Wheel-leg type star catalogue landing and moving integrated detector

Abstract

The invention discloses a wheel-leg type star catalogue landing and moving integrated detector, and particularly relates to the technical field of deep space detectors, which comprises a main structure cabin section and a plurality of groups of main wheel-leg type mechanisms arranged on the side surface of the main structure cabin section, the main wheel leg type mechanism comprises a main supporting column, a swing leg, an auxiliary supporting column, an auxiliary shank rod, a buffering foot pad and a driving wheel mechanism. The main wheel leg type mechanism achieves three-degree-of-freedom movement of a single leg through a main buffering-driving mechanism and two auxiliary buffering-driving mechanisms, and the four-foot main wheel leg type mechanism achieves the leg type advancing function of the detector through cooperative control. According to the invention, through four groups of main wheel leg type mechanisms with three degrees of freedom and auxiliary wheel leg mechanisms arranged at two sides of a cabin section, the detector is adjusted to be in a leg type and wheel type configuration through configuration changing capability; the moving requirements of the detector in different task stages such as landing, wheel type driving, leg type advancing, obstacle avoidance and obstacle crossing and long-term residence are met, and the safety of a main structure cabin section is guaranteed.

Description

Technical Field

[0001] The invention relates to the technical field of deep space probes, and in particular to a wheel-legged star-surface landing mobile integrated probe. Background Art

[0002] As the cornerstone of space resource exploration and development, space science and technological innovation, the importance of deep space exploration is becoming increasingly prominent. With the continuous deepening of the lunar exploration project and deep space exploration missions, the performance requirements for detectors are also constantly increasing. Not only do they need to have a broader detection field of view, but they also need to be able to adapt to the diverse terrain environments on the star surface. At the same time, in order to meet the needs of future star surface base construction, it is urgent to develop a transfer system with high load capacity and long-lasting operation characteristics to provide strong logistical support for star surface operations and ensure the continuity and efficiency of exploration missions. The detectors currently put into actual missions all adopt a design in which the lander and the rover are separated, resulting in the problem of large launch mass and large space occupation. The integrated design of landing and patrol can effectively reduce the launch cost.

[0003] A mobile lander has been proposed in the prior art for extraterrestrial exploration, which is divided into manned landers and cargo landers. The lander relies on the buffer struts at the bottom to absorb the impact load during the soft landing process, and the cargo lander adopts a wheeled configuration and has mobility. This configuration is only adaptable to relatively flat terrain and does not fully take into account the rugged environment, resulting in limited range of activities and poor terrain adaptability. At the same time, since the cargo lander is directly impacted by the wheels during the landing phase, there is a risk of failure of its mobility due to wheel damage after landing.

[0004] In order to deal with the problem of autonomous attitude adjustment, landing and patrol of the probe in the complex environment of extraterrestrial space, there is a leg-type structure probe, which adopts four sets of leg structures, each set of leg structures includes a main chain and two auxiliary chains. Buffer piston rods, energy-absorbing materials and drive motors are arranged in the main chain and the auxiliary chain. The buffer piston rod and the energy-absorbing material are used for the landing buffer of the probe, and the drive motor plays the role of patrol walking and attitude adjustment. The leg-type structure probe has strong terrain adaptability and attitude adjustment capabilities, but its leg-type movement mode makes it slow and has low movement efficiency. The attitude adjustment action is complicated in one movement cycle, and the center of mass of the probe body moves in many processes. If it is applied to the scenario of a manned probe, it will cause great discomfort to the occupants. Summary of the invention

[0005] In view of the above-mentioned deficiencies in the prior art, the present invention proposes a wheel-legged integrated probe for satellite surface landing and mobility, which has the capability of variable configuration and can adapt to the full-stage mission requirements of satellite surface exploration, including landing cushioning, mobile patrol and long-term residence.

[0006] In order to achieve the above-mentioned object, the present invention provides the following technical solutions: a wheel-leg type satellite-surface-landing mobile integrated probe, comprising a main structure compartment, and a plurality of groups of main wheel-leg type mechanisms arranged on the side thereof, each group of main wheel-leg type mechanisms being rotatably connected to the main structure compartment;

[0007] The main wheel leg mechanism comprises a main support, a swing leg, an auxiliary support, an auxiliary shank rod, a buffer foot pad and a driving wheel mechanism; the main structure compartment is connected to the main support and the auxiliary support in the main wheel leg mechanism through a Hook joint; the lower side of the main support is connected through a main buffer-drive mechanism and can drive and control the swing leg, and the end of the swing leg is connected to the buffer foot pad through a ball joint; the lower side of the auxiliary support is connected through an auxiliary buffer-drive mechanism and drives the auxiliary shank rod, and the end of the auxiliary shank rod is connected to the lower side of the main support through a ball joint; the main support and the swing leg can realize three-degree-of-freedom rotation and the rotation center is the connection between the main support and the main structure compartment; the end of the main support is connected to the driving wheel support and connecting rod of the driving wheel mechanism through a rotating pair;

[0008] The main wheel-legged mechanism realizes the three-degree-of-freedom motion of a single leg through a set of main buffer-drive mechanisms and two sets of auxiliary buffer-drive mechanisms, and the four-legged main wheel-legged mechanism realizes the leg-type moving function of the detector through coordinated control.

[0009] Furthermore, the main buffer-drive mechanism is arranged inside the main pillar, including a drive motor, a coupling, a lead screw, a sleeve, a latch device, a piston disc, a locking device, and a buffer material. The piston disc is installed at the end of the main pillar and has a locking device on its inner side. The inner side of the piston disc is filled with buffer material. The piston disc is connected and unlocked with the swing leg through the locking device.

[0010] During the landing phase, the latch device 1 inside the sleeve 1 is constrained by the swing leg and compressed, and the latch device 1 and the swing leg move relative to each other, so that the swing leg moves inwards when impacted by the ground when landing;

[0011] After the landing stage, the driving motor moves the sleeve to the connection position between the piston disc and the swing leg, the piston disc is unlocked from the swing leg, and the sleeve is locked with the swing leg through the latch device, so that the driving motor controls the extension and contraction of the swing leg.

[0012] Furthermore, the auxiliary buffer-drive mechanism is arranged inside the auxiliary pillar, including two drive motors, two couplings, two screws, two sleeves, two latch devices, two piston discs, two locking devices and two buffer materials. The two drive motors are installed inside the auxiliary pillar and the rotor part thereof is connected to the two screws through the two couplings. The two ends of the two screws are installed with two sleeves, and the two sleeves are installed with two latch devices inside. The two piston discs are installed at the end of the auxiliary pillar and have two locking devices inside. Two buffer materials with different strokes are filled on both sides of the two piston discs according to different task requirements. The two piston discs are connected and unlocked with the auxiliary calf rod through the two locking devices.

[0013] Furthermore, the driving wheel mechanism comprises a driving wheel support, a folding and unfolding mechanism, a connecting rod, a steering motor, a driving mechanism 1 and a driving wheel; the driving wheel support is installed at the end of the main support through a rotating shaft, the folding and unfolding mechanism is installed inside the driving wheel support, the upper end of the connecting rod is connected to the main support through a rotating shaft, the lower end of the connecting rod is connected to the folding and unfolding mechanism through a rotating shaft, the steering motor is installed at the end of the folding and unfolding mechanism and connected to the driving mechanism 1, and the driving mechanism 1 realizes the moving process of the detector by realizing the actuation process of the driving wheel; the driving wheel is braked and lowered by the driving wheel support, the steering motor adjusts the driving wheel to an angle suitable for its travel, and the driving motor 1 in the main support works to retract the buffer pad and the swing leg, thereby completing the transformation process of the detector from the buffer pad touching the ground to the driving wheel touching the ground; after the driving wheel support is unfolded, the main buffer-driving mechanism drives the swing leg to be retracted, and the driving wheel supports the detector to contact the ground, and the steering motor controls the driving wheel at the bottom of the connecting rod to perform the steering process; after the driving wheel is adjusted to a suitable angle, each set of driving wheels is driven and differentially controlled by a separate driving mechanism 1 to realize the moving function of the wheel group;

[0014] In some terrains that are not suitable for wheeled patrols, the probe will extend its swinging legs, supported by the cushioning foot pads touching the ground, retract the drive wheels, and return to the leg-walking mode configuration.

[0015] Furthermore, the driving mechanism of the main wheel leg mechanism is composed of an upper suspension frame, a suspension lower arm, a shock absorber, an axle, and a transmission box; the upper end of the upper suspension frame is connected to the steering motor of the main wheel leg mechanism, the lower end of the upper suspension frame is connected to the suspension lower arm through a rotating shaft, the suspension lower arm is connected to the transmission box, and at the same time, the upper suspension frame and the transmission box are connected through four shock absorbers to play a vibration reduction role during the travel process; the driving motor three is installed inside the transmission box, connected to the axle through gear transmission, and the power is transmitted to the drive wheel through the axle. The differential is installed at the axle to realize differential control of the drive wheel.

[0016] Furthermore, the folding and unfolding mechanism includes a motor, a lead screw and a sleeve three. The motor is installed inside the driving wheel pillar and its rotor part is connected to the lead screw. The sleeve three is installed at the end of the lead screw. The position of the sleeve three is adjusted by the lead screw under the drive of the motor. The lead screw is driven by the motor to control the folding and unfolding of the sleeve three and the driving wheel pillar fixed thereto to complete the folding and unfolding process of the wheel part.

[0017] Furthermore, the probe also includes an auxiliary wheel-leg mechanism, which is driven by a rotating mechanism to adjust its own configuration and is connected to the main structural compartment to cooperate with the main wheel-leg mechanism to move under complex surface terrain.

[0018] Furthermore, each group of the auxiliary wheel and leg mechanisms includes a rotating mechanism, an outer sleeve, a second driving mechanism, an inner support column and a wheel mechanism. The outer sleeve is connected to the main structure compartment section through the rotating mechanism. The second driving mechanism includes a fourth driving motor, a second screw and a slider table. The second driving mechanism is installed inside the outer sleeve. The second end of the driving mechanism is connected to the second screw and is coaxially connected to the slider table to drive the slider table to move, thereby driving the contraction and extension of the inner support column locked with the slider table. The ends of the two inner support columns in the same group are coaxially connected to the wheel mechanism, and the wheel mechanism is driven by the second driving mechanism to realize the driving function. The auxiliary wheel and leg mechanism adjusts the relative position of the end wheel mechanism and the main structure compartment section through the rotating mechanism and the second driving mechanism.

[0019] The present invention has the following advantages:

[0020] Through four sets of main wheel-leg mechanisms with three degrees of freedom and auxiliary wheel-leg mechanisms on both sides of the cabin, the detector can be adjusted to a leg-type and wheel-type configuration through the variable configuration capability to meet the movement requirements of the detector in different mission stages such as landing, wheel drive, leg travel, obstacle avoidance and long-term residence, as well as the safety of the main structure cabin, to ensure that the detector does not directly land and cause damage to the moving wheels;

[0021] During the landing buffering stage, the probe is adjusted to a leg-type configuration, with the buffering foot pads directly contacting the star surface for landing. During the mobile patrol stage, the main wheel leg-type mechanism can be adjusted to a wheeled configuration, with each of the four main pillars equipped with a set of drive wheels to complete functions such as travel and steering. The wheeled configuration has high movement efficiency and the probe body is relatively stable. This improves the problem of low movement speed of the existing integrated landing and mobile probe.

[0022] Auxiliary wheel legs are arranged on both sides of the probe body to assist the probe in moving on relatively rugged terrain and climbing slopes. When the probe is stuck in a pit or gravel terrain and the drive wheels cannot work normally, the auxiliary wheels can adjust their posture to help the probe get out of trouble, or the probe can switch back to the leg-type configuration; getting out of trouble by walking improves the probe's survivability in extraterrestrial environments.

[0023] When a traditional rover is in contact with the star map for a long time, the moving wheels will suffer great wear and tear, affecting its function and reliability. To this end, the present invention will adjust to a leg-type configuration in the long-term residence mode, which not only significantly reduces the wear of the moving wheels, but also enhances the stability of the detector body during the residence stage. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 The overall schematic diagram of the wheel-legged satellite-table cushioned landing and mobile integrated probe provided by the present invention;

[0025] Figure 2 A schematic diagram of the main wheel leg type mechanism provided by the present invention;

[0026] Figure 3 A schematic diagram of the main buffer-drive mechanism provided by the present invention;

[0027] Figure 4 A schematic diagram of the auxiliary buffer-driving mechanism provided by the present invention;

[0028] Figure 5 A schematic diagram of the auxiliary wheel-leg mechanism provided by the present invention;

[0029] Figure 6 A schematic diagram of the driving wheel of the main wheel leg type mechanism provided by the present invention;

[0030] Figure 7 A schematic diagram of the wheel set travel mode provided by the present invention;

[0031] Figure 8 A schematic diagram of the main wheel leg type driving mechanism provided by the present invention;

[0032] Fig. 9 This is a schematic diagram of the internal structure of the transmission box provided by the present invention.

[0033] In the figure: 1. Main structural compartment;

[0034] 2. Main wheel leg mechanism; 21. Main support; 211. Driving motor 1; 212. Coupling 1; 213. Lead screw 1; 214. Sleeve 1; 215. Latch device 1; 216. Piston disc 1; 217. Locking device 1; 218. Buffer material 1; 22. Swing leg; 23. Auxiliary support; 231. Driving motor 2; 232. Coupling 2; 233. Lead screw 2; 234. Sleeve 2; 235. Latch device 2; 236. Piston disc 2; 237. Locking device 2; 238. Buffer material Material 2; 24, auxiliary calf rod; 25, cushioning foot pad; 26, driving wheel mechanism; 261, driving wheel support; 262, folding and unfolding mechanism; 2621, motor; 2622, lead screw; 2623, sleeve three; 263, connecting rod; 264, steering motor; 265, driving mechanism one; 2651, upper suspension frame; 2652, suspension lower arm; 2653, shock absorber; 2654, axle; 2655, transmission box; 26551, driving motor three; 26552, differential; 266, driving wheel;

[0035] 3. Auxiliary wheel leg mechanism; 31. Rotation mechanism; 32. Outer sleeve; 33. Driving mechanism 2; 331. Driving motor 4; 332. Lead screw 3; 333. Slider platform; 34. Inner support column; 35. Wheel mechanism. DETAILED DESCRIPTION

[0036] The following is a description of the implementation of the present invention by specific embodiments. People familiar with the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] Example 1: Figure 1 As shown, the present invention provides a wheel-leg type satellite landing mobile integrated probe, comprising a main structure compartment 1, and a plurality of groups of main wheel-leg type mechanisms 2 arranged on the side thereof, each group of main wheel-leg type mechanisms 2 being rotatably connected to the main structure compartment 1;

[0038] like Figure 2As shown, the main wheel-leg mechanism 2 includes a main support 21, a swing leg 22, an auxiliary support 23, an auxiliary calf rod 24, a buffer foot pad 25 and a driving wheel mechanism 26; the main structure compartment 1 is connected to the main support 21 and the auxiliary support 23 in the main wheel-leg mechanism 2 through a Hook hinge, and can be transformed into a leg-type or wheel-type mechanism at different stages of the landing detection mission, thereby meeting the requirements of landing impact resistance, efficient mobility and all-terrain adaptability; the lower side of the main support 21 is connected and can be driven through the main buffer-drive mechanism Control the swing leg 22, the end of the swing leg 22 is connected to the buffer foot pad 25 through a ball joint; the lower side of the auxiliary support 23 is connected to and drives the auxiliary calf rod 24 through an auxiliary buffer-driving mechanism, and the end of the auxiliary calf rod 24 is connected to the lower side of the main support 21 through a ball joint; the main support 21 and the swing leg 22 can realize three-degree-of-freedom rotation and the rotation center is the connection between the main support 21 and the main structure compartment 1; the end of the main support 21 is connected to the driving wheel support 261 and the connecting rod 263 of the driving wheel mechanism 26 through a rotating pair;

[0039] like Figure 1 As shown, the main wheel-legged mechanism 2 realizes the three-degree-of-freedom movement of a single leg through a set of main buffer-drive mechanisms and two sets of auxiliary buffer-drive mechanisms, and the four-legged main wheel-legged mechanism 2 realizes the leg-type moving function of the detector through coordinated control.

[0040] Among them, Figure 3 As shown, the main buffer-drive mechanism is arranged inside the main pillar 21, including a drive motor 211, a coupling 212, a lead screw 213, a sleeve 214, a latch device 215, a piston disc 216, a locking device 217 and a buffer material 218. The piston disc 216 is installed at the end of the main pillar 21 and has a locking device 217 on its inner side. The inner side of the piston disc 216 is filled with buffer material. The piston disc 216 is connected and unlocked with the swing leg 22 through the locking device 217.

[0041] Among them, Figure 4As shown, the auxiliary buffer-drive mechanism is arranged inside the auxiliary pillar 23, including a second drive motor 231, a second coupling 232, a second screw 233, a second sleeve 234, a second latch device 235, a second piston disc 236, a second locking device 237 and a second buffer material 238. The second drive motor 231 is installed inside the auxiliary pillar 23 and its rotor part is connected with the second screw 233 through the second coupling 232. A second sleeve 234 is installed at the end of the second screw 233, and a second latch device 235 is installed inside the second sleeve 234. The second piston disc 236 is installed at the end of the auxiliary pillar 23 and has a second locking device 237 on its inner side. Buffer materials 238 of different strokes are filled on both sides of the second piston disc 236 according to different task requirements. The second piston disc 236 is connected and unlocked with the auxiliary calf rod 24 through the second locking device 237. Its working principle and process are the same as those of the main buffer-drive mechanism.

[0042] Specifically, Figure 6 As shown, the driving wheel mechanism 26 includes a driving wheel pillar 261, a folding and unfolding mechanism 262, a connecting rod 263, a steering motor 264, a driving mechanism 265 and a driving wheel 266; the driving wheel pillar 261 is installed at the end of the main pillar 21 through a rotating shaft, the folding and unfolding mechanism 262 is installed inside the driving wheel pillar 261, the upper end of the connecting rod 263 is connected to the main pillar 21 through a rotating shaft, and the lower end of the connecting rod 263 is connected to the folding and unfolding mechanism 262 through a rotating shaft, the steering motor 264 is installed at the end of the folding and unfolding mechanism 262 and connected to the driving mechanism 265, and the driving mechanism 265 realizes the movement process of the detector by realizing the actuation process of the driving wheel 266; the driving wheel pillar 261 brakes and lowers the driving wheel 266, and the steering motor 264 adjusts the driving wheel 266 to an angle suitable for its travel.

[0043] Among them, Figure 8-Figure 9 As shown, the driving mechanism 1 265 of the main wheel leg mechanism 2 consists of an upper suspension frame 2651, a suspension lower arm 2652, a shock absorber 2653, an axle 2654, and a transmission box 2655; the upper end of the upper suspension frame 2651 is connected to the steering motor 264 of the main wheel leg mechanism 2, the lower end of the upper suspension frame 2651 is connected to the suspension lower arm 2652 through a rotating shaft, the suspension lower arm 2652 is connected to the transmission box 2655, and at the same time, the upper suspension frame 2651 and the transmission box 2655 are connected through four shock absorbers 2653, which play a vibration reduction role during the travel process; the driving motor 3 26551 is installed in the transmission box 2655, and is connected to the axle 2654 through gear transmission, and the power is transmitted to the driving wheel 266 through the axle 2654, and the differential 26552 is installed at the axle 2654 to realize differential control of the driving wheel 266.

[0044] Among them, the folding and unfolding mechanism 262 includes a motor 2621, a screw 2622 and a sleeve three 2623. The motor 2621 is installed inside the driving wheel pillar 261 and its rotor part is connected to the screw 2622. The sleeve three 2623 is installed at the end of the screw 2622. The sleeve three 2623 is driven by the motor 2621 and adjusted in position through the screw 2622. The motor 2621 drives the screw 2622 to control the sleeve three 2623 and the driving wheel pillar 261 fixed thereto to be folded and unfolded to complete the wheel folding and unfolding process.

[0045] The complete moving process is as follows: in the landing stage, the latch device 215 inside the sleeve 214 is constrained by the swing leg 22 and compressed, and the latch device 215 and the swing leg 22 move relative to each other. The piston disk 216 is connected and locked with the swing leg 22 through the locking device 217, so that the swing leg 22 moves inward due to the impact of the ground when landing; the locking device 217 drives the piston disk 216 to compress the buffer material 218, and a buffer force is generated during the compression process to reduce the impact load received by the detector body.

[0046] After the landing stage, the driving motor 211 moves the sleeve 214 to the connection position between the piston disc 216 and the swing leg 22, the piston disc 216 and the swing leg 22 are unlocked, and the sleeve 214 is locked with the swing leg 22 through the latch device 215, so that the driving motor 211 controls the extension and contraction of the swing leg 22.

[0047] The driving motor 1 211 in the main support 21 works to retract the buffer pad 25 and the swing leg 22, thereby completing the transition process of the detector from the buffer pad 25 touching the ground to the driving wheel 266 touching the ground, as follows:

[0048] like Figure 7 As shown, after the driving wheel support 261 is unfolded, the main buffer-driving mechanism drives the swing leg 22 to be retracted, and the driving wheel 266 supports the detector to contact the ground, and the steering motor 264 at the bottom of the connecting rod 263 controls the driving wheel 266 to perform the steering process; after the driving wheel 266 is adjusted to a suitable angle, each set of driving wheels 266 is driven and differentially controlled by a separate driving mechanism 265 to realize the traveling function of the wheel set;

[0049] In some terrains that are not suitable for wheeled patrols, the detector extends the swing leg 22, supported by the cushioning foot pad 25 touching the ground, and retracts the drive wheel 266 to return to the leg-type walking mode configuration.

[0050] Example 2: On the basis of Example 1, the probe further includes an auxiliary wheel-leg mechanism 3, which is driven by a rotating mechanism 31 to adjust its own configuration and is connected to the main structure compartment 1 to cooperate with the main wheel-leg mechanism 2 to move under complex surface terrain, thereby improving the probe's surface mobility.

[0051] Among them, Figure 5 As shown, each group of the auxiliary wheel-leg mechanisms 3 includes a rotating mechanism 31, an outer sleeve 32, a second driving mechanism 33, an inner support column 34 and a wheel mechanism 35. The outer sleeve 32 is connected to the main structure compartment 1 through the rotating mechanism 31. The second driving mechanism 33 includes a driving motor 4 331, a screw 332 and a slider table 333. The second driving mechanism 33 is installed inside the outer sleeve 32. The end of the second driving mechanism 33 is connected to the screw 332 and is coaxially connected to the slider table 333 to drive the slider table 333 to move, thereby driving the inner support column 34 locked and installed with the slider table 333 to retract and expand. The ends of the two inner support columns 34 in the same group are coaxially connected to the wheel mechanism 35. The wheel mechanism 35 is driven by the second driving mechanism 33 to realize the driving function. The auxiliary wheel-leg mechanisms 3 adjust the relative position of the end wheel mechanism 35 and the main structure compartment 1 through the rotating mechanism 31 and the second driving mechanism 33. Each set of auxiliary wheel-legged mechanisms 3 realizes two-degree-of-freedom motion through two sets of drive motors 331 to complete the process of auxiliary support of the main structure compartment 1 and perform posture adjustment, auxiliary movement, obstacle avoidance and escape.

[0052] In summary, after the detector is adjusted to a suitable posture through legged walking, it can be adjusted to a wheeled patrol configuration. The folding and unfolding mechanism 262 of the main wheel leg driving wheel 2 brakes and lowers the driving wheel 266, and the steering motor 264 adjusts the driving wheel 266 to an angle suitable for its travel. The main support 21 driving motor 211 works to retract the buffering foot pad 25 and the swinging leg 22. Thereby completing the transformation process of the detector from the foot pad touching the ground to the driving wheel touching the ground. In some terrains that are not suitable for wheeled patrols, the detector can extend the swinging leg 22, supported by the buffering foot pad 25 touching the ground, retract the driving wheel 266, and return to the legged walking mode configuration to achieve functions such as obstacle avoidance and obstacle crossing. During legged walking and wheeled patrol, the auxiliary wheel leg mechanism 3 can be lowered and contacted with the star table according to the environmental terrain, which serves to increase the ground contact area, provide support, adjust the detector posture, and assist the detector to climb over obstacles and escape from difficulties.

[0053] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A wheel-legged satellite surface landing mobile integrated probe, characterized in that: It comprises a main structure compartment (1) and a plurality of groups of main wheel-leg mechanisms (2) arranged on the side thereof, wherein each group of main wheel-leg mechanisms (2) is rotatably connected to the main structure compartment (1); The main wheel leg type mechanism (2) comprises a main support column (21), a swing leg (22), an auxiliary support column (23), an auxiliary shank rod (24), a buffer foot pad (25) and a driving wheel mechanism (26); the main structure compartment (1) is connected to the main support column (21) and the auxiliary support column (23) in the main wheel leg type mechanism (2) through a Hook joint; the lower side of the main support column (21) is connected through a main buffer-driving mechanism and can drive and control the swing leg (22); the end of the swing leg (22) is connected to the buffer foot pad (25) through a ball joint. 5); the lower side of the auxiliary support (23) is connected to and drives the auxiliary shank rod (24) through an auxiliary buffer-driving mechanism, and the end of the auxiliary shank rod (24) is connected to the lower side of the main support (21) through a ball joint; the main support (21) and the swing leg (22) can realize three-degree-of-freedom rotation, and the rotation center is the connection between the main support (21) and the main structure compartment (1); the end of the main support (21) is connected to the driving wheel support (261) and the connecting rod (263) of the driving wheel mechanism (26) through a rotating pair; The main wheel leg mechanism (2) realizes the three-degree-of-freedom movement of a single leg through a set of main buffer-drive mechanisms and two sets of auxiliary buffer-drive mechanisms, and the four-leg main wheel leg mechanism (2) realizes the leg-type moving function of the detector through coordinated control.

2. The wheel-legged satellite-surface-landing-mobile integrated probe according to claim 1, characterized in that: The main buffer-drive mechanism is arranged inside the main pillar (21), and includes a drive motor (211), a coupling (212), a lead screw (213), a sleeve (214), a latch device (215), a piston disc (216), a locking device (217) and a buffer material (218). The piston disc (216) is installed at the end of the main pillar (21) and has a locking device (217) on its inner side. The inner side of the piston disc (216) is filled with buffer material. The piston disc (216) is connected to and unlocked with the swing leg (22) through the locking device (217). During the landing phase, the latch device 1 (215) inside the sleeve 1 (214) is constrained by the swing leg (22) and compressed, and the latch device 1 (215) and the swing leg (22) move relative to each other, so that the swing leg (22) moves inwards when impacted by the ground when landing; After the landing phase is completed, the driving motor 1 (211) moves the sleeve 1 (214) to the connection position between the piston disc 1 (216) and the swing leg (22), the piston disc 1 (216) and the swing leg (22) are unlocked, and the sleeve 1 (214) is locked with the swing leg (22) through the latch device 1 (215), so that the driving motor 1 (211) controls the extension and contraction of the swing leg (22).

3. The wheel-legged satellite-surface-landing-mobile integrated probe according to claim 1, characterized in that: The auxiliary buffer-drive mechanism is arranged inside the auxiliary support column (23), and comprises a second drive motor (231), a second coupling (232), a second screw (233), a second sleeve (234), a second latch device (235), a second piston plate (236), a second locking device (237) and a second buffer material (238). The second drive motor (231) is installed inside the auxiliary support column (23) and its rotor part is connected to the second screw (233) through the second coupling (232). A sleeve (234) is installed at the end of the second (233), and a latch device (235) is installed inside the sleeve (234). The piston disc (236) is installed at the end of the auxiliary support (23) and has a locking device (237) on its inner side. Buffer materials (238) of different strokes are filled on both sides of the piston disc (236) according to different task requirements. The piston disc (236) is connected and unlocked with the auxiliary calf rod (24) through the locking device (237).

4. The wheel-legged satellite-surface-landing-mobile integrated probe according to claim 1, characterized in that: The driving wheel mechanism (26) comprises a driving wheel support (261), a folding and unfolding mechanism (262), a connecting rod (263), a steering motor (264), a driving mechanism (265) and a driving wheel (266); the driving wheel support (261) is mounted on the end of the main support (21) via a rotating shaft, the folding and unfolding mechanism (262) is mounted inside the driving wheel support (261), the upper end of the connecting rod (263) is connected to the main support (21) via a rotating shaft, the lower end of the connecting rod (263) is connected to the folding and unfolding mechanism (262) via a rotating shaft, the steering motor (264) is mounted on the end of the folding and unfolding mechanism (262) and is connected to the driving mechanism (265), and the driving mechanism (265) realizes the moving process of the detector by realizing the actuation process of the driving wheel (266); the driving wheel (266) is braked and lowered by the driving wheel support (261) 266), the steering motor (264) adjusts the driving wheel (266) to an angle suitable for its travel, and the driving motor (211) in the main pillar (21) works to retract the buffer pad (25) and the swing leg (22), thereby completing the transition process of the detector from the buffer pad (25) touching the ground to the driving wheel (266) touching the ground; after the driving wheel pillar (261) is unfolded, the main buffer-driving mechanism drives the swing leg (22) to be retracted, and the driving wheel (266) supports the detector to contact the ground, and the steering motor (264) controls the driving wheel (266) at the bottom of the connecting rod (263) to perform the steering process; after the driving wheel (266) is adjusted to a suitable angle, each set of driving wheels (266) is driven and differentially controlled by a separate driving mechanism (265) to realize the travel function of the wheel group; In some terrains that are not suitable for wheeled patrols, the detector extends the swinging legs (22), supported by the cushioning foot pads (25) touching the ground, and retracts the drive wheels (266), returning to the leg-type walking mode configuration.

5. The wheel-legged satellite-surface-landing-mobile integrated probe according to claim 4 is characterized in that: The driving mechanism (265) of the main wheel leg type mechanism (2) is composed of an upper suspension frame (2651), a suspension lower swing arm (2652), a shock absorber (2653), an axle (2654), and a transmission box (2655); the upper end of the upper suspension frame (2651) is connected to the steering motor (264) of the main wheel leg type mechanism (2), the lower end of the upper suspension frame (2651) is connected to the suspension lower swing arm (2652) via a rotating shaft, and the suspension lower swing arm (2652) is connected to the transmission box (2655). The upper suspension frame (2651) and the transmission box (2655) are connected by four shock absorbers (2653), which play a role in reducing vibration during the travel process; the driving motor 3 (26551) is installed in the transmission box (2655), and is connected to the axle (2654) through gear transmission, and the power is transmitted to the driving wheel (266) through the axle (2654); the differential (26552) is installed at the axle (2654) to realize differential control of the driving wheel (266).

6. The wheel-legged satellite-surface-landing-mobile integrated probe according to claim 4 is characterized in that: The folding and unfolding mechanism (262) comprises a motor (2621), a lead screw (2622) and a sleeve three (2623). The motor (2621) is installed inside the driving wheel pillar (261) and its rotor part is connected to the lead screw (2622). The sleeve three (2623) is installed at the end of the lead screw (2622). The sleeve three (2623) is driven by the motor (2621) to adjust the position through the lead screw (2622). The motor (2621) drives the lead screw (2622) to control the sleeve three (2623) and the driving wheel pillar (261) fixed thereto to be folded and unfolded to complete the wheel part folding and unfolding process.

7. The wheel-legged satellite-surface-landing-mobile integrated probe according to claim 1, characterized in that: The probe also includes an auxiliary wheel-leg mechanism (3), which is driven by a rotating mechanism (31) to adjust its own configuration and is connected to the main structural compartment (1) to cooperate with the main wheel-leg mechanism (2) to move under complex surface terrain.

8. The wheel-legged satellite-surface-landing-mobile integrated probe according to claim 7 is characterized in that: Each set of the auxiliary wheel and leg mechanisms (3) comprises a rotating mechanism (31), an outer sleeve (32), a second driving mechanism (33), an inner support column (34) and a wheel mechanism (35); the outer sleeve (32) is connected to the main structure compartment (1) via the rotating mechanism (31); the second driving mechanism (33) comprises a fourth driving motor (331), a third screw (332) and a slider table (333); the second driving mechanism (33) is installed inside the outer sleeve (32); the end of the second driving mechanism (33) is connected to the third screw (331) and the slider table (333); 2) and is coaxially connected to the slider platform (333) to drive the slider platform (333) to move, thereby driving the inner support column (34) locked and installed with the slider platform (333) to retract and extend, and the ends of the two inner support columns (34) in the same group are coaxially connected to the wheel mechanism (35), and the wheel mechanism (35) is driven by the second driving mechanism (33) to realize the driving function; the auxiliary wheel leg mechanism (3) adjusts the relative position of the end wheel mechanism (35) and the main structure compartment section (1) through the rotating mechanism (31) and the second driving mechanism (33).

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