Crawling robot for lunar exploration

Abstract

The invention relates to the technical field of deep space exploration robots, in particular to a lunar exploration crawling robot. Comprising a box body, a vision module, a control module, a leg movement mechanism and a driving module, the vision module is arranged on the front face of the box body, and the vision module can transmit terrain environment data around the robot to the control module or send the data back to the ground; the leg movement mechanism is arranged on a bottom plate of the box body, the control module and the driving module are arranged in the box body, the driving module is connected with the leg movement mechanism, the control module controls the driving module, the driving module drives the leg movement mechanism to move, and the leg movement mechanism is matched with the vision module to achieve crawling and steering actions on the rugged lunar terrain. And the detection of the moon surface landform environment is completed. According to the leg movement mechanism, the robot can reliably move on the terrains of the lunar pit and the lava duct, good motility and agility are achieved, the joint weight and rotational inertia are reduced, and the flexibility and movement performance of the robot are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of deep space exploration robots, and in particular to a lunar surface exploration crawling robot. Background Art

[0002] Deep space exploration is an important area of ​​human exploration of the universe, involving scientific research on celestial bodies such as other planets, satellites, asteroids and comets. With the advancement of technology, traditional manned spaceflight has gradually shifted to unmanned exploration, and robotic probes have played a vital role in this process. Compared with manned spaceflight, the cost of robotic exploration is significantly reduced, and it can effectively avoid the survival risks of humans in deep space exploration. Robots can conduct long-term observations and experiments in environments that are very dangerous to humans, such as high radiation and extreme temperatures, and provide scientists with a large amount of data support.

[0003] There are many lunar craters on the lunar surface due to meteorite impacts and volcanic eruptions, and there are also a large number of lava tube terrains formed by the cooling of magma. The exploration of lunar caves can provide a new perspective for understanding lunar volcanic activity and may confirm the existence of stable underground environments that can shield radiation and have optimal temperature conditions suitable for human use. The wheeled or tracked exploration robots commonly used in current exploration missions are difficult to penetrate into these special terrains for observation. Legged robots are more flexible than wheeled robots and can freely enter and exit these terrains and obtain geological information hidden in them.

[0004] Therefore, designing a lunar exploration crawling robot can better meet the needs of lunar exploration missions targeting lunar craters or lava tube terrains. Summary of the invention

[0005] In view of the above problems, the object of the present invention is to provide a lunar exploration crawling robot to better meet the needs of lunar exploration missions targeting lunar craters or lava tube terrains.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] The present invention provides a lunar exploration crawling robot, comprising a box, a vision module, a control module, a leg motion mechanism and a driving module, wherein the vision module is arranged on the front side of the box, and the vision module can transmit the terrain environment data around the robot to the control module or send it back to the ground; the leg motion mechanism is arranged on the box bottom plate of the box, the control module and the driving module are arranged in the box, the driving module is connected with the leg motion mechanism, the control module is used to control the driving module, and the driving module is used to drive the leg motion mechanism to move, and the leg motion mechanism cooperates with the vision module to realize crawling and turning actions on the rugged terrain of the lunar surface, thereby completing the detection of the lunar surface landform environment.

[0008] The leg movement mechanism includes a steering joint, a turntable, hind legs and front legs, wherein the steering joint is arranged on the box, the upper end of the steering joint is connected to the turntable, the lower end of the steering joint is placed on the outer side of the bottom plate of the box and is connected to the rear end of the hind legs through the hind leg movement joint, and the front end of the hind legs is connected to the front legs through the front leg movement joint; the hind leg movement joint and the front leg movement joint are connected to the driving module through a traction rope transmission.

[0009] The hind leg motion joint includes a hind leg joint fixed shaft, a hind leg joint connecting part, a pulley III, a pulley IV and a pulley V, wherein one end of the hind leg joint connecting part is connected to the hind leg, and the other end is connected to the steering joint, pulleys III, IV and V are coaxially installed at the rear end of the hind leg through the hind leg joint fixed shaft, pulley V is fixedly connected to the hind leg, pulley III and pulley IV are fixedly connected as a whole, pulley III and pulley V are respectively connected to the driving module through traction rope II and traction rope III, and pulley IV is connected to the front leg motion joint through traction rope IV.

[0010] The front leg motion joint includes a front leg joint fixed shaft and a pulley VI, wherein the front leg joint fixed shaft is used to connect the hind leg and the front leg, the hind leg and the front leg can rotate relative to each other, the pulley VI is mounted on the front leg joint fixed shaft, and the pulley VI is connected to the front leg, and the rotation of the pulley VI can drive the front leg to rotate simultaneously.

[0011] The steering joint includes a driven pulley, an azimuth steering joint shaft, a flange I and a cross roller bearing, wherein the azimuth steering joint shaft is rotatably connected to the bottom plate of the box body, the driven pulley is fixed on the azimuth steering joint shaft, and the driven pulley is connected to the driving module through a traction rope I; the lower end of the azimuth steering joint shaft is connected to the leg movement mechanism through flange I.

[0012] The driving module comprises a steering joint driving motor and a leg joint driving motor, wherein the steering joint driving motor is mounted on the bottom plate of the box body through a support platform, and the output end is connected to a driving pulley, and the driving pulley is used for transmission connection with the steering joint;

[0013] The leg joint drive motors include a front leg joint drive motor and a hind leg joint drive motor which are arranged on a turntable, and the front leg joint drive motor and the hind leg joint drive motor respectively provide power for the rotation of the front leg motion joint and the hind leg motion joint.

[0014] There are four leg motion mechanisms, which are respectively arranged at the four corners of the bottom plate of the box; each leg motion mechanism is respectively connected to a group of the driving modules.

[0015] The control module includes a main control box, an inertial measurement unit, an azimuth steering joint motor drive module and a leg joint motor drive module, wherein the main control box is responsible for editing and storing the control program, and sending signals to the other control modules to adjust the overall movement mode; the inertial measurement unit is used to measure the acceleration, angular velocity and surrounding magnetic field of the robot during movement, and transmit the measurement results to the main control box to timely adjust the robot's movement gait; the azimuth steering joint motor drive module and the leg joint motor drive module control the parameters of each motor after receiving the signal transmitted by the main control box.

[0016] The visual module includes an environmental radar and two cameras, and the two cameras are arranged above the environmental radar.

[0017] The lunar exploration crawling robot also includes a temperature control module disposed in the box body. The temperature control module is installed in the central part of the box body. The temperature control module maintains the temperature inside the box body stable according to the ambient temperature.

[0018] The advantages and positive effects of the present invention are as follows: the present invention provides a lunar exploration crawling robot, which adopts a quadruped motion mechanism, that is, four leg motion mechanisms so that the robot can move reliably on lunar craters and lava tube terrains, and has good mobility and agility.

[0019] The present invention adopts a rope transmission system to control the movement of each joint, and the leg joint drive motor can be integrated inside the box, without the need for an additional design structure to protect the drive motor; at the same time, the size of the leg motion mechanism is greatly simplified, the weight and rotational inertia of the joint are reduced, and the flexibility and motion performance of the robot are improved.

[0020] The present invention integrates most of the electronic components inside the box, which can effectively prevent the interference and damage of lunar dust on the components. At the same time, the compact arrangement enables the thermal control module to complete the temperature control work more effectively and consumes less energy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is an axonometric diagram of a lunar surface exploration crawling robot according to the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of a lunar exploration crawling robot without the upper box body of the present invention;

[0023] Figure 3 is a distribution diagram of the components inside the box in the present invention;

[0024] Figure 4 is an axonometric diagram of the leg motion mechanism of the present invention;

[0025] Figure 5 It is an assembly diagram of the steering joint and the turntable in the present invention;

[0026] Figure 6 It is an assembly diagram of the front leg and hind leg motion units in the present invention.

[0027] In the figure: 1-box, 101-front of box, 102-rope movement slot I, 103-bottom of box;

[0028] 2- vision module, 201- camera, 202- environment radar;

[0029] 3-control module, 301-main control box, 302-inertial measurement unit, 303-azimuth steering joint motor drive module, 304-leg joint motor drive module;

[0030] 4- Temperature control module;

[0031] 5-leg movement mechanism, 501-support platform, 502-driving pulley, 503-steering joint, 5031-driven pulley, 5032-azimuth steering joint shaft, 5033-flange Ⅰ, 5034-cross roller bearing, 504-turntable, 5041-turntable connecting piece, 5042-turntable support frame, 5043-turntable fixed shaft, 5044-flange Ⅱ, 5045-bevel gear set Ⅰ, 5046-bevel gear set Ⅱ, 5047-pulley Ⅰ, 5048-pulley Ⅱ, 5 05- hind leg, 5051- rope movement slot Ⅱ, 506- front leg, 507- hind leg movement joint, 5071- hind leg joint fixed axis, 5072- hind leg joint connecting piece, 5073- pulley Ⅲ, 5074- pulley Ⅳ, 5075- pulley Ⅴ, 508- front leg movement joint, 5081- front leg joint fixed axis, 5082- pulley Ⅵ, 509- traction rope, 5091- traction rope Ⅰ, 5092- traction rope Ⅱ, 5093- traction rope Ⅲ, 5094- traction rope Ⅳ;

[0032] 6-drive module, 601-steering joint drive motor, 602-leg joint drive motor, 6021-front leg joint drive motor, 6022-hind leg joint drive motor. DETAILED DESCRIPTION

[0033] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] See also Figures 1 to 6As shown, the present invention provides a lunar exploration crawling robot, including a box body 1, a vision module 2, a control module 3, a leg motion mechanism 5 and a driving module 6, wherein the vision module 2 is arranged on the box body front side 101 of the box body 1, and the vision module 2 can transmit the terrain environment data around the robot to the control module 3 or send it back to the ground; the leg motion mechanism 5 is arranged on the box body bottom plate 103 of the box body 1, the control module 3 and the driving module 6 are arranged in the box body 1, the driving module 6 is connected with the leg motion mechanism 5, the control module 3 is used to control the driving module 6, and the driving module 6 is used to drive the leg motion mechanism 5 to move, and the leg motion mechanism 5 cooperates with the vision module 2 to realize crawling and turning actions on the rugged terrain of the lunar surface, thereby completing the detection of the lunar surface landform environment.

[0035] See also Figure 1 and Figure 2 As shown, in the embodiment of the present invention, the box 1 is a hexahedron, and there are four leg motion mechanisms 5, which are respectively arranged at the four corners of the box bottom plate 103; each leg motion mechanism 5 is respectively connected to a group of drive modules 6. The visual module 2 includes an environmental radar 202 and two cameras 201, and the two cameras 201 are arranged above the environmental radar 202. The visual module 2 can transmit the terrain environment data around the robot to the control module or send it back to the ground, so that researchers can further understand the geological information of the lunar surface and make adjustments to the subsequent movement trajectory. The installation hole of the visual module 2 is left on the front 101 of the box, and two rope motion grooves Ⅰ102 are opened on the four Z-direction edges of the box 1. Except for the visual module 2, the remaining modules are fixed on the box bottom plate 103, and the upper box is connected to the box bottom plate 103 by screws.

[0036] See also Figure 4 As shown, in an embodiment of the present invention, the leg movement mechanism 5 includes a steering joint 503, a turntable 504, a hind leg 505 and a front leg 506, wherein the steering joint 503 is arranged on the box 1, the upper end of the steering joint 503 is connected to the turntable 504, the lower end of the steering joint 503 is placed on the outer side of the box bottom plate 103, and is connected to the rear end of the hind leg 505 through the hind leg movement joint 507, and the front end of the hind leg 505 is connected to the front leg 506 through the front leg movement joint 508; the hind leg movement joint 507 and the front leg movement joint 508 are connected to the driving module 6 through a traction rope transmission.

[0037] In an embodiment of the present invention, the driving module 6 includes a steering joint driving motor 601 and a leg joint driving motor 602, wherein the steering joint driving motor 601 is vertically mounted on the bottom plate 103 of the box through a support platform 501, and the output end is connected to the driving pulley 502, the driving pulley 502 is accommodated in a groove below the support platform 501, and the driving pulley 502 is used for transmission connection with the steering joint 503; the leg joint driving motor 602 is arranged on a turntable 504, and the leg joint driving motor 602 is used to drive the movement of each joint of the leg movement mechanism 5.

[0038] See also Figure 5 As shown, in the embodiment of the present invention, the steering joint 503 includes a driven pulley 5031, an azimuth steering joint shaft 5032, a flange I 5033 and a cross roller bearing 5034, wherein the azimuth steering joint shaft 5032 is connected to the box bottom plate 103 through the cross roller bearing 5034, the driven pulley 5031 is fixed on the azimuth steering joint shaft 5032, and the driven pulley 5031 is connected to the driving pulley 502 at the output end of the steering joint drive motor 601 through a traction rope I 5091; the lower end of the azimuth steering joint shaft 5032 is connected to the leg motion mechanism 5 through a flange I 5033. The steering joint 503 is driven to rotate through the traction rope I 5091 to complete the overall azimuth steering task of the single leg.

[0039] In the embodiment of the present invention, the leg joint drive motor 602 includes a front leg joint drive motor 6021 and a hind leg joint drive motor 6022 vertically arranged on the turntable 504. The front leg joint drive motor 6021 and the hind leg joint drive motor 6022 form a whole with the turntable 504 and rotate together with the steering joint 503. The front leg joint drive motor 6021 and the hind leg joint drive motor 6022 provide power for the rotation of the front leg motion joint 508 and the hind leg motion joint 507 respectively.

[0040] Specifically, the driven pulley 5031 receives the torque from the steering joint drive motor 601 through the traction rope I 5091. The driven pulley 5031 is connected to the azimuth steering joint shaft 5032 by a key, which can drive the azimuth steering joint shaft 5032 and all the components installed on the turntable support frame 5042 to rotate synchronously. The bottom of the azimuth steering joint shaft 5032 is connected to the rear leg joint connecting member 5072 by a flange I 5033. The cross roller bearing 5034 separates the working plane of the box bottom plate 103 from the rear leg joint connecting member 5072, and bears the axial and radial loads during the working process. The turntable connecting member 5041 is installed at the top of the azimuth steering joint shaft 5032, and its bottom working surface is connected to the driven pulley 5031 by a thread, and its upper working surface is connected to the turntable support frame 5042 by a thread. The turntable fixed shaft 5043 is installed on the ear-shaped structure behind the turntable connecting member 5041 and connected through flange II 5044. The turntable fixed shaft 5043 can follow the turntable connecting member 5041 to perform horizontal rotational movement, but will not produce rotational movement around its own central axis. The front leg joint drive motor 6021 and the hind leg joint drive motor 6022 are respectively installed on the left and right sides of the turntable support frame 5042. Since the lengths of the traction ropes driving the corresponding joints are different, the required torques are also different, so the rated power of the front leg joint drive motor 6021 is greater than the rated power of the hind leg joint drive motor 6022.

[0041] Furthermore, the output ends of the front leg joint drive motor 6021 and the hind leg joint drive motor 6022 are respectively connected to the bevel gear set I5045 and the bevel gear set II5046, which are rotatably installed on the two ends of the turntable fixed shaft 5043, and the bevel gear set I5045 and the bevel gear set II5046 are respectively provided with pulleys I5047 and pulleys II5048, which are coaxial and perpendicular to the axis of the driven pulley 5031. The front leg joint drive motor 6021 and the hind leg joint drive motor 6022 transmit the output driving force to the pulleys I5047 and pulleys II5048 respectively.

[0042] See also Figure 6As shown, in the embodiment of the present invention, the hind leg motion joint 507 includes a hind leg joint fixed shaft 5071, a hind leg joint connecting member 5072, a pulley III 5073, a pulley IV 5074 and a pulley V 5075, wherein one end of the hind leg joint connecting member 5072 is connected to the hind leg 505, and the other end is connected to the steering joint 503, and the pulley III 5073, the pulley IV 5074 and the pulley V 5075 are connected to the hind leg joint fixed shaft 5071. 071 is coaxially installed at the rear end of the hind leg 505, pulley V5075 is fixedly connected to the hind leg 505, pulley III5073 and pulley IV5074 are fixedly connected as a whole, pulley III5073 is connected to pulley I5047 through traction rope II5092, pulley V5075 is connected to pulley II5048 through traction rope III5093, and pulley IV5074 is connected to the front leg motion joint 508 through traction rope IV5094. The front leg motion joint 508 includes a front leg joint fixed shaft 5081 and a pulley VI 5082, wherein the front leg joint fixed shaft 5081 is used to connect the hind leg 505 and the front leg 506, and the hind leg 505 and the front leg 506 can rotate with each other, and the pulley VI 5082 is mounted on the front leg joint fixed shaft 5081, and the pulley VI 5082 is connected to the front leg 506, and the pulley VI 5082 is connected to the traction rope IV 5094, and the rotation of the pulley VI 5082 can drive the front leg 506 to rotate at the same time.

[0043] Specifically, the hind leg motion joint 507 connects the hind leg joint connection piece 5072, the pulley III 5073, the pulley IV 5074 and the pulley V 5075 to the hind leg 505 through the hind leg joint fixed shaft 5071. The pulley I drives the pulley III 5073 to rotate through the traction rope II 5092, and the pulley II 5048 drives the pulley V 5075 to rotate through the traction rope III 5093. The pulley V 5075 is connected to the hind leg 505 as a whole by bolts to control the bending angle of the hind leg 505, and the pulley III 5073 and the pulley IV 5074 are connected as a whole by bolts to further drive the traction rope IV 5094 to rotate. The traction rope IV5094 passes through the rope movement groove II5051 on the rear leg 505 and is connected to the pulley VI5082. The pulley VI5082 is connected to the front leg 506 through bolts to control the bending angle of the front leg 506.

[0044] In order to achieve specific gait movements, the front leg joint drive motor 6021 uses the traction rope II 5092 and the traction rope IV 5094 to adjust the front leg motion joint 508. The hind leg joint drive motor 6022 uses the traction rope III 5093 to adjust the hind leg motion joint 507. The hind leg 505 and the front leg 506 are the specific implementation components of the crawling movement, and the shaft is used to connect and fix the corresponding joints and support the entire robot.

[0045] See also Figure 3As shown, in the embodiment of the present invention, the control module 3 can be specifically divided into three parts: motion control, gait control and motor control; the control module 3 includes a main control box 301, an inertial measurement unit 302, an azimuth steering joint motor drive module 303 and a leg joint motor drive module 304, wherein the main control box 301 is responsible for editing and storing the control program, and sending signals to the remaining control modules to adjust the overall motion mode; the inertial measurement unit 302 is used to measure the acceleration, angular velocity and surrounding magnetic field of the robot during movement, and transmit the measurement results to the main control box 301 to timely adjust the robot's motion gait; the azimuth steering joint motor drive module 303 and the leg joint motor drive module 304 control the parameters of each motor after receiving the signal transmitted by the main control box 301.

[0046] Furthermore, a lunar exploration crawling robot provided by the present invention also includes a temperature control module 4 arranged in the box body 1. The temperature control module 4 is installed in the central part of the box body 1. The heating plate carried by the temperature control module 4 can maintain the temperature inside the box body 1 stable according to the ambient temperature, thereby preventing various electronic components from being damaged and failing under extreme ambient temperature conditions.

[0047] Specifically, the main control box 301 is located at the center of the bottom plate 103 of the box body, which is convenient for connecting wiring and data exchange. The inertial measurement unit 302 is installed on the side close to the front of the box body 101, similar to the position of the human heart. There are four azimuth steering joint motor drive modules 303, which are evenly distributed beside the four steering joint drive motors 601 and are connected to the bottom plate 103 of the box body by threads. The leg joint motor drive modules 304 are arranged in an upper and lower double-layer mode and distributed on the turntable support frame 5042, totaling eight, and each single controls the corresponding motor. The temperature control module 4 is integrated in the temperature control box and installed behind the main control box 301 to ensure that the temperature inside the box body 1 is kept within a range suitable for the operation of electronic components. The core components of the inertial measurement unit IMU (Inertial Measurement Unit) are accelerometers, gyroscopes and magnetometers, which can measure the acceleration, angular velocity and surrounding magnetic field of the robot during movement, and transmit the measurement results to the main control box 301 to adjust the robot's movement gait in time. After receiving the signal transmitted by the main control box, the motor control module can control the motor's switch state, rotation speed, torque size and other parameters to control specific motion parameters.

[0048] In the embodiment of the present invention, the leg motion mechanism of the four legs of the robot is the same, which can be divided into three parts: the front leg, the hind leg and the azimuth steering joint, which are fixed to each other by connecting shafts. The above three parts correspond to three motion joints, of which the azimuth steering joint is located inside the box, and the other two joints are exposed outside. Each joint is pulled by an independent driving motor rope, driving the pulley to drive the front leg and the hind leg to achieve corresponding bending or relaxation movements. The robot as a whole includes a total of twelve driving motors, and each motion joint corresponds to a driving motor. In order to reduce the width of the box, make the overall structure more compact, and reserve space for other loads installed in the box, all motors are installed vertically. The motors driving the front leg joints and the hind leg joints are mounted on a turntable, and the torque direction of their output is changed by bevel gears. The azimuth steering joint driving motor is directly fixed on the support frame of the bottom plate of the box, and the output end is directly connected to the pulley.

[0049] The present invention provides a lunar exploration crawling robot, which adopts a quadruped motion mechanism so that the robot can move reliably on lunar craters and lava tube terrains, and has good mobility and agility. A rope transmission system is adopted to control the movement of each joint, and the leg joint drive motor can be integrated inside the box, without the need for an additional design structure to protect the drive motor. At the same time, the size of the leg motion mechanism is greatly simplified, the weight and moment of inertia of the joint are reduced, and the flexibility and motion performance of the robot are improved. Most of the electronic components are integrated and installed inside the box, which can effectively prevent the interference and damage of the components by lunar dust. At the same time, the compact arrangement allows the thermal control module to complete the temperature control work more effectively and consumes less energy.

[0050] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A lunar exploration crawling robot, characterized in that: The robot comprises a box (1), a visual module (2), a control module (3), a leg movement mechanism (5) and a drive module (6), wherein the visual module (2) is arranged on the front of the box (1), and the visual module (2) can transmit the terrain environment data around the robot to the control module (3) or send it back to the ground; the leg movement mechanism (5) is arranged on the box bottom plate (103) of the box (1), the control module (3) and the drive module (6) are arranged in the box (1), the drive module (6) is connected to the leg movement mechanism (5), the control module (3) is used to control the drive module (6), and the drive module (6) is used to drive the leg movement mechanism (5) to move, and the leg movement mechanism (5) cooperates with the visual module (2) to realize crawling and turning actions on the rugged terrain of the lunar surface, thereby completing the detection of the lunar surface terrain environment.

2. The lunar surface exploration crawling robot according to claim 1, characterized in that: The leg movement mechanism (5) comprises a steering joint (503), a turntable (504), a hind leg (505) and a front leg (506), wherein the steering joint (503) is arranged on the box (1), the upper end of the steering joint (503) is connected to the turntable (504), the lower end of the steering joint (503) is placed on the outside of the box bottom plate (103) and is connected to the rear end of the hind leg (505) through a hind leg movement joint (507), and the front end of the hind leg (505) is connected to the front leg (506) through a front leg movement joint (508); the hind leg movement joint (507) and the front leg movement joint (508) are connected to the driving module (6) through a traction rope transmission.

3. The lunar surface exploration crawling robot according to claim 2, characterized in that: The hind leg motion joint (507) comprises a hind leg joint fixed shaft (5071), a hind leg joint connecting piece (5072), a pulley III (5073), a pulley IV (5074) and a pulley V (5075), wherein one end of the hind leg joint connecting piece (5072) is connected to the hind leg (505), and the other end is connected to the steering joint (503), and the pulley III (5073), the pulley IV (5074) and the pulley V (5075) are connected to the hind leg joint fixed shaft (5071). 71) is coaxially mounted at the rear end of the hind leg (505), pulley V (5075) is fixedly connected to the hind leg (505), pulley III (5073) and pulley IV (5074) are fixedly connected as a whole, pulley III (5073) and pulley V (5075) are connected to the driving module (6) via traction rope II (5092) and traction rope III (5093) respectively, and pulley IV (5074) is connected to the front leg motion joint (508) via traction rope IV (5094).

4. The lunar surface exploration crawling robot according to claim 2, characterized in that: The front leg motion joint (508) comprises a front leg joint fixing shaft (5081) and a pulley VI (5082), wherein the front leg joint fixing shaft (5081) is used to connect the hind leg (505) and the front leg (506), and the hind leg (505) and the front leg (506) can rotate relative to each other, and the pulley VI (5082) is mounted on the front leg joint fixing shaft (5081), and the pulley VI (5082) is connected to the front leg (506), and the rotation of the pulley VI (5082) can drive the front leg (506) to rotate simultaneously.

5. The lunar surface exploration crawling robot according to claim 2, characterized in that: The steering joint (503) comprises a driven pulley (5031), an azimuth steering joint shaft (5032), a flange I (5033) and a cross roller bearing (5034), wherein the azimuth steering joint shaft (5032) is rotatably connected to the box bottom plate (103), the driven pulley (5031) is fixed on the azimuth steering joint shaft (5032), and the driven pulley (5031) is connected to the driving module (6) via a traction rope I (5091); the lower end of the azimuth steering joint shaft (5032) is connected to the leg movement mechanism (5) via a flange I (5033).

6. The lunar surface exploration crawling robot according to claim 2, characterized in that: The driving module (6) comprises a steering joint driving motor (601) and a leg joint driving motor (602), wherein the steering joint driving motor (601) is mounted on the box bottom plate (103) via a support platform (501), and an output end is connected to a driving pulley (502), and the driving pulley (502) is used for transmission connection with the steering joint (503); The leg joint drive motor (602) comprises a front leg joint drive motor (6021) and a hind leg joint drive motor (6022) which are arranged on a turntable (504), and the front leg joint drive motor (6021) and the hind leg joint drive motor (6022) respectively provide power for the rotation of the front leg motion joint (508) and the hind leg motion joint (507).

7. The lunar surface exploration crawling robot according to claim 2, characterized in that: There are four leg movement mechanisms (5), which are respectively arranged at the four corners of the box bottom plate (103); each leg movement mechanism (5) is respectively connected to a group of the driving modules (6).

8. The lunar surface exploration crawling robot according to claim 1, characterized in that: The control module (3) comprises a main control box (301), an inertial measurement unit (302), an azimuth steering joint motor drive module (303) and a leg joint motor drive module (304), wherein the main control box (301) is responsible for editing and storing control programs, and sending signals to other control modules to adjust the overall motion mode; the inertial measurement unit (302) is used to measure the acceleration, angular velocity and surrounding magnetic field of the robot during motion, and transmit the measurement results to the main control box (301) to timely adjust the robot's motion gait; The azimuth steering joint motor drive module (303) and the leg joint motor drive module (304) control the parameters of each motor after receiving the signal transmitted by the main control box (301).

9. The lunar surface exploration crawling robot according to claim 1, characterized in that: The visual module (2) comprises an environmental radar (202) and two cameras (201), wherein the two cameras (201) are arranged above the environmental radar (202).

10. The lunar surface exploration crawling robot according to claim 1, characterized in that: It also comprises a temperature control module (4) arranged in the box (1); the temperature control module (4) is installed in the central part of the box (1); the temperature control module (4) maintains the temperature inside the box (1) stable according to the ambient temperature.

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