Spatial parallel mechanism type landing buffering and moving integrated variable-configuration suspension

Abstract

The invention discloses a space parallel mechanism type landing buffering and moving integrated variable-configuration suspension. A suspension assembly comprises a support, a movable platform, a four-degree-of-freedom space parallel mechanism and a wheel assembly. The support is composed of a horizontal installation plate and a vertical installation plate, and the horizontal installation plate is used for achieving installation with the bottom of a vehicle body. The four-degree-of-freedom spatial parallel mechanism comprises four branch chains, three branch chains are UPS branch chains of universal hinges, linear pairs and spherical hinges, and the other branch chain is a PPU branch chain of linear pairs, linear pairs and universal hinges; universal hinges of the three UPS branch chains are mounted on the inner side of the vertical mounting plate, and spherical hinges of the three UPS branch chains are mounted on the movable platform; universal hinges and spherical hinges on the vertical mounting plate and the movable platform are arranged in a triangular manner; universal hinges of the PPU branch chains are mounted on the movable platform and located in the triangular layout formed by the spherical hinges, and linear pairs of the PPU branch chains are mounted on the horizontal mounting plate; the wheel assembly is installed on the movable platform.

Description

Technical Field

[0001] The present invention relates to a spatial parallel mechanism-type landing cushioning and mobility integrated variable configuration suspension. By combining the landing legs of a lander with wheels, it achieves both leg-type high-cushioning landing cushioning and wheel-type high-efficiency mobility. The parallel mechanism provides both leg-type cushioning and serves as a wheel-leg conversion mechanism. Background Art

[0002] In the field of manned lunar landing, a heavy-duty universal lunar platform will be used during lunar surface construction. The mobility of this platform on the lunar surface requires consideration of both operational efficiency and terrain performance. Wheeled mobility offers high efficiency and optimal performance on structured surfaces, but has poorer obstacle clearance on unstructured, rough terrain. Legged mobility is less efficient but offers excellent rough terrain clearance. Therefore, to enhance the terrain adaptability of lunar surface mobility systems, a combination of wheeled and legged mobility can be used to improve overall performance.

[0003] Lunar landers typically use a three-link parallel mechanism as their landing leg configuration, which offers excellent vertical cushioning performance and leg-like mobility within a small range. Therefore, the cushioning function of future heavy-duty lunar platforms could be developed based on the landing legs.

[0004] A prominent feature of wheeled lunar mobility is that wheels typically have low stiffness, which allows for better lunar surface adaptation, improved adhesion, and enhanced ride comfort. However, landing cushioning, such as the feet of landing legs, typically requires high stiffness. Therefore, lunar wheels cannot directly withstand landing shocks. Therefore, a heavy-duty universal lunar platform would need to switch from a wheeled configuration to a leg-based configuration to perform the cushioning task.

[0005] Current research achievements include the six-wheeled legged robot ATHLETE designed by NASA, the four-wheeled legged robot SherpaTT designed by Germany, and the four-wheeled legged robot designed by the Beijing Spacecraft General Design Department. These robots all use tandem robotic arms as their legs, with wheels mounted at the ends of the arms to achieve wheeled locomotion. The disadvantages of this configuration are that the legged arms require power to maintain position during wheeled locomotion, making them inefficient. Furthermore, the suspension structure constructed with tandem robotic arms has poor load-bearing and cushioning capabilities. Current research results simply connect the wheels and legs in series or parallel, without achieving a high degree of functional integration. Consequently, they suffer from a large number of actuators, complex structures, and difficulty in control. Summary of the Invention

[0006] The technical problem solved by the present invention is to overcome the deficiencies of the prior art and provide a space parallel mechanism type landing buffer and movement integrated variable configuration suspension.

[0007] The technical solution of the present invention is: a space parallel mechanism type landing buffer and mobile integrated variable configuration suspension, including a vehicle body and 4-6 groups of suspension components installed under the vehicle body;

[0008] The suspension assembly includes a bracket, a dynamic platform, a 4-DOF spatial parallel mechanism and a wheel assembly; the bracket is composed of a horizontal mounting plate and a vertical mounting plate, and the horizontal mounting plate is used to achieve installation on the bottom of the vehicle body; the 4-DOF spatial parallel mechanism can realize 4 independently decoupled movements, namely the up and down movement, front and back movement, steering movement and flipping movement of the dynamic platform; the 4-DOF spatial parallel mechanism includes four branches, three of which are UPS branches of universal joint-linear pair-ball joint, and the other branch is a PPU branch of linear pair-linear pair-universal joint; the universal joints of the three UPS branches are installed on the inner side of the vertical mounting plate, and the ball joints are installed on the dynamic platform; the universal joints and ball joints on the vertical mounting plate and the dynamic platform are all in a triangular layout; the universal joint of the PPU branch is installed on the dynamic platform and is located in the triangular layout formed by the ball joint, and the linear pair of the PPU branch is installed on the horizontal mounting plate; the wheel assembly is installed on the dynamic platform.

[0009] Preferably, the triangular layout is an isosceles triangle, and the straight pair of the PPU branch chain is installed at the center of gravity of the isosceles triangle.

[0010] Preferably, all four branches of the up and down movement participate in the movement; three UPS branches participate in the front and back movement; two UPS branches participate in the turning movement; three UPS branches participate in the flipping movement; the up and down movement can achieve vertical buffering in the landing state and adapt to the ups and downs of the ground in the wheeled moving state; the up and down movement and the front and back movement can achieve leg-lifting, leg-stepping, and leg-dropping walking movements; the turning movement realizes wheel steering, the flipping movement realizes switching from the wheel driving state to the foot support state, and the turning movement involves the two UPS branches at the two end points on the base of the isosceles triangle.

[0011] Preferably, each linear pair in the middle of the four branch chains is a landing leg composed of a linear drive component and a linear hydraulic buffer component connected in series.

[0012] Preferably, the linear drive assembly is composed of a motor cover with an interface, a motor assembly, a lead screw, a ball nut, a guide column, an outer cylinder, and an inner cylinder;

[0013] One end of the outer cylinder is connected to the motor cover with an interface, and a guide column is installed on the inner wall of the outer cylinder; the interface is used to install the universal hinge; the motor assembly is installed in the motor cover, the output of the motor assembly is connected to the screw, the ball nut is installed on the screw, and the inner cylinder is installed on the ball nut, and the ball nut can move axially with the ball nut under the guidance of the guide column; the outer end of the inner cylinder is used to install the linear hydraulic buffer assembly.

[0014] Preferably, a linear braking mechanism is arranged between the outer cylinder and the inner cylinder, and when the landing buffer energy is high, the linear braking mechanism is locked to prevent the ball screw mechanism from being damaged.

[0015] Preferably, the linear hydraulic buffer assembly includes a connector, a hydraulic cylinder, a piston rod, a compression spring, a piston rod sealing joint, a ball head bracket, and a ball head;

[0016] Connecting parts and piston rod sealing joints are respectively installed at both ends of the hydraulic cylinder. The piston rod includes a piston head and a rod. The piston head and the rod are a hollow integrated structure. The outer end of the rod is installed with a ball head or a linear pair through a ball head bracket. The compression spring is installed in the hollow structure, and the other end acts on the connecting part. A hole is set on the piston head. Hydraulic oil fills the cavity between the connecting part and the piston head and the hollow structure. During buffering, the hydraulic oil is squeezed through the hole and flows into other cavities to achieve a buffering damping effect.

[0017] Preferably, the hydraulic cylinder is designed with a pneumatic cylinder for storing liquid, and the pneumatic cylinder is arranged on the outside of the hydraulic cylinder and is connected to the hydraulic cylinder through a hole.

[0018] Preferably, the compression spring resets the piston rod at the end of buffering to prepare for the next buffering. The pre-pressure of the compression spring provides a load threshold for the hydraulic damper in non-landing buffering conditions. Below this threshold, the linear hydraulic buffer assembly does not work and thus exhibits the desired stiffness to the outside.

[0019] Preferably, the pre-pressure is the load threshold, which is determined as twice the total weight of the large platform above the suspension assembly divided by the number of sets of suspension assemblies.

[0020] The beneficial effects of the present invention compared with the prior art are:

[0021] The present invention relates to a space parallel mechanism type landing buffer and movement integrated variable configuration suspension, which adopts a 4-branch 4-degree-of-freedom space parallel mechanism as the landing leg, realizing the up and down movement, front and back movement, steering movement and wheel flipping movement of the moving platform. Active wheels are arranged on the moving platform of the landing leg to realize wheel movement. The wheel flipping movement realized by the space parallel mechanism flips the high-rigidity side of the wheel to face the lunar surface, realizing high-rigidity support similar to the landing leg foot, and at the same time isolates the lower-rigidity wheel from the lunar surface to protect the wheel from landing impact. The invention realizes the reuse design of the landing leg mechanism and the wheel steering and flipping mechanism, and the up and down movement and the front and back movement can also realize leg-type walking.

[0022] Compared to existing robotic arm-in-tandem wheel solutions, the proposed spatial parallel mechanism with integrated landing cushioning and mobility, featuring a variable-configuration suspension, offers a higher degree of integration. The spatial parallel mechanism's landing legs offer greater stiffness and cushioning capacity, integrating the landing legs with the wheel's actuation mechanism. The innovative design utilizes flipping wheels as support to enhance support and protect the wheels. The spatial parallel mechanism, designed based on spiral theory, utilizes a 4-way drive system to achieve four fully decoupled dynamic platform motion modes, enabling legged walking, wheel steering, and wheel-leg switching, with simplified control. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 Vehicle diagram;

[0024] Figure 2 Single suspension diagram;

[0025] Figure 3 Diagram of wheel up and down motion;

[0026] Figure 4 Wheel forward and backward motion diagram;

[0027] Figure 5 Wheel steering motion diagram;

[0028] Figure 6 Wheel flip motion diagram;

[0029] Figure 7 Single landing leg branch chain diagram;

[0030] Figure 8 Diagram of the landing leg linear drive assembly;

[0031] Figure 9 Diagram of the landing leg linear hydraulic cushion assembly;

[0032] Figure 10 Wheel assembly diagram;

[0033] Figure 11 This is the schematic diagram of the 4-DOF spatial parallel mechanism. DETAILED DESCRIPTION

[0034] The present invention will be further described below in conjunction with the embodiments.

[0035] The invention relates to an integrated variable configuration suspension system for a heavy lunar mobile platform (such as the attached Figure 1 The vehicle (as shown) features leg-based cushioning, leg-based walking, and wheeled locomotion. Leg-based cushioning and leg-based locomotion are achieved through a four-branch, four-degree-of-freedom spatial parallel mechanism, while wheeled locomotion is achieved through wheel assemblies mounted on the spatial parallel mechanism's platform. The vehicle has four to six sets of these suspension assemblies 2, distributed front-to-back or circumferentially on the vehicle body 1.

[0036] The suspension assembly 2 includes a bracket 2-1, a moving platform 2-7, a 4-DOF spatial parallel mechanism, and a wheel assembly 2-8; the bracket is composed of a horizontal mounting plate and a vertical mounting plate, the horizontal mounting plate is mounted on the bottom plate of the vehicle body 1, the 4-DOF spatial parallel mechanism includes 4 branches, the 4 branches are connected to the suspension assembly bracket 2-1 and the moving platform 2-7, and the wheel assembly 2-8 is mounted on the moving platform 2-7. The 4-DOF spatial parallel mechanism includes 4 branches (as shown in the attached figure). Figure 2 (As shown), three of the branches are universal joint-linear pair-spherical joint branches (UPS, 2-3, 2-4, and 2-5), and one is a linear pair-linear pair-universal joint (PPU, 2-6). Universal joint 2-2 has two rotational degrees of freedom, the linear pair has one translational degree of freedom, and the spherical joint has three rotational degrees of freedom. This spatial parallel mechanism has ten components and a total of twelve kinematic pairs. Therefore, the degree of freedom of this mechanism is calculated using the formula for calculating the degrees of freedom of spatial mechanisms as follows:

[0037]

[0038] Where n is the total number of components

[0039] g——Total number of sports vice

[0040] f i ——Degrees of freedom of each kinematic pair

[0041] The degree of freedom of this mechanism is F = 6*(10-12-1)+4*2+5*1+3*3=4. The four driving sources are the extension and contraction of the linear pair of the branch chain. The upper linear pair of PPU is a passive motion. The principle diagram of this mechanism is as follows Figure 11 As shown:

[0042] The spatial parallel mechanism can realize four independent decoupled movements, namely the up and down movement of the moving platform (Z-axis direction in the figure, the movement diagram is as shown in the attached figure). Figure 3 As shown), forward and backward movement (Y-axis direction in the figure, the movement diagram is as shown in the attached Figure 4 As shown), steering movement (around the Z axis in the figure, the movement is shown in the attached Figure 5 As shown) and flip motion (around the Y axis in the figure, the motion is shown in the attached Figure 6 (As shown in the figure). Chains 1, 2, 3, and 4 all participate in the up-and-down movement; chains 1, 2, and 3 participate in the forward-and-backward movement; chains 1 and 3 participate in the turning movement; and chains 1, 2, and 3 participate in the rolling movement. The up-and-down movement provides vertical cushioning during landing and adapts to uneven ground conditions during wheeled locomotion. The up-and-down and forward-and-backward movements enable leg-based walking movements such as leg lifting, stepping, and landing. Steering allows for wheel steering. Rolling allows for switching from wheeled locomotion to foot-based support.

[0043] Each branch of the spatial parallel mechanism (excluding the interfaces at both ends) is a landing leg, which is composed of a linear drive component 2-3-1 and a linear hydraulic buffer component 2-3-2 in series. Figure 7 The specific structure of the linear drive component 2-3-1 is shown in the attached Figure 8 As shown, the specific structure of the linear hydraulic buffer assembly 2-3-2 is as shown in the attached Figure 9 As shown in Figure 2, the four branched landing legs of the space parallel mechanism have the same internal structure, except for the interfaces at both ends.

[0044] The linear drive assembly 2-3-1 consists of a motor cover 2-3-1-11 with an interface, a motor assembly (motor 2-3-1-1, reducer 2-3-1-2, speed resolver 2-3-1-3, drive assembly mounting plate 2-3-1-4, reducer mounting plate 2-3-1-5, two thrust ball bearings 2-3-1-13, one deep groove ball bearing 2-3-1-14, shaft end gasket 2-3-1-12), a screw 2-3-1-6, a ball nut 2-3-1-9, two guide columns 2-3-1-7, an outer cylinder 2-3-1-10, and an inner cylinder 2-3-1-8. One end of the outer cylinder 2-3-1-10 is connected to the motor cover 2-3-1-11 with an interface, and two guide columns 2-3-1-7 are installed on the inner wall of the outer cylinder; the interface is used to install the universal hinge; the motor assembly is installed in the motor cover, the output of the motor assembly is connected to the screw 2-3-1-6, the ball nut 2-3-1-9 is installed on the screw 2-3-1-6, and the inner cylinder 2-3-1-8 is installed on the ball nut 2-3-1-9. The ball nut can move axially with the ball nut under the guidance of the guide column; the outer end of the inner cylinder is used to install the linear hydraulic buffer assembly.

[0045] The speed resolver 2-3-1-3 in the motor assembly is fixed to the motor 2-3-1-1. The reducer 2-3-1-2 is fixed behind the motor 2-3-1-1. The reducer 2-3-1-2 is fixed to the reducer mounting plate 2-3-1-5, which is fixed to the drive assembly mounting plate 2-3-1-4. Two thrust ball bearings 2-3-1-13 and one deep groove ball bearing 2-3-1-14 are installed in the drive assembly mounting plate 2-3-1-4. The shaft end washer 2-3-1-12 is located between the deep groove ball bearing 2-3-1-14 and one of the thrust ball bearings 2-3-1-13.

[0046] A linear braking mechanism can be arranged between the outer cylinder 2-3-1-10 and the inner cylinder 2-3-1-8 of the linear drive assembly 2-3-1. When the landing buffer energy is high, it can be braked and locked to prevent the ball screw mechanism from being damaged.

[0047] The linear hydraulic buffer assembly 2-3-2 consists of a connector 2-3-2-4, a hydraulic cylinder 2-3-2-2, a piston rod 2-3-2-5, a compression spring 2-3-2-1, a piston rod sealing joint 2-3-2-3, a ball head bracket 2-3-2-6, and a ball head 2-3-2-7.

[0048] The hydraulic cylinder 2-3-2-2 is equipped with a connector 2-3-2-4 and a piston rod sealing joint 2-3-2-3 at each end. The piston rod 2-3-2-5 comprises a piston head and a rod member. The piston head and rod member form a hollow, integrated structure. The outer end of the rod member is mounted with a ball head 2-3-2-7 via a ball head bracket 2-3-2-6. A compression spring 2-3-2-1 is installed within the hollow structure, with the other end acting on the connector 2-3-2-4. A small hole is provided in the piston head (the specific structure is designed according to the principles of a hydraulic damper). Hydraulic oil fills the cavity between the connector and the piston head, as well as the hollow structure. During buffering, the hydraulic oil is squeezed through the small hole and flows into the other cavity, achieving a buffering and damping effect. If it is a PPU branch chain, a linear pair is installed at the outer end of the rod member, such as a linear pair of a guide rail slider structure. To accommodate changes in liquid volume, the hydraulic cylinder 2-3-2-2 requires a pneumatic cylinder to store the liquid. The pneumatic cylinder is arranged on the outside of the hydraulic cylinder and is connected to the hydraulic cylinder through a small hole. The small hole here can be designed in detail according to the corresponding hydraulic damper specifications. The built-in compression spring 2-3-2-1 can reset the piston rod 2-3-2-5 at the end of the buffering, preparing for the next buffering. The compression spring 2-3-2-1 has a large pre-pressure, and in non-landing buffering conditions, it provides a load threshold for the hydraulic damper. Below this threshold, the linear hydraulic buffer assembly 2-3-2 does not work and thus exhibits a greater stiffness to the outside. Therefore, the overall stiffness of the landing leg is higher in non-landing buffering conditions, and a higher control bandwidth can be achieved.

[0049] The preload can be calculated. This preload, or load threshold, can be determined as twice the total weight of the platform above the suspension, divided by the number of suspension components. For example, if the platform weighs 5 tons and has 6 suspensions, the preload is 10 / 6 tons, corresponding to lunar gravity.

[0050] According to the axial length of the hydraulic cylinder, a small support component can be set inside it to ensure that the compression spring does not twist during operation. Note that the setting of the support component cannot affect the compression performance of the hydraulic cylinder.

[0051] The wheel assembly 2-8 installed on the moving platform has two functions: wheel walking and flip rear foot support (such as the attached Figure 6 As shown), the present invention preferably provides a structure as shown in the attached Figure 10As shown, the mounting plate 2-8-4 is fixedly connected to the high-rigidity support foot 2-8-1, and a pair of angular contact ball bearings 2-8-3 are installed between the high-rigidity support foot 2-8-1 and the inner hole of the wheel 2-8-2 to realize rotational support. There is an axial gap between the high-rigidity support foot 2-8-1 and the wheel 2-8-2. When the wheel 2-8-2 rotates, the high-rigidity support foot 2-8-1 does not rotate. The wheel 2-8-2 has its own drive unit, which can be in the form of a wheel-side drive or a hub motor (not shown in the figure). The wheel on the lunar surface has low stiffness, and the flexible wheel surface wheel 2-8-2 provides high lunar surface adhesion and cushioning of lunar surface fluctuations to improve driving comfort. The side of the wheel is designed with a high-rigidity support foot 2-8-1. When the wheel 2-8-2 completes the flip, the high-rigidity support foot 2-8-1 contacts the lunar surface, and the wheel 2-8-2 is separated from the lunar surface, which not only realizes high-rigidity landing support but also realizes wheel protection. The inner wheel support extends outward, expanding into a support foot 2-8-1. This inner support transmits the force of support foot 2-8-1 directly to a mounting plate 2-8-4 on the other side. Mounting plate 2-8-4 is mounted on the dynamic platform 2-7 of the spatial parallel mechanism. This allows the landing impact load to be directly transferred from the high-rigidity support foot 2-8-1 to the spatial parallel mechanism. The landing impact load is then absorbed directly by the linear hydraulic buffer assembly 2-3-2 on the landing leg.

[0052] Although the present invention has been disclosed above in terms of preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solutions of the present invention by using the methods and technical contents disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and modifications 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 scope of protection of the technical solutions of the present invention.

[0053] Parts of the present invention that are not described in detail belong to the common knowledge of those skilled in the art.

Claims

1. A space parallel mechanism landing buffer and mobile integrated variable configuration suspension, characterized in that It includes a vehicle body and 4-6 sets of suspension components installed under the vehicle body; The suspension assembly includes a bracket, a moving platform, a 4-DOF spatial parallel mechanism and a wheel assembly; the bracket is composed of a horizontal mounting plate and a vertical mounting plate, and the horizontal mounting plate is used to achieve installation on the bottom of the vehicle body; the 4-DOF spatial parallel mechanism can realize 4 independently decoupled movements, namely the up and down movement, front and back movement, steering movement and flipping movement of the moving platform; the 4-DOF spatial parallel mechanism includes four branches, three of which are UPS branches of universal joint-linear pair-ball joint, and the other branch is a PPU branch of linear pair-linear pair-universal joint; the universal joints of the three UPS branches are installed on the inner side of the vertical mounting plate, and the ball joints are installed on the moving platform; the universal joints and ball joints on the vertical mounting plate and the moving platform are all in a triangular layout; the universal joint of the PPU branch is installed on the moving platform and is located in the triangular layout formed by the ball joint, and the linear pair of the PPU branch is installed on the horizontal mounting plate; the wheel assembly is installed on the moving platform.

2. The space parallel mechanism landing buffer and mobile integrated variable configuration suspension according to claim 1, characterized in that: The triangular layout is an isosceles triangle, and the straight pair of the PPU branch chain is installed at the center of gravity of the isosceles triangle.

3. The space parallel mechanism landing buffer and mobile integrated variable configuration suspension according to claim 1 or 2, characterized in that: All four branches of the up and down movement participate in the movement; three UPS branches participate in the front and back movement; two UPS branches participate in the turning movement; three UPS branches participate in the flipping movement; the up and down movement can achieve vertical buffering in the landing state and adapt to the ups and downs of the ground in the wheeled moving state; the up and down movement and the front and back movement can realize the leg-lifting, leg-stepping and leg-dropping walking movements; the turning movement realizes wheel steering, the flipping movement realizes switching from the wheel driving state to the foot support state, and the steering movement involves the two UPS branches at the two end points on the base of the isosceles triangle.

4. The space parallel mechanism landing buffer and mobile integrated variable configuration suspension according to claim 1, characterized in that: The linear pairs in the middle of the four branch chains are each a landing leg composed of a linear drive component and a linear hydraulic buffer component connected in series.

5. The space parallel mechanism landing buffer and mobile integrated variable configuration suspension according to claim 4, characterized in that: The linear drive assembly is composed of a motor cover with an interface, a motor assembly, a lead screw, a ball nut, a guide column, an outer cylinder, and an inner cylinder; One end of the outer cylinder is connected to a motor cover with an interface, and a guide column is installed on the inner wall of the outer cylinder; the interface is used to install a universal hinge; a motor assembly is installed in the motor cover, the output of the motor assembly is connected to a lead screw, a ball nut is installed on the lead screw, and an inner cylinder is installed on the ball nut, and the ball nut can move axially with the ball nut under the guidance of the guide column; the outer end of the inner cylinder is used to install a linear hydraulic buffer assembly.

6. The space parallel mechanism landing buffer and mobile integrated variable configuration suspension according to claim 5, characterized in that: A linear braking mechanism is arranged between the outer cylinder and the inner cylinder. When the landing buffer energy is high, the linear braking mechanism is locked to prevent the ball screw mechanism from being damaged.

7. The space parallel mechanism landing buffer and mobile integrated variable configuration suspension according to claim 4 or 5, characterized in that: The linear hydraulic buffer assembly includes a connector, a hydraulic cylinder, a piston rod, a compression spring, a piston rod sealing joint, a ball head bracket, and a ball head; Connecting parts and piston rod sealing joints are respectively installed at both ends of the hydraulic cylinder. The piston rod includes a piston head and a rod member. The piston head and the rod member are hollow integrated structures. The outer end of the rod member is installed with a ball head through a ball head bracket or a linear pair. The compression spring is installed in the hollow structure, and the other end acts on the connecting part. A hole is set on the piston head. Hydraulic oil fills the cavity between the connecting part and the piston head and the hollow structure. During buffering, the hydraulic oil is squeezed through the hole and flows into other cavities to achieve a buffering damping effect.

8. The space parallel mechanism landing buffer and mobile integrated variable configuration suspension according to claim 7, characterized in that: The hydraulic cylinder is designed with a pneumatic cylinder for storing liquid. The pneumatic cylinder is arranged on the outside of the hydraulic cylinder and is connected to the hydraulic cylinder through a hole.

9. The space parallel mechanism landing buffer and mobile integrated variable configuration suspension according to claim 7, characterized in that: The compression spring resets the piston rod at the end of buffering to prepare for the next buffering. The preload of the compression spring provides a load threshold for the hydraulic damper under non-landing buffering conditions. Below this threshold, the linear hydraulic buffer assembly does not work and thus exhibits the desired stiffness to the outside.

10. The space parallel mechanism landing buffer and mobile integrated variable configuration suspension according to claim 9, characterized in that: The pre-pressure is the load threshold, which is determined as twice the total weight of the large platform above the suspension assembly divided by the number of sets of the suspension assembly.

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