Wheel-leg type integrated star catalog landing and moving detector

Abstract

The present invention discloses a wheel-leg integrated star catalog landing and mobile detector, which specifically relates to the technical field of deep space detectors, and includes a main structural cabin section and multiple groups of main wheel-leg mechanisms arranged on its side; the main wheel-leg mechanism includes a main strut, a swing leg, an auxiliary strut, an auxiliary calf rod, a buffer footpad, and a driving wheel mechanism; the main wheel-leg mechanism realizes the three-degree-of-freedom movement of a single leg through a set of main buffer-driving mechanisms and two sets of auxiliary buffer-driving mechanisms, and the quadruped main wheel-leg mechanism realizes the leg-type traveling function of the detector through coordinated control. The present invention adjusts the detector to leg-type and wheel-type configurations through four groups of main wheel-leg mechanisms with three degrees of freedom and auxiliary wheel-leg mechanisms arranged on both sides of the cabin section, so as to meet the mobile requirements of the detector in different mission stages such as landing, wheel-driven, leg-type traveling, obstacle avoidance and over-obstacle, and long-term residence, as well as the safety of the main structural cabin section.

Description

Technical Field

[0001] The present invention relates to the technical field of deep space detectors, and particularly to a wheel-leg integrated detector for landing and moving on the surface of celestial bodies. Background Art

[0002] Deep space exploration, as the cornerstone of space resource exploration and development, space science, and technological innovation, has become increasingly important. With the continuous deepening of lunar exploration projects and deep space exploration missions, the performance requirements for detectors are also constantly improving. Not only do they need to have a broader detection vision, but they also need to be able to adapt to diverse terrain environments on the surface of celestial bodies. At the same time, in order to meet the needs of future surface base construction on celestial bodies, there is an urgent need to develop a transfer system with high load-carrying capacity and long-lasting operation characteristics to provide strong logistical support for surface operations and ensure the continuity and efficiency of detection missions. Currently, the detectors put into actual missions all adopt the separated design of landers and rovers, resulting in problems such as large launch mass and large occupied space. The design of integrating landing and roving can effectively reduce the launch cost.

[0003] In the prior art, a movable lander has been proposed for extraterrestrial exploration, which is divided into a manned lander and a cargo lander. During the soft landing process, the lander relies on the buffer struts at the bottom to absorb impact loads. Among them, the cargo lander adopts a wheeled configuration and has the ability to move. This configuration is only adaptable to relatively flat terrains and does not fully consider rugged environments, resulting in limited activity range and poor terrain adaptability. At the same time, since the wheel part of the cargo lander directly receives impacts during the landing stage, there is a risk that its moving function will fail due to wheel damage after landing.

[0004] To address the problems of autonomous attitude adjustment during landing and roving of detectors in complex extraterrestrial environments, there is currently a leg-structured detector that uses four groups of leg structures, and each group of leg structures includes a main chain and two auxiliary chains. Buffer piston rods, energy-absorbing materials, and drive motors are arranged in both the main chain and the auxiliary chain. The buffer piston rods and energy-absorbing materials are used for the landing buffer of the detector, and the drive motors play the roles of roving and attitude adjustment. This leg-structured detector has strong terrain adaptability and attitude adjustment ability, but its leg-based movement mode makes its speed slow and the moving efficiency low. In a moving cycle, the attitude adjustment actions are complex, and the movement of the center of mass of the detector body is frequent. If applied to the scenario of a manned detector, it will cause great discomfort to the crew. Summary of the Invention

[0005] In view of the above deficiencies in the prior art, the present invention proposes a wheel-leg integrated detector for landing and moving on the surface of celestial bodies, which has the ability to change configurations and can meet the requirements of all-stage tasks such as landing buffer, moving and roving, and long-term staying for surface exploration.

[0006] To achieve the above object, the present invention provides the following technical solution: a wheel-leg integrated star catalog landing and mobile detector, including a main structural cabin section and multiple groups of main wheel-leg mechanisms arranged on its side, and each group of main wheel-leg mechanisms is rotatably connected to the main structural cabin section;

[0007] The main wheel-leg mechanism includes a main strut, a swing leg, an auxiliary strut, an auxiliary calf rod, a buffer foot pad, and a driving wheel mechanism; the main structural cabin section is connected to the main strut and the auxiliary strut in the main wheel-leg mechanism through a Hooke joint; the lower side of the main strut is connected and can drive and control the swing leg through a main buffer-driving mechanism, and the end of the swing leg is connected to the buffer foot pad through a ball joint; the lower side of the auxiliary strut is connected and drives the auxiliary calf rod through an auxiliary buffer-driving mechanism, and the end of the auxiliary calf rod is connected to the lower side of the main strut through a ball joint; the main strut and the swing leg can achieve two-degree-of-freedom rotation and one-degree-of-freedom translation, and the rotation center is the connection point between the main strut and the main structural cabin section; the end of the main strut is connected to the driving wheel strut and the connecting rod of the driving wheel mechanism through a rotating pair;

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

[0009] Further, the main buffer-driving mechanism is arranged inside the main strut, and includes a driving motor one, a coupling one, a lead screw one, a sleeve one, a pin device one, a piston disk one, a locking device one, and a buffer material one. The piston disk one is installed at the end of the main strut and has a locking device one on its inner side. The inner side of the piston disk one is filled with a buffer material. The piston disk one is connected and unlocked with the swing leg through the locking device one;

[0010] During the landing stage, the pin device one inside the sleeve one is compressed by the constraint of the swing leg, and the relative movement between the pin device one and the swing leg causes the swing leg to move inward when landing and being impacted by the ground;

[0011] After the landing stage ends, the driving motor one moves the sleeve one to the connection position between the piston disk one and the swing leg, unlocks the piston disk one and the swing leg, and the sleeve one is locked with the swing leg through the pin device one, realizing the control of the driving motor one to extend and contract the swing leg.

[0012] Furthermore, the auxiliary buffer-driving mechanism is arranged inside the auxiliary strut and includes a second driving motor, a second coupling, a second lead screw, a second sleeve, a second pin device, a second piston disc, a second locking device, and a second buffer material. The second driving motor is installed inside the auxiliary strut, and its rotor part is connected to the second lead screw through the second coupling. The end of the second lead screw is installed with the second sleeve, and the second pin device is installed inside the second sleeve. The second piston disc is installed at the end of the auxiliary strut and has a second locking device on its inner side. Different-stroke second buffer materials are filled on both sides of the second piston disc according to different task requirements. The second piston disc is connected and unlocked with the auxiliary calf rod through the second locking device.

[0013] Furthermore, the driving wheel mechanism includes a driving wheel strut, a folding and unfolding mechanism, a connecting rod, a steering motor, a first driving mechanism, and a driving wheel. The driving wheel strut is installed at the end of the main strut through a rotating shaft. The folding and unfolding mechanism is installed inside the driving wheel strut. The upper end of the connecting rod is connected to the main strut through a rotating shaft, and 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 is connected to the first driving mechanism. The first driving mechanism realizes the actuation process of the driving wheel to realize the traveling process of the detector. The driving wheel is lowered and braked by the driving wheel strut. The steering motor adjusts the driving wheel to an angle suitable for its traveling. The first driving motor in the main strut works to retract the buffer footpad and the swinging leg, thus completing the transformation process of the detector from the buffer footpad touching the ground to the driving wheel touching the ground. After the driving wheel strut is unfolded, the main buffer-driving mechanism drives to retract the swinging leg, and the driving wheel supports the detector to contact the ground. The bottom of the connecting rod is controlled by the steering motor to steer the driving wheel. After the driving wheel is adjusted to a suitable angle, each group of driving wheels is driven and differentially controlled by a separate first driving mechanism to realize the traveling function of the wheel set.

[0014] In some terrains that are not suitable for wheeled patrol, the detector extends the swinging leg, which is supported by the buffer footpad touching the ground, and the driving wheel is retracted to return to the configuration of the legged walking mode.

[0015] Furthermore, the first driving mechanism of the main wheel-legged mechanism consists of an upper suspension frame, a suspension lower swing arm, a shock absorber, an axle, and a transmission case. The upper end of the upper suspension frame is connected to the steering motor of the main wheel-legged mechanism. The lower end of the upper suspension frame is connected to the suspension lower swing arm through a rotating shaft. The suspension lower swing arm is connected to the transmission case. At the same time, the upper suspension frame and the transmission case are connected by four shock absorbers to play a role in shock absorption during the traveling process. The third driving motor is installed inside the transmission case and is connected to the axle through gear transmission. The power is transmitted to the driving wheel through the axle. The differential is installed at the axle to realize the differential control of the driving wheel.

[0016] Further, the folding and unfolding mechanism includes a motor, a lead screw, and a sleeve three. The motor is installed inside the drive wheel support column, and its rotor part is connected to the lead screw. A sleeve three is installed at the end of the lead screw. The sleeve three adjusts its position through lead screw transmission under the drive of the motor. The sleeve three and the drive wheel support column fixed thereto are retracted and unfolded by driving the lead screw with the motor to complete the folding and unfolding process of the wheel part.

[0017] Further, the detector further includes an auxiliary wheel leg mechanism. The auxiliary wheel leg mechanism is driven by a rotating mechanism to adjust its own configuration and is connected to the main structural cabin section to cooperate with the main wheel leg mechanism to move on complex planetary surface terrains.

[0018] Further, each group of the auxiliary wheel leg mechanisms includes a rotating mechanism, an outer sleeve, a driving mechanism two, an inner support column, and a wheel part mechanism. The outer sleeve is connected to the main structural cabin section through the rotating mechanism. The driving mechanism two includes a driving motor four, a lead screw two, and a slider table. The driving mechanism two is installed inside the outer sleeve. The end of the driving mechanism two is connected to the lead screw two and is coaxially connected to the slider table to drive the slider table to move, thereby driving the retraction and extension of the inner support column locked and installed with the slider table. The ends of the two inner support columns in the same group are coaxially connected to the wheel part mechanism. The wheel part mechanism realizes the driving function driven by the driving mechanism two. The auxiliary wheel leg mechanism adjusts the relative position of the end wheel part mechanism and the main structural cabin section through the rotating mechanism and the driving mechanism two.

[0019] The present invention has the following advantages:

[0020] Through four groups of main wheel leg mechanisms with three degrees of freedom and the auxiliary wheel leg mechanisms arranged on both sides of the cabin section, the detector is adjusted to a leg type and a wheel type configuration through the variable configuration ability to meet the movement requirements of the detector in different mission stages such as landing, wheel drive, leg walking, obstacle avoidance and over-obstacle, and the safety of the main structural cabin section, and to ensure that the detector is prevented from directly landing and damaging the moving wheels.

[0021] In the landing buffer stage, the detector is adjusted to a leg type configuration, and lands directly in contact with the planetary surface by the buffer foot pads. In the mobile inspection stage of the main wheel leg mechanism, the detector can be adjusted to a wheel type configuration, and a set of drive wheels are installed on each of the four main support columns, and functions such as traveling and turning can be completed. The moving efficiency is high in the wheel type configuration, and the detector body is relatively stable at the same time. The problem of low moving speed of the existing proposed integrated landing and moving detector is improved.

[0022] Auxiliary wheel leg mechanisms are arranged on both sides of the detector body. The auxiliary wheel legs can assist the detector to move on relatively rough and climbing terrains. When the detector gets stuck in a pit or gravel terrain and the drive wheels cannot work properly, the auxiliary wheels can adjust their postures to help the detector get out of trouble, or the detector can switch back to the leg type configuration; and get out of trouble by walking, improving the survival ability of the detector in the extraterrestrial environment.

[0023] When a traditional rover is in long-term contact with the star catalog, the moving wheels will suffer significant wear, affecting their functions and reliability. Therefore, in the long-term residence mode, the present invention adjusts to a legged configuration, which not only significantly reduces the wear of the moving wheels but also enhances the stability of the detector body during the residence stage. Description of the Drawings

[0024] Figure 1 Overall schematic diagram of the wheel-legged star catalog buffer landing and mobile integrated detector provided by the present invention;

[0025] Figure 2 Schematic diagram of the main wheel-legged mechanism provided by the present invention;

[0026] Figure 3 Schematic diagram of the main buffer-driving mechanism provided by the present invention;

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

[0028] Figure 5 Schematic diagram of the auxiliary wheel-legged mechanism provided by the present invention;

[0029] Figure 6 Schematic diagram of the driving wheel of the main wheel-legged mechanism provided by the present invention;

[0030] Figure 7 Schematic diagram of the wheel group traveling mode provided by the present invention;

[0031] Figure 8 Schematic diagram of the main wheel-legged driving mechanism provided by the present invention;

[0032] Figure 9 Schematic diagram of the internal structure of the transmission box provided by the present invention.

[0033] In the figure: 1, main structural cabin section;

[0034] 2. Main wheel-leg mechanism; 21. Main strut; 211. Driving motor 1; 212. Coupling 1; 213. Lead screw 1; 214. Sleeve 1; 215. Pin device 1; 216. Piston disc 1; 217. Locking device 1; 218. Buffer material 1; 22. Swing leg; 23. Auxiliary strut; 231. Driving motor 2; 232. Coupling 2; 233. Lead screw 2; 234. Sleeve 2; 235. Pin device 2; 236. Piston disc 2; 237. Locking device 2; 238. Buffer material 2; 24. Auxiliary lower leg rod; 25. Buffer foot pad; 26. Driving wheel mechanism; 261. Driving wheel strut; 262. Folding mechanism; 2621. Motor; 2622. Lead screw; 2623. Sleeve 3; 263. Link; 264. Steering motor; 265. Driving mechanism 1; 2651. Upper suspension frame; 2652. Suspension lower swing arm; 2653. Shock absorber; 2654. Axle; 2655. Transmission case; 26551. Driving motor 3; 26552. Differential; 266. Driving wheel;

[0035] 3. Auxiliary wheel-leg mechanism; 31. Rotating mechanism; 32. Outer sleeve; 33. Driving mechanism 2; 331. Driving motor 4; 332. Lead screw 3; 333. Slide block table; 34. Inner support column; 35. Wheel part mechanism. Detailed implementation mode

[0036] The following specific embodiments illustrate the implementation modes of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0037] Embodiment 1: As Figure 1 shown, the present invention provides a wheel-leg type integrated detector for landing and moving on the star catalog, including a main structural cabin section 1 and multiple groups of main wheel-leg mechanisms 2 arranged on its side. Each group of main wheel-leg mechanisms 2 is rotatably connected to the main structural cabin section 1;

[0038] As Figure 2As shown in the figure, the main wheel-leg mechanism 2 includes a main strut 21, a swing leg 22, an auxiliary strut 23, an auxiliary calf rod 24, a buffer foot pad 25, and a drive wheel mechanism 26; the main structural cabin section 1 is connected to the main strut 21 and the auxiliary strut 23 in the main wheel-leg mechanism 2 through a Hooke joint, and can be configured into a leg-type or wheel-type mechanism at different stages of the landing detection mission, so as to meet the requirements of landing shock resistance, high-efficiency movement ability, and all-terrain adaptability; the lower side of the main strut 21 is connected and can drive and control the swing leg 22 through a main buffer-drive mechanism, and 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 strut 23 is connected and drives the auxiliary calf rod 24 through an auxiliary buffer-drive mechanism, and the end of the auxiliary calf rod 24 is connected to the lower side of the main strut 21 through a ball joint; the main strut 21 and the swing leg 22 can achieve two-degree-of-freedom rotation and single-degree-of-freedom translation, and the rotation center is the connection point between the main strut 21 and the main structural cabin section 1; the end of the main strut 21 is connected to the drive wheel strut 261 and the connecting rod 263 of the drive wheel mechanism 26 through a revolute joint;

[0039] As Figure 1 shown, 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-legged main wheel-leg mechanism 2 realizes the leg-type traveling function of the detector through coordinated control.

[0040] Among them, as Figure 3 shown, the main buffer-drive mechanism is arranged inside the main strut 21, and includes a drive motor 1 211, a coupling 1 212, a lead screw 1 213, a sleeve 1 214, a pin device 1 215, a piston disk 1 216, a locking device 1 217, and a buffer material 1 218. The piston disk 1 216 is installed at the end of the main strut 21 and has a locking device 1 217 on its inner side. The inner side of the piston disk 1 216 is filled with a buffer material. The piston disk 1 216 is connected and unlocked with the swing leg 22 through the locking device 1 217;

[0041] Among them, as Figure 4As shown in the figure, the auxiliary buffer-driving mechanism is arranged inside the auxiliary support column 23, and includes a second driving motor 231, a second coupling 232, a second lead screw 233, a second sleeve 234, a second pin device 235, a second piston disc 236, a second locking device 237, and a second buffer material 238. The second driving motor 231 is installed inside the auxiliary support column 23, and its rotor part is connected to the second lead screw 233 through the second coupling 232. The end of the second lead screw 233 is installed with the second sleeve 234. The second pin device 235 is installed inside the second sleeve 234. The second piston disc 236 is installed at the end of the auxiliary support column 23, and its inner side has the second locking device 237. Different-stroke second buffer materials 238 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-driving mechanism.

[0042] Specifically, as Figure 6 shown in the figure, the driving wheel mechanism 26 includes a driving wheel support column 261, a folding and unfolding mechanism 262, a connecting rod 263, a steering motor 264, a first driving mechanism 265, and a driving wheel 266. The driving wheel support column 261 is installed at the end of the main support column 21 through a rotating shaft. The folding and unfolding mechanism 262 is installed inside the driving wheel support column 261. The upper end of the connecting rod 263 is connected to the main support column 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 is connected to the first driving mechanism 265. The first driving mechanism 265 realizes the actuation process of the driving wheel 266 to achieve the traveling process of the detector. The driving wheel 266 is lowered and braked by the driving wheel support column 261, and the steering motor 264 adjusts the driving wheel 266 to an angle suitable for its traveling.

[0043] Among them, as Figures 8 - 9 shown in the figure, the first driving mechanism 265 of the main wheel-leg mechanism 2 includes an upper suspension vehicle frame 2651, a suspension lower swing arm 2652, a shock absorber 2653, an axle 2654, and a transmission case 2655. The upper end of the upper suspension vehicle frame 2651 is connected to the steering motor 264 of the main wheel-leg mechanism 2. The lower end of the upper suspension vehicle frame 2651 is connected to the suspension lower swing arm 2652 through a rotating shaft. The suspension lower swing arm 2652 is connected to the transmission case 2655. At the same time, the upper suspension vehicle frame 2651 and the transmission case 2655 are connected by four shock absorbers 2653 to play a role in shock absorption during the traveling process. A third driving motor 26551 is installed inside the transmission case 2655 and is connected to the axle 2654 through gear transmission. The power is transmitted to the driving wheel 266 through the axle 2654. A differential 26552 is installed at the axle 2654 to achieve differential control of the driving wheel 266.

[0044] Among them, the folding and unfolding mechanism 262 includes a motor 2621, a lead screw 2622, and a third sleeve 2623. The motor 2621 is installed inside the drive wheel support 261, and its rotor part is connected to the lead screw 2622. The end of the lead screw 2622 is installed with the third sleeve 2623. The third sleeve 2623 adjusts its position through the transmission of the lead screw 2622 under the drive of the motor 2621. The motor 2621 drives the lead screw 2622 to control the retraction and unfolding of the third sleeve 2623 and the drive wheel support 261 fixed thereto to complete the folding and unfolding process of the wheel part.

[0045] The complete moving process is as follows: During the landing stage, the pin device one 215 inside the first sleeve 214 is compressed by the swing leg 22, and relative movement occurs between the pin device one 215 and the swing leg 22. The piston disk one 216 is connected and locked to the swing leg 22 through the locking device one 217, so that the swing leg 22 moves inward under the ground impact during landing; the locking device one 217 drives the piston disk one 216 to compress the buffer material one 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 ends, the drive motor one 211 moves the first sleeve 214 to the connection position between the piston disk one 216 and the swing leg 22. The piston disk one 216 and the swing leg 22 are unlocked, and the first sleeve 214 is locked to the swing leg 22 through the pin device one 215, realizing the drive motor one 211 to control the extension and contraction of the swing leg 22.

[0047] The drive motor one 211 in the main support 21 works to retract the buffer foot pad 25 and the swing leg 22, thus completing the transformation process of the detector from the buffer foot pad 25 touching the ground to the drive wheel 266 touching the ground, specifically as follows:

[0048] As Figure 7 shown, after the drive wheel support 261 unfolds, the main buffer-drive mechanism drives to retract the swing leg 22, and the detector is supported by the drive wheel 266 to contact the ground. The bottom of the connecting rod 263 is controlled by the steering motor 264 to drive the drive wheel 266 to turn; after the drive wheel 266 is adjusted to an appropriate angle, each group of drive wheels 266 is driven and differentially controlled by a separate drive mechanism one 265 to realize the traveling function of the wheel group;

[0049] In some terrains that are not suitable for wheeled patrol, the detector extends the swing leg 22, is supported by the buffer foot pad 25 touching the ground, and the drive wheel 266 is retracted, returning 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-legged 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-legged mechanism (2) via a Hook joint; the lower side of the main support column (21) is connected via 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) via a ball joint; The lower side of the auxiliary support (23) is connected to and drives the auxiliary shank rod (24) through an auxiliary buffer-drive 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 two-degree-of-freedom rotation and single-degree-of-freedom translation, 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 motion of a single leg through a set of main buffer-drive mechanisms and two sets of auxiliary buffer-drive mechanisms, and the quadruped main wheel leg mechanism (2) realizes the leg-type travel function of the detector through coordinated control; 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 structure compartment (1) to cooperate with the main wheel-leg mechanism (2) to move under complex surface terrain; 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).

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 driving 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.

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