A Star Surface Buffer Walk and Sampling Detection System

Abstract

The present application relates to a kind of star table buffer walking and sampling detection system, according to the weight of detector and the gravity environment factor of celestial body, configure the proper number of composite leg arm for detector, realize the repeatable, active buffer landing of detector;Multiple composite leg arms are combined to realize the leg type walking movement of detector on star table, solve the problem of poor terrain adaptability of traditional wheel type moving system obstacle crossing;Composite leg arm realizes multiple form collection and sample transfer such as spade, drilling, impact breaking to star table sample, and simultaneously realizes the detection inversion of the mechanical, thermal, electrical, optical characteristics of star soil in the sampling process, solves the real in-situ detection technology problem of star soil physical property;The present application solves the integrated design and lightweight design technical problem of detector system landing, moving, sampling, detection.

Description

Technical Field

[0001] This invention belongs to the field of deep space exploration technology and relates to a star surface buffer walking and sampling detection system. Background Technology

[0002] Currently, the necessary steps for in-situ detection of extraterrestrial objects include: buffer landing, star surface movement, sample collection, and sample analysis. Buffer landing is generally achieved using an independent landing buffer mechanism, star surface movement is achieved through wheeled movement, sample collection is achieved using a sampling robotic arm and end-effector, and sample analysis is achieved using specialized scientific analysis equipment configured according to the characteristics of the scientific target to be analyzed.

[0003] While the above basic configuration can achieve the scientific goal of in-situ detection of extraterrestrial objects, the design and development of the detector faces challenges such as multiple equipment configurations, high resource consumption, long development cycle, and difficulty in process control. The detector design mode based on independent configuration of buffering, moving, sampling, and detection functions is no longer able to meet the new requirements of deep space exploration missions for lightweight, intelligent, and integrated detectors. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and propose a star surface buffer walking and sampling detection system, which can realize functions such as landing buffer, walking movement, star soil sampling, and in-situ star soil detection. It solves the technical problems of integrated design and lightweight design of the probe system for landing, movement, sampling and detection.

[0005] The solution of this invention is: a star-table buffer walking and sampling detection system, comprising a detector and multiple composite leg arms connected by flanges; the composite leg arms include a hip roll drive assembly, a joint mounting bracket, a hip pitch drive assembly, a knee joint drive assembly, a swing arm assembly, a swing arm hinge, a connecting rod assembly, a knee joint hinge assembly, a thigh assembly, a calf assembly, a buffer foot pad assembly, a sampling unit drive assembly, a sampling transmission assembly, a sampling drill rod assembly, and a composite sampling head;

[0006] The housing of the hip roll drive assembly is fixedly connected to the flange, and the output shaft of the hip roll drive assembly rotates relative to the housing of the hip roll drive assembly.

[0007] The joint mounting bracket is fixedly connected to the output shaft of the hip roll drive assembly. Under the driving action of the hip roll drive assembly, the joint mounting bracket rotates relative to the housing of the hip roll drive assembly.

[0008] The housing of the hip pitch drive assembly is fixedly connected to the joint mounting bracket, and the output shaft of the hip pitch drive assembly rotates relative to the housing of the hip pitch drive assembly.

[0009] The housing of the knee joint drive assembly is fixedly connected to the joint mounting bracket, and the output shaft of the knee joint drive assembly rotates relative to the housing of the knee joint drive assembly.

[0010] One end of the rocker arm assembly is fixedly connected to the output shaft of the knee joint drive assembly, and the other end is hinged to the rocker arm hinge; one end of the rocker arm hinge is hinged to the rocker arm assembly, and the other end is hinged to the connecting rod assembly; one end of the connecting rod assembly is hinged to the rocker arm hinge, and the other end is hinged to the knee joint hinge assembly; one end of the thigh assembly is fixedly connected to the output shaft of the hip pitch drive assembly, and the other end is hinged to the knee joint hinge assembly; the hip pitch drive assembly, knee joint drive assembly, rocker arm assembly, rocker arm hinge, connecting rod assembly, knee joint hinge assembly, and thigh assembly together constitute a parallelogram mechanism;

[0011] One end of the lower leg assembly is fixedly connected to the knee joint hinge assembly, and the other end is slidably connected to the cushioning foot pad assembly;

[0012] The sampling transmission assembly is installed parallel to the axis of the lower leg assembly;

[0013] The sampling unit drive assembly moves back and forth in a straight line along the axis of the lower leg assembly under the guidance of the sampling transmission assembly;

[0014] The sampling drill rod assembly, driven by the sampling unit drive assembly, provides the composite sampling head with the feed and rotation motion required for the drilling process.

[0015] The composite sampling head is used to collect and transfer samples in the space accessible by the composite leg arm through shoveling, planing, digging, drilling, and impact methods.

[0016] Furthermore, when the hip pitch drive assembly is working and the knee joint drive assembly is not working, the parallelogram mechanism configuration remains unchanged, and the whole rotates with the output shaft of the hip pitch drive assembly; when the knee joint drive assembly is working and the hip pitch drive assembly is not working, the knee joint hinge assembly rotates around the hinge axis between the knee joint hinge assembly and the thigh assembly.

[0017] Furthermore, the system also includes a buffer spring damping assembly, one end of which is connected to the hinge axis of the "link assembly and knee joint hinge assembly", and the other end is connected to the thigh assembly.

[0018] Furthermore, the system also includes a grounding switch assembly, which includes a positive switch terminal, a negative switch terminal, and an isolation spring;

[0019] The positive terminal of the switch is fixedly connected to the knee joint hinge assembly, and the negative terminal of the switch is fixedly connected to the cushioning foot pad assembly. An isolation spring is sleeved on the cushioning foot pad assembly. When the cushioning foot pad assembly is not in contact with the ground, the positive and negative terminals of the switch are disconnected under the action of the isolation spring. When the cushioning foot pad assembly is in contact with the ground, the isolation spring is compressed, the positive and negative terminals of the switch are connected, and a ground contact signal is emitted.

[0020] Furthermore, the sampling unit driving component consists of a linear driving component and a rotary driving component;

[0021] The housing of the linear drive assembly is fixedly connected to the lower leg assembly, and the motion slider of the linear drive assembly is used to make linear motion along the axial direction of the lower leg assembly;

[0022] The housing of the rotary drive assembly is fixedly connected to the motion slider of the linear drive assembly. When the linear drive assembly is working, the motion slider of the linear drive assembly moves back and forth in a linear motion along the axis of the lower leg assembly.

[0023] The sampling drill rod assembly is connected to the output shaft of the rotary drive assembly. Under the action of the linear drive assembly and the rotary drive assembly, it realizes reciprocating linear motion along the axis of the lower leg assembly and rotary motion around the output shaft axis of the rotary drive assembly.

[0024] Furthermore, the system also includes a property sensor A, which is fixedly connected to the housing of the linear drive assembly of the sampling unit drive assembly;

[0025] The physical property sensor A is used for visible light imaging of the target and actively emits infrared lasers in a specific spectral band to achieve in-situ spectral analysis and detection of the target.

[0026] Furthermore, the system also includes a physical property sensor C, which is fixed to the sampling drill rod assembly using a sputtering process, and an insulating coating is provided between the physical property sensor C and the sampling drill rod assembly; the physical property sensor C is used to measure the force information of the soil during the sampling process.

[0027] Furthermore, the composite sampling head adopts a semi-conical shape design, with a cutting edge and a chip removal spiral groove designed externally on the semi-conical body, and a groove provided on the chip removal spiral groove;

[0028] The inner side of the hemivertebra is a debris-bearing cavity. Under the combined action of the linear drive component and the rotary drive component of the hip roll drive component, hip pitch drive component, knee joint drive component and sampling unit drive component, the composite sampling head can achieve sample collection and transfer in the reachable space of the composite leg arm in the form of shoveling, planing, digging, drilling and impacting.

[0029] Furthermore, the system also includes a property sensor B, which is fixed in the groove of the chip removal spiral groove of the composite sampling head;

[0030] A heat insulation layer and an insulating layer are provided between the physical property sensor B and the composite sampling head. The physical property sensor B is used to measure the thermoelectric information of the soil in situ, including thermal conductivity and dielectric constant.

[0031] Furthermore, during the probe's cushioned landing, the composite leg arm is in force control mode: when the ground contact switch component has a switching signal, it indicates that the cushioning foot pad component of the composite leg arm has touched the surface of the celestial body. Under the action of the contact force, the composite leg arm begins to drive the hip roll drive component, hip pitch drive component, and knee joint drive component to perform counter-drive motion, and drives the cushioning spring damping component to perform damped stretching motion, thereby achieving a cushioned landing of the probe; through the coordinated control of the motion of multiple composite leg arms, the attitude stability of the probe during the landing process is achieved.

[0032] The advantages of this invention compared to the prior art are:

[0033] (1) Based on the factors of the probe weight and the gravitational environment of the star, this invention can achieve repeatable and active buffer landing of the probe by configuring an appropriate number of composite legs, thus solving the technical problem of limited landing times of traditional passive buffer landing mechanisms.

[0034] (2) The multiple composite leg-arm combinations in this invention can enable the probe to walk on the star surface, solving the technical problems of poor obstacle crossing and terrain adaptability of traditional wheeled mobile systems.

[0035] (3) The composite leg arm in this invention can realize the collection and transfer of samples in multiple forms such as digging, drilling, and impact crushing of star surface samples, and can simultaneously realize the detection and inversion of the mechanical, thermal, electrical and optical properties of star soil during the sampling process, thus solving the problem of true in-situ detection technology of star soil properties.

[0036] (4) The composite leg arm in this invention realizes the combined application of landing buffer, walking movement and sampling detection functions, solves the integrated design and lightweight design technology problems of landing, moving, sampling and detection of the probe system, and has obvious beneficial effects on the design of deep space probe system. Attached Figure Description

[0037] Figure 1 This is a structural diagram of the composite leg and arm assembly according to an embodiment of the present invention;

[0038] Figure 2 This is a schematic diagram of the landing buffer and walking movement modes according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the sample collection and in-situ analysis mode in an embodiment of the present invention.

[0040] The components are: 1-Mounting flange; 2-Hip roll drive assembly; 3-Joint mounting bracket; 4-Hip pitch drive assembly; 5-Knee joint drive assembly; 6-Swing arm assembly; 7-Swing arm hinge; 8-Linkage assembly; 9-Knee joint hinge assembly; 10-Thigh assembly; 11-Buffer spring damping assembly; 12-Lower leg assembly; 13-Ground contact switch assembly; 14-Buffer foot pad assembly; 15-Sampling unit drive assembly; 16-Physical property sensor A (spectral); 17-Sampling transmission assembly; 18-Sampling drill rod assembly; 19-Physical property sensor C (force sensitive unit); 20-Composite sampling head; 21-Physical property sensor B (thermoelectric). Detailed Implementation

[0041] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0042] This invention proposes a satellite surface buffer walking and sampling detection system, which includes a detector and multiple composite legs installed on the outside of the detector, and can realize functions such as landing buffer, walking movement, satellite soil sampling, and satellite soil in-situ detection.

[0043] Example 1

[0044] When designing a detector, the first step is to consider factors such as the overall weight of the detector, the gravitational acceleration of the target satellite, and the detector's attitude and orbit control capabilities to determine the appropriate number of composite legs and arms. This embodiment uses a detector with four composite legs and arms, installed at the same height on the outer periphery of the detector.

[0045] like Figure 1 As shown, the composite leg arm consists of a mounting flange 1, a hip roll drive assembly 2, a joint mounting bracket 3, a hip pitch drive assembly 4, a knee joint drive assembly 5, a swing arm assembly 6, a swing arm hinge 7, a connecting rod assembly 8, a knee joint hinge assembly 9, a thigh assembly 10, a buffer spring damping assembly 11, a calf assembly 12, a ground contact switch assembly 13, a buffer foot pad assembly 14, a sampling unit drive assembly 15, a physical property sensor A16, a sampling transmission assembly 17, a sampling drill rod assembly 18, a physical property sensor C19, a composite sampling head 20, and a physical property sensor B21.

[0046] Mounting flange 1 is used to achieve a fixed connection between the composite leg arm and the detector, and to provide an installation interface for the composite leg arm;

[0047] The housing of the hip roll drive assembly 2 is fixedly connected to the mounting flange 1, and the output shaft of the hip roll drive assembly 2 can rotate relative to the housing of the hip roll drive assembly 2.

[0048] The joint mounting bracket 3 is fixedly connected to the output shaft of the hip roll drive assembly 2. Under the driving action of the hip roll drive assembly 2, the joint mounting bracket 3 can rotate relative to the housing or mounting flange 1 of the hip roll drive assembly 2.

[0049] The housing of the hip pitch drive assembly 4 is fixedly connected to the joint mounting bracket 3, and the output shaft of the hip pitch drive assembly 4 can rotate relative to the housing of the hip pitch drive assembly 4.

[0050] The housing of the knee joint drive assembly 5 is fixedly connected to the joint mounting bracket 3, and the output shaft of the knee joint drive assembly 5 can rotate relative to the housing of the knee joint drive assembly 5.

[0051] One end of the swing arm assembly 6 is fixedly connected to the output shaft of the knee joint drive assembly 5, and the other end is hinged to the swing arm hinge 7; one end of the swing arm hinge 7 is hinged to the swing arm assembly 6, and the other end is hinged to the connecting rod assembly 8; one end of the connecting rod assembly 8 is hinged to the swing arm hinge 7, and the other end is hinged to the knee joint hinge assembly 9; one end of the thigh assembly 10 is fixedly connected to the output shaft of the hip pitch drive assembly 4, and the other end is hinged to the knee joint hinge assembly 9.

[0052] The hip pitch drive assembly 4, knee joint drive assembly 5, swing arm assembly 6, swing arm hinge 7, connecting rod assembly 8, knee joint hinge assembly 9, and thigh assembly 10 together constitute a parallelogram mechanism. When the hip pitch drive assembly 4 is working and the knee joint drive assembly 5 is not working, the parallelogram mechanism remains unchanged, and the whole rotates with the output shaft of the hip pitch drive assembly 4. When the knee joint drive assembly 5 is working and the hip pitch drive assembly 4 is not working, the knee joint hinge assembly 9 rotates around the hinge axis between the knee joint hinge assembly 9 and the thigh assembly 10. The parallelogram mechanism enables the hip pitch drive assembly 4 and the knee joint drive assembly 5 to be positioned at the rear, which facilitates thermal control in the application of the composite leg and arm space.

[0053] One end of the buffer spring damping assembly 11 is connected to the hinge axis of the "link assembly 8 and knee joint hinge assembly 9", and the other end is connected to the structure of the thigh assembly 10.

[0054] One end of the lower leg assembly 12 is fixedly connected to the knee joint hinge assembly 9, and the other end is slidably connected to the cushioning foot pad assembly 14; during landing or walking, the cushioning foot pad assembly 14 can make a small range of linear movements along the axis of the knee joint hinge assembly 9.

[0055] The ground contact switch assembly 13 consists of a positive switch, a negative switch, and an isolation spring. The positive switch is fixedly connected to the knee joint hinge assembly 9, and the negative switch is fixedly connected to the cushioning foot pad assembly 14. The isolation spring is sleeved on the cushioning foot pad assembly 14. When the cushioning foot pad assembly 14 is not in contact with the ground, the positive and negative switches are disconnected under the action of the isolation spring. When the cushioning foot pad assembly 14 is in contact with the ground, the isolation spring is compressed, the positive and negative switches are connected, and a ground contact signal is emitted.

[0056] The sampling unit drive assembly 15 consists of a linear drive assembly and a rotary drive assembly; the housing of the linear drive assembly is fixedly connected to the lower leg assembly 12, and the motion slider of the linear drive assembly is used to make linear motion along the axial direction of the lower leg assembly 12; the housing of the rotary drive assembly is fixedly connected to the motion slider of the linear drive assembly, and when the linear drive assembly is working, it can make reciprocating linear motion along the axial direction of the lower leg assembly 12 with the motion slider of the linear drive assembly.

[0057] The sampling transmission assembly 17 can be a lead screw and nut pair, which is installed in parallel along the axis of the lower leg assembly 12 to ensure that the sampling unit drive assembly 15 moves linearly along the axis of the lower leg assembly 12.

[0058] The physical property sensor A16 is fixedly connected to the linear drive assembly housing of the sampling unit drive assembly 15 through structural components; the physical property sensor A16 can realize visible light imaging of the target; the physical property sensor A16 can actively emit infrared laser of a specific spectral band to realize in-situ spectral analysis and detection of the target.

[0059] One end of the sampling drill rod assembly 18 is connected to the output shaft of the rotary drive assembly of the sampling unit drive assembly 15. Under the action of the linear drive assembly and the rotary drive assembly of the sampling unit drive assembly 15, it can realize reciprocating linear motion along the axis of the leg assembly 12 and rotary motion around the output shaft axis of the rotary drive assembly; providing the feed motion and rotary motion required for the drilling process of the composite sampling head 20.

[0060] The physical property sensor C19 is fixed on the sampling drill rod assembly 18 by sputtering process. An insulating coating is designed between the physical property sensor C19 and the sampling drill rod assembly 18. The surface of the physical property sensor C19 is covered with an insulating and wear-resistant coating. The physical property sensor C19 is used to measure the force information of the soil during the sampling process and can wirelessly transmit the original measurement signal to the composite leg arm controller.

[0061] The composite sampling head 20 is fixedly connected to the sampling drill rod assembly 18. The composite sampling head 20 adopts a semi-conical shape design, with a cutting edge and chip removal spiral groove designed externally on the semi-conical body. A groove for fixing and installing the material property sensor B21 is designed at a specific position on the chip removal spiral groove. The inner side of the semi-conical body is a chip-containing cavity. Under the combined action of the linear drive assembly and rotary drive assembly of the hip roll drive assembly 2, the hip pitch drive assembly 4, the knee joint drive assembly 5, and the sampling unit drive assembly 15, the composite sampling head 20 can realize sample collection and sample transfer in the reachable space of the composite leg arm in the form of shoveling, planing, digging, drilling, and impacting.

[0062] The physical property sensor B21 is fixed in the groove of the chip removal spiral groove of the composite sampling head 20; a heat insulation layer and an insulating layer are designed between the physical property sensor B21 and the composite sampling head 20, and a wear-resistant layer is designed on the surface of the physical property sensor B21, which is flush with the spiral surface of the chip removal spiral groove of the composite sampling head 20; the physical property sensor B21 is used to measure the thermal conductivity and dielectric constant of the soil in situ, and can wirelessly transmit the original measurement signal to the composite leg arm controller.

[0063] The specific implementation methods for the probe's buffer landing, walking movement, stellar soil collection, and in-situ stellar soil detection are as follows:

[0064] (I) Buffer Landing: After the probe descends to a certain altitude above the star surface, the probe's landing engine shuts down, and the probe begins free fall with its residual velocity as its initial velocity. Multiple composite legs and arms are in force control mode. When the ground contact switch assembly 13 of the composite leg arm has a switching signal, it indicates that the buffer foot pad assembly 14 of the composite leg arm to which the ground contact switch assembly 13 belongs has touched the star surface. Under the action of the contact force, the composite leg arm begins to drive the hip roll drive assembly 2, hip pitch drive assembly 4, and knee joint drive assembly 5 to perform counter-drive motion, and the buffer spring damping assembly 11 to perform damped stretching motion. The energy dissipation of the counter-drive by multiple drive assemblies of the composite leg arm and the friction energy dissipation of the buffer spring damping assembly 11 are used to offset the kinetic energy and gravitational potential energy of the probe during the landing process, thereby achieving a buffer landing of the probe. The attitude stability of the probe during the landing process is achieved through the coordinated control of the motion of multiple composite legs and arms.

[0065] (ii) Walking and moving: Through the coordinated movement of four or more composite legs and arms, the probe can achieve leg-like walking and obstacle-crossing on the star surface.

[0066] (III) Resin Collection: When the probe needs to conduct sampling, it adjusts to a three-legged standing configuration to maintain static stability. The composite-legged arm performs resin collection, and the specific process is as follows:

[0067] a) For loose surface soil, the composite sampling head 20 is driven to dig and collect the loose soil under the coordinated movement of the hip roll drive component 2, the hip pitch drive component 4, and the knee joint drive component 5.

[0068] b) When encountering harder shale soil, the hip roll drive assembly 2, hip pitch drive assembly 4, and knee joint drive assembly 5 provide a stable sampling configuration for the composite sampling head 20. The rotary drive assembly in the sampling unit drive assembly 15 drives the composite sampling head 20 to achieve impact motion and rotary motion. The linear drive assembly in the sampling unit drive assembly 15 provides feed motion for the composite sampling head 20, thereby realizing rotary impact drilling sampling of harder shale soil by the composite sampling head 20.

[0069] (iv) In-situ detection of stellar soil: The composite leg can perform in-situ detection of the mechanical, thermal, electrical, and optical properties of stellar soil.

[0070] a) In-situ mechanical detection: The physical property sensor C19 is used to detect the mechanical properties of the spherical soil. The physical property sensor C19 is fixed on the sampling drill rod assembly 18 by sputtering process. During the sampling process, the physical property sensor C19 measures the force load information of the spherical soil in situ and can wirelessly transmit the original measurement signal to the composite leg arm controller.

[0071] b) In-situ thermoelectric detection: The physical property sensor B21 is used to detect the thermoelectric properties of the star soil. The physical property sensor B21 is fixed in the groove of the chip removal spiral groove of the composite sampling head 20. During the sampling process, the physical property sensor B21 measures the thermoelectric information such as thermal conductivity and dielectric constant of the star soil in situ, and sends the original measurement signal wirelessly to the composite leg arm controller.

[0072] c) In-situ spectral detection: The physical property sensor A16 is fixedly connected to the linear drive assembly housing of the sampling unit drive assembly 15 through structural components; during the sampling process, the physical property sensor A16 can image the visible light of the star soil of the detection target and directly obtain the appearance characteristics of the star soil; the physical property sensor A16 can actively emit infrared lasers of specific spectral bands and realize in-situ spectral analysis and detection of star soil based on the absorption or reflection characteristics of infrared light by the star soil.

[0073] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A star table buffer walking and sampling detection system, characterized in that, The multiple composite leg arms include a hip roll driving assembly (2), a joint mounting bracket (3), a hip pitch driving assembly (4), a knee joint driving assembly (5), a swing bar assembly (6), a swing bar hinge (7), a connecting rod assembly (8), a knee joint hinge assembly (9), a thigh assembly (10), a shank assembly (12), a buffer foot pad assembly (14), a sampling unit driving assembly (15), a sampling transmission assembly (17), a sampling drill rod assembly (18), and a composite sampling head (20). The housing of the hip roll driving assembly (2) is fixedly connected with the flange, and the output shaft of the hip roll driving assembly (2) rotates relative to the housing of the hip roll driving assembly (2). The joint mounting bracket (3) is fixedly connected with the output shaft of the hip roll driving assembly (2), and rotates relative to the housing of the hip roll driving assembly (2) under the driving action of the hip roll driving assembly (2). The housing of the hip pitch driving assembly (4) is fixedly connected with the joint mounting bracket (3), and the output shaft of the hip pitch driving assembly (4) rotates relative to the housing of the hip pitch driving assembly (4). The housing of the knee joint driving assembly (5) is fixedly connected with the joint mounting bracket (3), and the output shaft of the knee joint driving assembly (5) rotates relative to the housing of the knee joint driving assembly (5). One end of the swing bar assembly (6) is fixedly connected with the output shaft of the knee joint driving assembly (5), and the other end is hingedly connected with the swing bar hinge (7). One end of the swing bar hinge (7) is hingedly connected with the swing bar assembly (6), and the other end is hingedly connected with the connecting rod assembly (8). One end of the connecting rod assembly (8) is hingedly connected with the swing bar hinge (7), and the other end is hingedly connected with the knee joint hinge assembly (9). One end of the thigh assembly (10) is fixedly connected with the output shaft of the hip pitch driving assembly (4), and the other end is hingedly connected with the knee joint hinge assembly (9). The hip pitch driving assembly (4), the knee joint driving assembly (5), the swing bar assembly (6), the swing bar hinge (7), the connecting rod assembly (8), the knee joint hinge assembly (9), and the thigh assembly (10) jointly constitute a parallelogram mechanism. One end of the shank assembly (12) is fixedly connected with the knee joint hinge assembly (9), and the other end is slidingly connected with the buffer foot pad assembly (14). The sampling transmission assembly (17) is installed in parallel along the axial direction of the shank assembly (12). The sampling unit driving assembly (15) moves back and forth along the axial direction of the shank assembly (12) under the guidance of the sampling transmission assembly (17). The sampling drill rod assembly (18) provides the composite sampling head (20) with the required feeding motion and rotary motion in the drilling process under the driving action of the sampling unit driving assembly (15). The composite sampling head (20) is used to realize the sample collection and sample transfer in the reachable space of the composite leg arm in the form of shoveling, planing, digging, drilling, and impact.

2. The star buffer walking and sampling detection system according to claim 1, wherein, When the hip pitch driving assembly (4) works and the knee joint driving assembly (5) does not work, the parallelogram mechanism configuration remains unchanged, and the whole rotates with the output shaft of the hip pitch driving assembly (4); when the knee joint driving assembly (5) works and the hip pitch driving assembly (4) does not work, the knee joint hinge assembly (9) rotates around the hinge shaft of the knee joint hinge assembly (9) and the thigh assembly (10).

3. The star buffer walking and sampling detection system according to claim 1, wherein, The system further comprises a buffer spring damping assembly (11), one end of which is connected to the hinge shaft of the connecting rod assembly (8) and the knee joint hinge assembly (9), and the other end is connected to the thigh assembly (10).

4. The star buffer walking and sampling detection system of claim 3, wherein, The system further comprises a touch switch assembly (13), which comprises a switch positive electrode, a switch negative electrode and an isolation spring. The switch positive electrode is fixedly connected with the knee joint hinge assembly (9), the switch negative electrode is fixedly connected with the buffer foot pad assembly (14), and the isolation spring is sleeved on the buffer foot pad assembly (14); when the buffer foot pad assembly (14) does not touch the ground, the switch positive and negative electrodes are disconnected under the action of the isolation spring; when the buffer foot pad assembly (14) touches the ground, the isolation spring is compressed, the switch positive and negative electrodes are connected, and a touch signal is sent.

5. The star buffer walking and sampling detection system according to claim 1, wherein, The sampling unit driving assembly (15) is composed of a linear driving assembly and a rotary driving assembly; The housing of the linear driving assembly is fixedly connected with the lower leg assembly (12), and the moving block of the linear driving assembly is used for linear motion along the axis direction of the lower leg assembly (12); The housing of the rotary driving assembly is fixedly connected with the moving block of the linear driving assembly, and under the action of the linear driving assembly, the moving block of the linear driving assembly moves back and forth along the axis direction of the lower leg assembly (12); The sampling drill rod assembly (18) is connected with the output shaft of the rotary driving assembly, and under the action of the linear driving assembly and the rotary driving assembly, realizes the back-and-forth linear motion along the axis direction of the lower leg assembly (12) and the rotary motion around the axis of the output shaft of the rotary driving assembly.

6. A star buffer walking and sampling detection system according to claim 5, wherein, The system further comprises a physical property sensor A (16) fixedly connected with the housing of the linear driving assembly of the sampling unit driving assembly (15); The physical property sensor A (16) is used for visible light imaging of the detection target, actively emits infrared laser of a specific spectrum, and realizes in-situ spectral analysis and detection of the detection target.

7. The star buffer walking and sampling detection system according to claim 1, wherein, The system further comprises a physical property sensor C (19) fixed on the sampling drill rod assembly (18) by sputtering process, and an insulating coating is arranged between the physical property sensor C (19) and the sampling drill rod assembly (18); the physical property sensor C (19) is used for measuring the force information of the regolith in the sampling process.

8. The star buffer walking and sampling detection system of claim 5, wherein, The composite sampling head (20) adopts a semi-vertebral shape design, and a cutting edge and a chip removal spiral groove are designed outside the semi-vertebral body, and a groove is arranged on the chip removal spiral groove; The half-vertebra inner side is a chip cavity, the composite sampling head (20) is driven by the linear drive assembly and the rotary drive assembly of the hip roll drive assembly (2), the hip pitch drive assembly (4), the knee joint drive assembly (5) and the sampling unit drive assembly (15) to realize the sample collection and sample transfer in the reachable space of the composite leg and arm in the form of shovel, planer, dig, drill and impact.

9. A star buffer walking and sampling detection system according to claim 8, wherein, The system further comprises a physical property sensor B (21) fixed in the groove of the composite sampling head (20) chip spiral groove; The physical property sensor B (21) and the composite sampling head (20) are provided with a heat insulation layer and an insulation layer, and the physical property sensor B (21) is used for measuring the thermoelectric information of the asteroid soil in situ, including the thermal conductivity and the dielectric coefficient.

10. The star buffer walking and sampling detection system of claim 4, wherein, When the probe is landing, the composite leg and arm are in force control mode: when the touch switch assembly (13) has a switch signal, it indicates that the composite leg and arm has touched the surface of the star body, and the composite leg and arm starts to drive the hip roll drive assembly (2), the hip pitch drive assembly (4) and the knee joint drive assembly (5) to perform reverse drive movement and drive the buffer spring damping assembly (11) to perform damping stretching movement under the action of contact force, so as to realize the buffer landing of the probe; the posture stability in the landing process of the probe is realized through the coordinated control of the movement of multiple composite legs and arms.

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