The locking unit is used to lock the retraction of the driving pillar; The locking unit comprises: a torsion spring, a rotating cylinder, a plurality of disc springs, a rotating clamping ring and a locking ring; An annular space is left between the outer circumferential surface of the bearing seat and the inner wall surface of the driving outer cylinder; The rotating drum is located in the driving outer drum, and one end of the rotating drum is coaxially sleeved on the outer circumferential surface of the end of the bearing seat, and the rotating drum can rotate circumferentially around the axis of the bearing seat; the torsion spring is located in the annular space between the outer circumferential surface of the bearing seat and the inner wall surface of the driving outer drum, one end of the torsion spring is fixed on the bearing seat, and the other end is fixed on the rotating drum, providing power for the circumferential rotation of the rotating drum; and the rotating drum is axially limited by the limiting component B; The locking ring is located between the nut and the bearing seat, and is sleeved on the outside of the lead screw without contacting the lead screw. The locking ring is coaxially fixedly connected to the nut. The outer circumferential surface of the locking ring is processed with external splines; the inner circumferential surface of the other end of the rotating drum is fixedly connected with a coaxial rotating clamp ring; the inner circumferential surface of the rotating clamp ring is processed with internal splines, and when the internal splines cooperate with the external splines of the locking ring, the circumferential rotation of the rotating drum can be restricted, but the axial movement of the rotating drum is not restricted; Several disc springs are arranged in parallel inside the drum and are mounted outside the lead screw without contacting the lead screw. The disc spring is used to provide a preload force when the driving support is in a retracted state. One end of the disc spring is pressed against the end face of the limiting component B, and the other end is pressed against the end face of the locking ring. The limiting component B includes: a limiting ring and a step surface of a bearing seat; The limiting ring is located inside the drum and is coaxially fixed to the end surface of the bearing seat; The inner circumferential surface of the drum is provided with an annular boss along its circumference, and the two ends of the annular boss on the inner circumferential surface of the drum respectively abut against the step surface of the bearing seat and the limiting ring, and the step surface of the bearing seat and the limiting ring limit the axial position of the drum, so that the drum can rotate circumferentially under the action of the torsion spring, but cannot move axially; The limiting component A comprises: two limiting grooves along the axial direction processed on the inner wall surface of the driving outer cylinder and two guide blocks provided on the outer circumferential surface of the nut; The two guide blocks are respectively and one by one clamped in the two limiting grooves on the inner wall surface of the driving outer cylinder, and are respectively slidably matched with the two limiting grooves.

2. A single-source electric drive locking and releasing driving support as claimed in claim 1, characterized in that: The locking unit also includes a pressure cover, which is in a circular ring configuration, located inside the drum and mounted outside the lead screw without contacting the lead screw. The pressure cover is coaxially fixed to the end of the disc spring, and the disc spring is squeezed onto the end face of the locking ring through the pressure cover.

3. A single-source electric drive locking and releasing driving support as claimed in claim 1, characterized in that: An adjustment hole is reserved on the side wall of the driving outer cylinder, through which the rotation angle of the rotating cylinder and the locking ring can be adjusted.

4. A single-source electric drive locking and releasing driving support as claimed in any one of claims 1 to 3, characterized in that: The motor has the ability to maintain the power-off position when the power is off.

5. A single-source electric drive locking and releasing driving support as claimed in any one of claims 1 to 3, characterized in that: The connecting shell comprises: an upper joint and a connecting tube; The upper joint and the connecting tube are coaxially connected to form an integrated structure, and the connecting tube is coaxially connected to the driving outer tube; The end of the driving inner cylinder extending out of the end cover of the outer cylinder is connected with a lower joint, and the upper joint and the lower joint are both used to realize the connection between the driving support and the external components.

6. A single-source electric drive locking and releasing driving walking mechanism, characterized in that: include: Three or more driving struts according to any one of claims 1 to 5, a main buffer, and two or more auxiliary buffers; The number of driving struts is one more than the number of auxiliary buffers; One end of a driving strut is connected to the spacecraft, and the other end is coaxially docked with the main buffer; One end of the remaining driving pillars is connected to the spacecraft 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 auxiliary buffers are connected to the side wall of the main buffer; Both the main buffer and the auxiliary buffer are used to cushion the landing impact process of the spacecraft.

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