Wheel-leg combined type throwing robot for star catalogue detection

Abstract

The invention discloses a wheel-leg combined type throwing robot for star catalogue detection. The wheel-leg combined type throwing robot comprises a robot body, a driving module, a wheel module and a tail boom module. The wheel module comprises two wheel units; each wheel unit comprises a wheel disc, an electric supporting rod, a transmission shaft, a hub and six wheel legs. When the six wheel legs are folded, the robot runs on the flat ground through the wheel discs; when the six wheel legs are unfolded, the obstacle crossing performance of the robot is enhanced through the six wheel legs, and the robot can run under the complex rugged terrain condition. The tail boom module is arranged in the robot body, and when the robot is thrown, the tail boom module retracts in the robot body to be prevented from colliding with the ground; when the robot advances, the tail boom module extends to a certain length to stabilize the posture of the robot. The robot has the advantages of being compact in structure, light in weight and the like, has certain impact resistance and high obstacle crossing performance, and can achieve exploration tasks of rugged and complex terrains on star catalogues.

Description

Technical Field

[0001] The invention relates to the field of throwing robots, and in particular to a wheel-leg combined throwing robot for star chart detection. Background Art

[0002] At present, humans mostly use a single, large lander / rover solution to explore the moon, Mars and other extraterrestrial bodies. Small mobile exploration robots with high cost performance and low mission risk have become one of the most promising means of exploration. The existing single wheeled structure robots are mostly limited to flat terrain exploration and cannot obtain effective information under extreme terrain conditions. Therefore, the present invention provides a wheel-leg combined throwing robot for exploration of the star surface. The robot has a wheel-leg structure and can realize the exploration of rugged and complex terrain such as craters and canyons on the star surface. Summary of the invention

[0003] The technical problem to be solved by the present invention is to provide a wheel-leg combined throwing robot for star map detection in view of the defects involved in the background technology.

[0004] The present invention adopts the following technical solutions to solve the above technical problems: A wheel-leg combined throwing robot for star exploration, comprising a fuselage, a drive module, a wheel module and a tail support module; The fuselage includes a shell, first to second mounting rings, first to fourth bearings, and first to second end cover load plates; The shell is a hollow cylinder with openings at both ends; the first and second mounting rings are respectively arranged at both ends of the shell, and the outer walls are coaxially fixedly connected to the inner wall of the shell; The first end cover and the second end cover both include a fixing ring and a fixing block, wherein the fixing block is columnar, including a first end face, a second end face, and an arc wall and a flat wall connected end to end; the outer diameter of the arc wall of the fixing block is the same as the outer diameter of the fixing ring, and the first end face of the fixing block is coaxially fixedly connected to one end of the fixing ring; a motor mounting hole penetrating the fixing ring and the fixing block is provided on the end face of the fixing ring away from the fixing block; a tail support mounting hole is provided on the second end face of the fixing block; The first end cover, the load plate and the second end cover are all arranged in the shell, and the outer walls of the fixing rings of the first end cover and the second end cover are coaxially fixedly connected to the inner wall of the shell; the load plate is arranged between the first end cover and the second end cover, and the lower end surface thereof is respectively fixedly connected to the flat walls of the fixing blocks of the first end cover and the second end cover, and a gap is left between the fixing blocks of the first end cover and the second end cover; the first end cover is located between the first mounting ring and the second end cover; The first bearing and the second bearing are respectively arranged in the first mounting ring and the second mounting ring, and the outer rings are respectively coaxially fixedly connected to the inner walls of the first mounting ring and the second mounting ring; the third bearing and the fourth bearing are respectively arranged in the fixing rings of the first end cover and the second end cover, and the outer rings are respectively coaxially fixedly connected to the inner walls of the fixing rings of the first end cover and the second end cover; The wheel module comprises a first wheel unit and a second wheel unit; The first wheel unit and the second wheel unit have the same structure, and both include a wheel disc, an electric strut, a transmission shaft, a wheel hub, and first to sixth wheel legs; The wheel disc is a cylinder, and a blind hole for mounting to match the transmission shaft is provided at the center of one end surface; The hub is a regular hexagonal column, comprising a first end face, a second end face, and first to sixth side walls connected end to end in sequence, wherein a through hole is provided at the center of the first end face, and the first to sixth side walls are provided with hinge seats at the same position; The electric support rod is arranged in the installation blind hole of the wheel disc, one end of which is fixedly connected to the electric support rod, and the other end of which is coaxially fixedly connected to one end of the transmission shaft; the end of the transmission shaft close to the electric support rod is key-connected to the installation blind hole of the wheel disc, so that the transmission shaft is fixed to the wheel disc in the circumferential direction and can slide relative to the wheel disc in the radial direction; the other end of the transmission shaft passes through the through hole in the center of the wheel hub and is coaxially fixedly connected to the wheel hub; The first to sixth wheel legs have the same structure and all include a beam body, a wheel foot, a limit pin, a limit spring, a torsion spring and a limit block; one end of the beam body is fixedly connected to the wheel foot; the limit block is a column, one end of which is fixed to the beam body, and the other end is provided with a fixed blind hole and a limit installation blind hole; the limit spring is arranged in the limit installation blind hole, one end of which is fixedly connected to the limit block, and the other end of which is fixedly connected to one end of the limit pin; the limit pin can slide along the limit installation blind hole; One end of the beam body of the first to sixth wheel legs away from the wheel foot is hinged to the hinge seat on the first to sixth side walls of the wheel hub through its torsion spring respectively; the end surface of the wheel disc close to the wheel hub is provided with first to sixth fixing pins corresponding to the fixing blind holes of the first to sixth wheel legs one by one; when the electric strut is not extended, the first to sixth fixing pins are inserted into the fixing blind holes of the first to sixth wheel legs one by one, and the limit pins of the first to sixth wheel legs are all against the end surface of the wheel hub, at this time, the beam bodies of the first to sixth wheel legs are respectively fitted with the first to sixth side walls of the wheel hub, the torsion springs of the first to sixth wheel legs are in a compressed state, and the wheel feet of the first to sixth wheel legs are all surrounded by the outer wall of the wheel disc; The end surface of the wheel disc close to the wheel hub is provided with first to sixth limiting blind holes corresponding to the limiting pins of the first to sixth wheel legs one by one; when the electric strut is extended, the wheel disc slides along the transmission shaft in the direction away from the wheel hub, and the first to sixth fixing pins are respectively disengaged from the fixing blind holes of the first to sixth wheel legs, and the first to sixth wheel legs are rotated outward relative to the wheel hub under the action of their torsion springs until the limiting pins of the first to sixth wheel legs are inserted into the first to sixth limiting blind holes one by one, at which time, a part of the limiting pins of the first to sixth wheel legs are still located in their limiting installation blind holes, the first to sixth wheel legs are fixed and the wheel feet extend out of the outer wall of the wheel disc, and the beam bodies of the first to sixth wheel legs all point to the center of the wheel hub; The driving module includes first to second driving motors, first to second driving gears, first to second driven gear rings, and first to second couplings; One end of the transmission shaft of the first wheel unit away from the electric support rod thereof passes through the inner ring of the first bearing and is coaxially fixedly connected to the inner ring of the third bearing through the first coupling, and the transmission shaft of the first wheel unit is coaxially fixedly connected to the inner ring of the first bearing; The first passive gear ring is mounted on the transmission shaft of the first wheel unit between the first mounting ring and the first end cover, and is coaxially fixedly connected with the transmission shaft of the first wheel unit; the first drive motor is fixed in the motor mounting hole of the first end cover, and its output shaft is coaxially fixedly connected with the rotating shaft of the first driving gear; the first driving gear is meshed with the first passive gear ring; The end of the transmission shaft of the second wheel unit away from the electric support rod thereof passes through the inner ring of the second bearing and is coaxially fixedly connected to the inner ring of the fourth bearing through the second coupling, and the transmission shaft of the second wheel unit is coaxially fixedly connected to the inner ring of the second bearing; The second passive gear ring is mounted on the transmission shaft of the second wheel unit between the second mounting ring and the second end cover, and is coaxially fixedly connected to the transmission shaft of the second wheel unit; the second drive motor is fixed in the motor mounting hole of the second end cover, and its output shaft is coaxially fixedly connected to the rotating shaft of the second driving gear; the second driving gear is meshed with the second passive gear ring; The tail support module comprises a tail support block, a tail support motor, a tail support shaft, a tail support spring, a positioning spring, a positioning marble, a first support bar, a second support bar and a roller; The first support bar and the second support bar are both quadrangular prisms; one end of the first support bar is provided with a square sliding hole for matching with the second support bar, and the other end of the side wall is provided with a hinged through hole; the side wall of the second support bar is provided with a positioning blind hole; One end of the tail support shaft extends into the tail support mounting hole of the first end cover and is fixedly connected to the first end cover, and the other end extends into the hinged through hole of the first strut and is gap-matched with the hinged through hole of the first strut, so that the first strut can freely rotate around the tail support shaft; the tail support motor is arranged in the tail support mounting hole of the first end cover, and its output shaft extends into the hinged through hole of the first strut and is coaxially fixedly connected to the hinged through hole of the first strut, so as to drive the first strut to rotate around the tail support shaft; The roller is arranged at one end of the second support bar and can rotate freely; The other end of the second support bar extends into the square sliding hole of the first support bar and can slide freely along the square sliding hole of the first support bar; The tail support stopper is fixed on the load plate between the fixing blocks of the first end cover and the second end cover; The tail support spring is arranged in the square sliding hole of the first support, one end of which is fixedly connected to the first support, and the other end of which is fixedly connected to the second support, and is in a compressed state; the first support is parallel to the load plate, and the roller and the tail support stopper are against each other; The positioning spring is arranged in the positioning blind hole, one end of which is fixedly connected to the bottom end of the positioning blind hole, and the other end of which is fixedly connected to the positioning marble, and is in a compressed state, so that the positioning marble is located in the positioning blind hole and fits the gap with the positioning blind hole, and the positioning marble and the inner wall of the first support bar are against each other; The side wall of the first support bar is provided with a positioning through hole for cooperating with the positioning marble, and the diameter of the positioning through hole is smaller than the diameter of the positioning marble; the shell is provided with an arc-shaped through groove for the tail support module; When the tail support motor controls the first support to rotate away from the load plate, the roller rolls outward along the tail support block and disengages; the second support pops outward along the square through hole of the first support under the action of the tail support spring until the positioning marble reaches the positioning through hole and a part of it is exposed from the positioning through hole under the action of the positioning spring, so that the second support is fixed relative to the first support; when the first support rotates to a preset angle threshold under the control of the tail support motor and is fixed, the tail support module can cooperate with the wheel module to work.

[0005] As a further optimization solution of the wheel-leg combined throwing robot for star map detection of the present invention, a plurality of strip-shaped anti-skid protrusions are evenly provided on the outer walls of the wheel discs of the first wheel unit and the second wheel unit.

[0006] As a further optimization scheme of the wheel-leg combined throwing robot for star detection of the present invention, a protective shell for preventing impact is provided on the end surface of the wheel disc of the first wheel unit and the second wheel unit away from the wheel hub.

[0007] As a further optimization solution of the wheel-leg combined throwing robot for star map detection of the present invention, one end of the first support bar having the hinged through hole is provided with a chamfer for cooperating with the rotation.

[0008] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects: The present invention has the advantages of compact structure and light weight, and has certain impact resistance and high obstacle crossing performance. The wheel disc can be used for walking on flat terrain, and the unfolded wheel-leg structure can be used for crossing obstacles on rugged and complex terrain such as craters and canyons on the planet surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 This is a schematic diagram of the structure of the present invention after a portion of the shell is removed; Figure 2 It is a schematic diagram of the structural decomposition of the fuselage; Figure 3 is a schematic diagram of the structural decomposition of the first wheel unit after the transmission shaft is removed; Figure 4 It is a schematic diagram of the structure of the first wheel unit with the transmission shaft removed and the wheel legs in the unfolded state; Figure 5 This is a schematic diagram of the structure breakdown of the wheel leg; Figure 6 A schematic diagram showing the principle of cooperation between the drive module and the transmission shaft of the first wheel unit; Figure 7 This is a schematic diagram of the structural decomposition of the tail support module; Figure 8 This is a schematic diagram of the present invention when the wheel disc is used for walking; Fig. 9 This is a schematic diagram of the present invention when walking with wheel legs.

[0010] In the figure, 1-fuselage, 2-drive module, 3-wheel module, 4-tail support module, 5-housing, 6-first bearing, 7-first mounting ring, 8-third bearing, 9-first drive motor, 10-first end cover, 11-tail support block, 12-load plate, 13-tail support mounting hole, 14-first driving gear, 15-first passive gear ring, 16-transmission shaft, 17-electric support rod, 18-impact protection shell, 19-wheel disc, 20-wheel leg, 21-wheel hub, 22-fixing pin, 23-limiting blind hole, 24-torsion spring, 25-limiting block, 26-beam body, 27-wheel foot, 28-limiting pin, 29-limiting spring, 30-tail support motor, 31-first support bar, 32-roller, 33-tail support shaft, 34-tail support spring, 35-positioning spring, 36-positioning marble, 37-second support bar. DETAILED DESCRIPTION

[0011] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings: The present invention can be implemented in many different forms and should not be considered to be limited to the embodiments described herein. On the contrary, these embodiments are provided to make this disclosure thorough and complete, and will fully express the scope of the present invention to those skilled in the art. In the accompanying drawings, components are enlarged for clarity.

[0012] It should be understood that although the terms first, second, third, etc. can be used here to describe various elements, components and / or parts, these elements, components and / or parts are not limited by these terms. These terms are only used to distinguish elements, components and / or parts from each other. Therefore, the first element, component and / or part discussed below can become the second element, component or part without departing from the teaching of the present invention.

[0013] like Figure 1 As shown, the present invention discloses a wheel-leg combined throwing robot for star map detection, comprising a fuselage, a driving module, a wheel module and a tail support module; like Figure 2 As shown, the fuselage includes a shell, first to second mounting rings, first to fourth bearings, and first to second end cover load plates; The shell is a hollow cylinder with openings at both ends; the first and second mounting rings are respectively arranged at both ends of the shell, and the outer walls are coaxially fixedly connected to the inner wall of the shell; The first end cover and the second end cover both include a fixing ring and a fixing block, wherein the fixing block is columnar, including a first end face, a second end face, and an arc wall and a flat wall connected end to end; the outer diameter of the arc wall of the fixing block is the same as the outer diameter of the fixing ring, and the first end face of the fixing block is coaxially fixedly connected to one end of the fixing ring; a motor mounting hole penetrating the fixing ring and the fixing block is provided on the end face of the fixing ring away from the fixing block; a tail support mounting hole is provided on the second end face of the fixing block; The first end cover, the load plate and the second end cover are all arranged in the shell, and the outer walls of the fixing rings of the first end cover and the second end cover are coaxially fixedly connected to the inner wall of the shell; the load plate is arranged between the first end cover and the second end cover, and the lower end surface thereof is respectively fixedly connected to the flat walls of the fixing blocks of the first end cover and the second end cover, and a gap is left between the fixing blocks of the first end cover and the second end cover; the first end cover is located between the first mounting ring and the second end cover; The first bearing and the second bearing are respectively arranged in the first mounting ring and the second mounting ring, and the outer rings are respectively coaxially fixedly connected to the inner walls of the first mounting ring and the second mounting ring; the third bearing and the fourth bearing are respectively arranged in the fixing rings of the first end cover and the second end cover, and the outer rings are respectively coaxially fixedly connected to the inner walls of the fixing rings of the first end cover and the second end cover; The wheel module comprises a first wheel unit and a second wheel unit; like Figure 3As shown, the first wheel unit and the second wheel unit have the same structure, and both include a wheel disc, an electric strut, a transmission shaft, a wheel hub, and first to sixth wheel legs; The wheel disc is a cylinder, and a blind hole for mounting to match the transmission shaft is provided at the center of one end surface; The hub is a regular hexagonal column, comprising a first end face, a second end face, and first to sixth side walls connected end to end in sequence, wherein a through hole is provided at the center of the first end face, and the first to sixth side walls are provided with hinge seats at the same position; The electric support rod is arranged in the installation blind hole of the wheel disc, one end of which is fixedly connected to the electric support rod, and the other end of which is coaxially fixedly connected to one end of the transmission shaft; the end of the transmission shaft close to the electric support rod is key-connected to the installation blind hole of the wheel disc, so that the transmission shaft is fixed to the wheel disc in the circumferential direction and can slide relative to the wheel disc in the radial direction; the other end of the transmission shaft passes through the through hole in the center of the wheel hub and is coaxially fixedly connected to the wheel hub; like Figure 5 As shown, the first to sixth wheel legs have the same structure, and all include a beam body, a wheel foot, a limit pin, a limit spring, a torsion spring and a limit block; one end of the beam body is fixedly connected to the wheel foot; the limit block is a column, one end of which is fixed to the beam body, and the other end is provided with a fixed blind hole and a limit installation blind hole; the limit spring is arranged in the limit installation blind hole, one end of which is fixedly connected to the limit block, and the other end of which is fixedly connected to one end of the limit pin; the limit pin can slide along the limit installation blind hole; One end of the beam body of the first to sixth wheel legs away from the wheel foot is hinged to the hinge seat on the first to sixth side wall of the wheel hub through its torsion spring respectively; the end surface of the wheel disc close to the wheel hub is provided with first to sixth fixing pins corresponding to the fixing blind holes of the first to sixth wheel legs one by one; when the electric strut is not extended, the first to sixth fixing pins are inserted into the fixing blind holes of the first to sixth wheel legs one by one, and the limit pins of the first to sixth wheel legs are all against the end surface of the wheel hub. At this time, the beam bodies of the first to sixth wheel legs are respectively fitted with the first to sixth side walls of the wheel hub, the torsion springs of the first to sixth wheel legs are in a compressed state, and the wheel feet of the first to sixth wheel legs are all surrounded by the outer wall of the wheel disc. Figure 3 As shown; The end surface of the wheel disc close to the wheel hub is provided with first to sixth limiting blind holes corresponding to the limiting pins of the first to sixth wheel legs one by one; when the electric strut is extended, the wheel disc slides along the transmission shaft in the direction away from the wheel hub, and the first to sixth fixing pins are respectively disengaged from the fixing blind holes of the first to sixth wheel legs, and the first to sixth wheel legs are rotated outward relative to the wheel hub under the action of their torsion springs until the limiting pins of the first to sixth wheel legs are inserted into the first to sixth limiting blind holes one by one, at this time, a part of the limiting pins of the first to sixth wheel legs are still located in their limiting installation blind holes, the first to sixth wheel legs are fixed and the wheel feet extend out of the outer wall of the wheel disc, and the beams of the first to sixth wheel legs all point to the center of the wheel hub. Figure 4As shown; like Figure 6 As shown, the driving module includes first to second driving motors, first to second driving gears, first to second driven gear rings, and first to second couplings; One end of the transmission shaft of the first wheel unit away from the electric support rod thereof passes through the inner ring of the first bearing and is coaxially fixedly connected to the inner ring of the third bearing through the first coupling, and the transmission shaft of the first wheel unit is coaxially fixedly connected to the inner ring of the first bearing; The first passive gear ring is mounted on the transmission shaft of the first wheel unit between the first mounting ring and the first end cover, and is coaxially fixedly connected with the transmission shaft of the first wheel unit; the first drive motor is fixed in the motor mounting hole of the first end cover, and its output shaft is coaxially fixedly connected with the rotating shaft of the first driving gear; the first driving gear is meshed with the first passive gear ring; The end of the transmission shaft of the second wheel unit away from the electric support rod thereof passes through the inner ring of the second bearing and is coaxially fixedly connected to the inner ring of the fourth bearing through the second coupling, and the transmission shaft of the second wheel unit is coaxially fixedly connected to the inner ring of the second bearing; The second passive gear ring is mounted on the transmission shaft of the second wheel unit between the second mounting ring and the second end cover, and is coaxially fixedly connected to the transmission shaft of the second wheel unit; the second drive motor is fixed in the motor mounting hole of the second end cover, and its output shaft is coaxially fixedly connected to the rotating shaft of the second driving gear; the second driving gear is meshed with the second passive gear ring; like Figure 7 As shown, the tail support module includes a tail support block, a tail support motor, a tail support shaft, a tail support spring, a positioning spring, a positioning marble, a first support bar, a second support bar and a roller; The first support bar and the second support bar are both quadrangular prisms; one end of the first support bar is provided with a square sliding hole for matching with the second support bar, and the other end of the side wall is provided with a hinged through hole; the side wall of the second support bar is provided with a positioning blind hole; One end of the tail support shaft extends into the tail support mounting hole of the first end cover and is fixedly connected to the first end cover, and the other end extends into the hinged through hole of the first strut and is gap-matched with the hinged through hole of the first strut, so that the first strut can rotate freely around the tail support shaft; the tail support motor is arranged in the tail support mounting hole of the first end cover, and its output shaft extends into the hinged through hole of the first strut and is coaxially fixedly connected with the hinged through hole of the first strut, so as to drive the first strut to rotate around the tail support shaft; one end of the first strut provided with the hinged through hole is provided with a chamfer for matching rotation.

[0014] The roller is arranged at one end of the second support bar and can rotate freely; The other end of the second support bar extends into the square sliding hole of the first support bar and can slide freely along the square sliding hole of the first support bar; The tail support stopper is fixed on the load plate between the fixing blocks of the first end cover and the second end cover; The tail support spring is arranged in the square sliding hole of the first support, one end of which is fixedly connected to the first support, and the other end of which is fixedly connected to the second support, and is in a compressed state; the first support is parallel to the load plate, and the roller and the tail support stopper are against each other; The positioning spring is arranged in the positioning blind hole, one end of which is fixedly connected to the bottom end of the positioning blind hole, and the other end of which is fixedly connected to the positioning marble, and is in a compressed state, so that the positioning marble is located in the positioning blind hole and fits the gap with the positioning blind hole, and the positioning marble and the inner wall of the first support bar are against each other; The side wall of the first support bar is provided with a positioning through hole for cooperating with the positioning marble, and the diameter of the positioning through hole is smaller than the diameter of the positioning marble; the shell is provided with an arc-shaped through groove for the tail support module; When the tail support motor controls the first support to rotate away from the load plate, the roller rolls outward along the tail support block and disengages; the second support pops outward along the square through hole of the first support under the action of the tail support spring until the positioning marble reaches the positioning through hole and a part of it is exposed from the positioning through hole under the action of the positioning spring, so that the second support is fixed relative to the first support; when the first support rotates to a preset angle threshold under the control of the tail support motor and is fixed, the tail support module can cooperate with the wheel module to work.

[0015] A plurality of strip-shaped anti-skid protrusions are evenly arranged on the outer walls of the wheel discs of the first wheel unit and the second wheel unit, and a protective shell for preventing impact is arranged on the end faces away from the wheel hub.

[0016] The present invention has the advantages of compact structure, light weight, etc., has certain impact resistance and high obstacle crossing performance, and can use the wheel disc to walk on flat terrain, such as Figure 8 As shown in Figure 1, the unfolded wheel-leg structure can be used to overcome obstacles in rough and complex terrain such as meteorite craters and canyons on the star surface. Fig. 9 shown.

[0017] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless defined as herein.

[0018] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A wheel-leg combined throwing robot for star exploration, characterized in that: It includes fuselage, drive module, wheel module and tail support module; The fuselage includes a shell, first to second mounting rings, first to fourth bearings, first to second end covers and a load plate; The shell is a hollow cylinder with openings at both ends; the first and second mounting rings are respectively arranged at both ends of the shell, and the outer walls are coaxially fixedly connected to the inner wall of the shell; The first end cover and the second end cover both include a fixing ring and a fixing block, wherein the fixing block is columnar, including a first end face, a second end face, and an arc wall and a flat wall connected end to end; the outer diameter of the arc wall of the fixing block is the same as the outer diameter of the fixing ring, and the first end face of the fixing block is coaxially fixedly connected to one end of the fixing ring; a motor mounting hole penetrating the fixing ring and the fixing block is provided on the end face of the fixing ring away from the fixing block; a tail support mounting hole is provided on the second end face of the fixing block; The first end cover, the load plate and the second end cover are all arranged in the shell, and the outer walls of the fixing rings of the first end cover and the second end cover are coaxially fixedly connected to the inner wall of the shell; the load plate is arranged between the first end cover and the second end cover, and the lower end surface thereof is respectively fixedly connected to the flat walls of the fixing blocks of the first end cover and the second end cover, and a gap is left between the fixing blocks of the first end cover and the second end cover; the first end cover is located between the first mounting ring and the second end cover; The first bearing and the second bearing are respectively arranged in the first mounting ring and the second mounting ring, and the outer rings are respectively coaxially fixedly connected to the inner walls of the first mounting ring and the second mounting ring; the third bearing and the fourth bearing are respectively arranged in the fixing rings of the first end cover and the second end cover, and the outer rings are respectively coaxially fixedly connected to the inner walls of the fixing rings of the first end cover and the second end cover; The wheel module comprises a first wheel unit and a second wheel unit; The first wheel unit and the second wheel unit have the same structure, and both include a wheel disc, an electric strut, a transmission shaft, a wheel hub, and first to sixth wheel legs; The wheel disc is a cylinder, and a blind hole for mounting to match the transmission shaft is provided at the center of one end surface; The hub is a regular hexagonal column, comprising a first end face, a second end face, and first to sixth side walls connected end to end in sequence, wherein a through hole is provided at the center of the first end face, and the first to sixth side walls are provided with hinge seats at the same position; The electric support rod is arranged in the installation blind hole of the wheel disc, one end of which is fixedly connected to the electric support rod, and the other end of which is coaxially fixedly connected to one end of the transmission shaft; the end of the transmission shaft close to the electric support rod is key-connected to the installation blind hole of the wheel disc, so that the transmission shaft is fixed to the wheel disc in the circumferential direction and can slide relative to the wheel disc in the radial direction; the other end of the transmission shaft passes through the through hole in the center of the wheel hub and is coaxially fixedly connected to the wheel hub; The first to sixth wheel legs have the same structure and all include a beam body, a wheel foot, a limit pin, a limit spring, a torsion spring and a limit block; one end of the beam body is fixedly connected to the wheel foot; the limit block is a column, one end of which is fixed to the beam body, and the other end is provided with a fixed blind hole and a limit installation blind hole; the limit spring is arranged in the limit installation blind hole, one end of which is fixedly connected to the limit block, and the other end of which is fixedly connected to one end of the limit pin; the limit pin can slide along the limit installation blind hole; One end of the beam body of the first to sixth wheel legs away from the wheel foot is hinged to the hinge seat on the first to sixth side walls of the wheel hub through its torsion spring respectively; the end surface of the wheel disc close to the wheel hub is provided with first to sixth fixing pins corresponding to the fixing blind holes of the first to sixth wheel legs one by one; when the electric strut is not extended, the first to sixth fixing pins are inserted into the fixing blind holes of the first to sixth wheel legs one by one, and the limit pins of the first to sixth wheel legs are all against the end surface of the wheel hub, at this time, the beam bodies of the first to sixth wheel legs are respectively fitted with the first to sixth side walls of the wheel hub, the torsion springs of the first to sixth wheel legs are in a compressed state, and the wheel feet of the first to sixth wheel legs are all surrounded by the outer wall of the wheel disc; The end surface of the wheel disc close to the wheel hub is provided with first to sixth limiting blind holes corresponding to the limiting pins of the first to sixth wheel legs one by one; when the electric strut is extended, the wheel disc slides along the transmission shaft in the direction away from the wheel hub, and the first to sixth fixing pins are respectively disengaged from the fixing blind holes of the first to sixth wheel legs, and the first to sixth wheel legs are rotated outward relative to the wheel hub under the action of their torsion springs until the limiting pins of the first to sixth wheel legs are inserted into the first to sixth limiting blind holes one by one, at which time, a part of the limiting pins of the first to sixth wheel legs are still located in their limiting installation blind holes, the first to sixth wheel legs are fixed and the wheel feet extend out of the outer wall of the wheel disc, and the beam bodies of the first to sixth wheel legs all point to the center of the wheel hub; The driving module includes first to second driving motors, first to second driving gears, first to second driven gear rings, and first to second couplings; One end of the transmission shaft of the first wheel unit away from the electric support rod thereof passes through the inner ring of the first bearing and is coaxially fixedly connected to the inner ring of the third bearing through the first coupling, and the transmission shaft of the first wheel unit is coaxially fixedly connected to the inner ring of the first bearing; The first passive gear ring is mounted on the transmission shaft of the first wheel unit between the first mounting ring and the first end cover, and is coaxially fixedly connected with the transmission shaft of the first wheel unit; the first drive motor is fixed in the motor mounting hole of the first end cover, and its output shaft is coaxially fixedly connected with the rotating shaft of the first driving gear; the first driving gear is meshed with the first passive gear ring; The end of the transmission shaft of the second wheel unit away from the electric support rod thereof passes through the inner ring of the second bearing and is coaxially fixedly connected to the inner ring of the fourth bearing through the first coupling, and the transmission shaft of the second wheel unit is coaxially fixedly connected to the inner ring of the second bearing; The second passive gear ring is mounted on the transmission shaft of the second wheel unit between the second mounting ring and the second end cover, and is coaxially fixedly connected to the transmission shaft of the second wheel unit; the second drive motor is fixed in the motor mounting hole of the second end cover, and its output shaft is coaxially fixedly connected to the rotating shaft of the second driving gear; the second driving gear is meshed with the second passive gear ring; The tail support module comprises a tail support block, a tail support motor, a tail support shaft, a tail support spring, a positioning spring, a positioning marble, a first support bar, a second support bar and a roller; The first support bar and the second support bar are both quadrangular prisms; one end of the first support bar is provided with a square sliding hole for matching with the second support bar, and the other end of the side wall is provided with a hinged through hole; the side wall of the second support bar is provided with a positioning blind hole; One end of the tail support shaft extends into the tail support mounting hole of the first end cover and is fixedly connected to the first end cover, and the other end extends into the hinged through hole of the first strut and is gap-matched with the hinged through hole of the first strut, so that the first strut can freely rotate around the tail support shaft; the tail support motor is arranged in the tail support mounting hole of the first end cover, and its output shaft extends into the hinged through hole of the first strut and is coaxially fixedly connected to the hinged through hole of the first strut, so as to drive the first strut to rotate around the tail support shaft; The roller is arranged at one end of the second support bar and can rotate freely; The other end of the second support bar extends into the square sliding hole of the first support bar and can slide freely along the square sliding hole of the first support bar; The tail support stopper is fixed on the load plate between the fixing blocks of the first end cover and the second end cover; The tail support spring is arranged in the square sliding hole of the first support, one end of which is fixedly connected to the first support, and the other end of which is fixedly connected to the second support, and is in a compressed state; the first support is parallel to the load plate, and the roller and the tail support stopper are against each other; The positioning spring is arranged in the positioning blind hole, one end of which is fixedly connected to the bottom end of the positioning blind hole, and the other end of which is fixedly connected to the positioning marble, and is in a compressed state, so that the positioning marble is located in the positioning blind hole and fits the gap with the positioning blind hole, and the positioning marble and the inner wall of the first support bar are against each other; The side wall of the first support bar is provided with a positioning through hole for cooperating with the positioning marble, and the diameter of the positioning through hole is smaller than the diameter of the positioning marble; the shell is provided with an arc-shaped through groove for the tail support module; When the tail support motor controls the first support to rotate away from the load plate, the roller rolls outward along the tail support block and disengages; the second support pops outward along the square through hole of the first support under the action of the tail support spring until the positioning marble reaches the positioning through hole and a part of it is exposed from the positioning through hole under the action of the positioning spring, so that the second support is fixed relative to the first support; when the first support rotates to a preset angle threshold under the control of the tail support motor and is fixed, the tail support module can cooperate with the wheel module to work.

2. The wheel-leg combined throwing robot for star detection according to claim 1 is characterized in that: A plurality of strip-shaped anti-skid protrusions are evenly arranged on the outer walls of the wheel discs of the first wheel unit and the second wheel unit.

3. The wheel-leg combined throwing robot for star detection according to claim 1 is characterized in that: A protective shell for preventing impact is provided on the end surface of the wheel disc of the first wheel unit and the second wheel unit away from the wheel hub.

4. The wheel-leg combined throwing robot for star detection according to claim 1, characterized in that: One end of the first support bar provided with the hinged through hole is provided with a chamfer for matching rotation.

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