A spider-like planetary robot

Abstract

The application provides a spider-like planetary robot, and belongs to the field of space planetary exploration. The planetary robot comprises a robot body and N supporting legs, wherein N is an integer greater than 4. The robot body comprises a robot box, a bottom support and a root driving assembly. The root driving assembly is distributed on the top corners and edges of the robot box. The bottom support is M symmetrically distributed on the bottom of the robot box, wherein M is an integer greater than 4. The N root driving assemblies are connected with the N supporting legs in one-to-one correspondence. All the supporting legs have the same structure. The planetary robot can realize multi-configuration change, can meet the requirements of different terrains of star table detection, and has stronger adaptability. The robot adopts a spider-like configuration for crawling and wheel movement, and can run more stably and reliably on a complex ground. The robot adopts a supporting leg modular design, is easy to assemble and debug, and can reduce production cost.

Description

Technical Field

[0001] This invention belongs to the field of aerospace planetary exploration, specifically relating to a spider-like planetary robot. Background Technology

[0002] With the development of the aerospace industry, mobile robots are an important tool for exploring the star surface in deep space exploration (especially lunar and Mars exploration).

[0003] Traditional planetary robots mostly adopt a wheeled configuration, which can meet the need for rapid movement, but their obstacle-crossing ability is limited. On the other hand, single-legged / crawling mobile robots lack flexibility and have limited mobility.

[0004] Although some existing technical solutions can switch between wheel-foot and walking configurations through configuration changes to meet the needs of movement and obstacle crossing, their flexibility and stability are limited by the characteristics of the configuration, and they cannot meet the high flexibility and high reliability movement requirements of complex and harsh planetary surfaces. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this application proposes a spider-like planetary robot.

[0006] This invention provides a spider-like planetary robot, comprising:

[0007] The robot body consists of a robot housing, a bottom support, and root drive components. The root drive components are N identical root drive components distributed at the top corners and edges of the robot housing. The bottom support consists of M identical bottom support components symmetrically distributed at the bottom of the robot housing, where M is an integer greater than 4. The N root drive components are connected one-to-one with the N legs, and all legs have the same structure.

[0008] The root drive assembly includes: a root drive motor, a root motor mounting bracket, and a root rotary bearing. The root drive motor is fixedly connected to the robot body through the root motor mounting bracket.

[0009] Each leg includes: a root connecting rod, a hip joint, a knee joint, and a wheel-foot structure assembly. The root connecting rod is connected to a root drive motor and a root slewing bearing, respectively. The root connecting rod is connected to the hip joint, the hip joint is connected to the knee joint, and the knee joint is connected to the wheel-foot structure assembly.

[0010] The hip joint includes: a hip motor mounting base, a hip slewing bearing, a hip bearing end cap, a hip motor, and a hip swing arm. The hip motor is fixedly installed in the hip motor mounting base, the hip slewing bearing is fixed inside the hip motor mounting base, one end of the hip swing arm is fixed to the hip bearing end cap through the hip slewing bearing, and the other end of the hip swing arm is fixed to the hip motor to enable the hip swing arm to rotate around the hip motor.

[0011] The knee joint includes: a knee swing arm, a knee motor, a knee bearing, and a knee bearing end cap. The knee motor is fixedly installed with the knee swing arm, and the knee bearing is fixed by the knee swing arm and the knee bearing end cap. The knee motor and the knee bearing are fixedly installed with the hip swing arm. Driven by the knee motor, the entire knee joint can rotate around the hip swing arm.

[0012] The wheel foot structure assembly includes: a wheel foot rotary motor, an upper wheel system support frame, a limiting block, a connecting rod drive flange, a wheel foot switching motor, a lower wheel system support frame, a connecting rod pin, a connecting rod, a wheel motor, a drive hub, a wheel motor adapter flange, a foot, a rotary pin, a wheel motor mounting base, and a rotary wheel; wherein, one end of the upper wheel system support frame is fixed to the wheel foot rotary motor, the other end of the upper wheel system support frame is fixed to the wheel foot switching motor, the limiting block is fixed to the upper wheel system support frame, one end of the lower wheel system support frame is fixed to the wheel foot switching motor, the other end of the lower wheel system support frame is rotatably connected to the wheel motor mounting base via a rotary pin, and one end of the connecting rod drive flange is fixed to... On the wheel-foot switching motor, the other end of the connecting rod drive flange is rotatably connected to one end of the connecting rod via a connecting rod pin. The other end of the connecting rod is rotatably connected to the wheel motor mounting base via a connecting rod pin. The lower support frame of the wheel system, the connecting rod drive flange, the connecting rod, and the wheel motor mounting base constitute a four-bar linkage mechanism. One end of the wheel motor is fixed to the wheel motor mounting base, and the other end of the wheel motor is rotatably fixed to the drive wheel hub via a wheel motor adapter flange. The swivel wheel is fixedly installed on the drive wheel hub to realize the swivel wheel's swivel movement. The foot is fixed to the wheel motor adapter flange, and the wheel-foot swivel motor is fixed to the knee swing arm to realize the rotation of the wheel-foot structure component under the drive of the wheel-foot swivel motor.

[0013] The wheel-foot switching motor is used to switch the wheel-foot state. In the wheel state, driven by the wheel-foot switching motor, the wheel motor mounting base is in contact with the lower support frame of the wheel system, maintaining the rigidity of the structure in the wheel state. In the gait state, driven by the wheel-foot switching motor, the connecting rod is in contact with the limiting block, maintaining the rigidity of the structure in the gait state.

[0014] Under the combined action of the root drive motor, hip motor, knee motor, and wheel-foot rotation motor, the planetary robot presents different configurations.

[0015] Beneficial effects:

[0016] This application proposes a spider-like planetary robot that can achieve multiple configuration changes, has high flexibility, can meet the needs of exploring different terrains on the planetary surface, and has stronger adaptability; it adopts a spider-like configuration for crawling and wheeled movement, and the robot runs more smoothly and reliably on complex terrain; the robot adopts a modular design of legs, which is easy to assemble and debug, and can reduce production and maintenance costs. Attached Figure Description

[0017] Figure 1 An overall isometric view of a spider-like planetary robot according to an embodiment of the present invention;

[0018] Figure 2 Robot body structure diagram according to an embodiment of the present invention;

[0019] Figure 3 Root driver component structure diagram of an embodiment of the present invention;

[0020] Figure 4 The first step of this embodiment of the invention is shown in the structural diagram of the foot component.

[0021] Figure 5 A structural diagram of the first strand component according to an embodiment of the present invention;

[0022] Figure 6 A structural diagram of the first knee assembly according to an embodiment of the present invention;

[0023] Figure 7 A structural diagram of the first wheel foot assembly according to an embodiment of the present invention;

[0024] Figure 8 A schematic diagram of wheel foot state switching according to an embodiment of the present invention;

[0025] Figure 9 A schematic diagram of the mechanism configuration in an embodiment of the present invention;

[0026] Figure 10 A schematic diagram of the force exerted on the outrigger in foot position according to an embodiment of the present invention;

[0027] Figure 11 A schematic diagram of the outrigger wheel under stress according to an embodiment of the present invention;

[0028] Figure 12 A force diagram of a spider-like planetary robot according to an embodiment of the present invention;

[0029] Figure 13 A schematic diagram of the robot body torque according to an embodiment of the present invention;

[0030] The components are as follows: 1-robot body; 2-first leg; 3-second leg; 4-third leg; 5-fourth leg; 11-robot housing; 12-bottom support; 13-root drive assembly; 131-root drive motor; 132-root motor mounting bracket; 133-root slewing bearing; 21-root connecting rod; 22-hip joint; 23-knee joint; 24-wheel and foot structure assembly; 221-hip motor mounting bracket; 222-hip slewing bearing; 223-hip bearing end cap; 224-hip motor; 225-hip swing arm; 231-knee joint. 232-Knee motor; 233-Knee bearing; 234-Knee bearing end cap; 2401-Wheel foot rotary motor; 2402-Upper support frame of wheel system; 2403-Limit block; 2404-Connecting rod drive flange; 2405-Wheel foot switching motor; 2406-Lower support frame of wheel system; 2407-Connecting rod pin; 2408-Connecting rod; 2409-Wheel motor; 2410-Drive hub; 2411-Wheel motor adapter flange; 2412-Foot sole; 2413-Rotation pin; 2414-Wheel motor mounting base; 2415-Rotation wheel. Detailed Implementation

[0031] The specific implementation methods of this application will be further described in detail below with reference to the accompanying drawings and embodiments.

[0032] In existing technologies, some robot solutions can achieve simple wheel-foot switching or walking configuration switching, but due to configuration characteristics, their flexibility and stability are limited and cannot adapt to the movement requirements of complex and harsh planetary surfaces. For example, they can only switch between wheeled and footed operation modes, but the contact form between the robot and the planetary surface does not change. In the footed movement mode, the wheel surface still contacts the planetary surface, the contact area is small, and the stability and reliability are extremely limited. In addition, the robot has few configuration options and insufficient flexibility, making it unable to adapt to the movement requirements of unknown complex and harsh planetary surfaces.

[0033] Example 1:

[0034] This invention provides a spider-like planetary robot, such as Figure 1 As shown, it includes:

[0035] The robot body 1 consists of a robot housing 11, a bottom support 12, and root drive components 13. The root drive components 13 are N identical root drive components 13, distributed on the top corners and edges of the robot housing 11. The bottom support 12 consists of M identical bottom support 12, symmetrically distributed on the bottom of the robot housing 11, where M is an integer greater than 4. The N root drive components 13 are connected one-to-one with the N legs, and all legs have the same structure.

[0036] In this embodiment, N=4 is taken as an example, and the description is carried out accordingly. In specific implementation, a six-legged planetary robot and an eight-legged planetary robot can be realized. In the eight-legged planetary robot, the four legs are still distributed in the current form, the body is rectangular, and the other four legs are distributed on both sides of the rectangle, similar to the walking legs of an insect.

[0037] The spider-like planetary robot mainly consists of the robot body 1 and four legs connected to it in a rotating manner: the first leg 2, the second leg 3, the third leg 4, and the fourth leg 5. The first leg 2, the second leg 3, the third leg 4, and the fourth leg 5 are all identical in composition and structure.

[0038] In this embodiment, as Figure 2 As shown, the robot body 1 mainly consists of a robot housing 11, bottom supports 12, and root drive components 13. There are four root drive components 13, distributed at the four apex corners of the robot housing 11. There are four bottom supports 12, symmetrically distributed at the bottom of the robot housing 11.

[0039] The root drive assembly 13 includes: a root drive motor 131, a root motor fixing support 132, and a root rotary bearing 133. The root drive motor 131 is fixedly connected to the robot body 11 through the root motor fixing support 132.

[0040] In this embodiment, as Figure 3 As shown, the root drive assembly 13 consists of a root drive motor 131, a root motor mounting bracket 132, and a root slewing bearing 133. The root drive motor 131 is fixed to the robot body 11 through the root motor mounting bracket 132, and is connected to each leg through the root slewing bearing 133.

[0041] In this embodiment, the root connecting rod 21 is placed at the corner, and its normal configuration is an extension at a 45-degree angle, like the two front and two back legs of a spider. This stabilizes the center of gravity of the planet robot. There are four bottom supports 12, symmetrically distributed at the bottom of the robot body 11, which can place the robot body 11 on the ground, and then adjust the direction of the support legs.

[0042] Each leg includes: a root connecting rod 21, a hip joint 22, a knee joint 23, and a wheel-foot structure assembly 24. The root connecting rod 21 is fixedly connected to the root drive motor 131 and the root slewing bearing 133, respectively. The root connecting rod 21 is connected to the hip joint 22, the hip joint 22 is connected to the knee joint 23, and the knee joint 23 is connected to the wheel-foot structure assembly 24.

[0043] In this embodiment, as Figure 4As shown, the first leg 2 consists of a root connecting rod 21, a hip joint 22, a knee joint 23, and a wheel-foot structure assembly 24. The root connecting rod 21 is fixed to the root drive motor 131 and the root slewing bearing 133, respectively.

[0044] The hip joint 22 includes: a hip motor mounting base 221, a hip slewing bearing 222, a hip bearing end cap 223, a hip motor 224, and a hip swing arm 225. The hip motor 224 is fixedly installed in the hip motor mounting base 221, the hip slewing bearing 222 is fixed inside the hip motor mounting base 221, one end of the hip swing arm 225 is fixed to the hip bearing end cap 223 through the hip slewing bearing 222, and the other end of the hip swing arm 225 is fixed to the hip motor 224 to realize the rotation of the hip swing arm 225 around the hip motor 224.

[0045] In this embodiment, as Figure 5 As shown, the hip joint 22 consists of a hip motor mounting base 221, a hip slewing bearing 222, a hip bearing end cap 223, a hip motor 224, and a hip swing arm 225. The hip motor 224 is fixedly mounted to the hip motor mounting base 221, the hip slewing bearing 222 is fixed inside the hip motor mounting base 221, one end of the hip swing arm 225 is fixed to the hip bearing end cap 223 via the hip slewing bearing 222, and the other end is fixed to the hip motor 224, thus allowing the hip swing arm 225 to rotate around the hip motor 224.

[0046] The knee joint 23 includes: a knee swing arm 231, a knee motor 232, a knee bearing 233, and a knee bearing end cap 234. The knee motor 232 is fixedly installed with the knee swing arm 231. The knee bearing 233 is fixed by the knee swing arm 231 and the knee bearing end cap 234. The knee motor 232 and the knee bearing 233 are fixedly installed with the hip swing arm 225. Driven by the knee motor 232, the knee joint 23 as a whole rotates around the hip swing arm 225.

[0047] In this embodiment, as Figure 5 and Figure 6 As shown, the knee joint 23 consists of a knee swing arm 231, a knee motor 232, a knee bearing 233, and a knee bearing end cap 234. The knee motor 232 is fixedly mounted to the knee swing arm 231, and the knee bearing 233 is fixed by the knee swing arm 231 and the knee bearing end cap 234. Then, the knee motor 232 and the knee bearing 233 are fixedly mounted to the hip swing arm 225. Driven by the knee motor 232, the knee joint 23 as a whole can rotate around the hip swing arm 225.

[0048] The wheel foot structure assembly 24 comprises: a wheel foot rotary motor 2401, an upper support frame 2402, a limiting block 2403, a connecting rod drive flange 2404, a wheel foot switching motor 2405, a lower support frame 2406, a connecting rod pin 2407, a connecting rod 2408, a wheel motor 2409, a drive hub 2410, a wheel motor adapter flange 2411, a foot base 2412, a rotary pin 2413, a wheel motor mounting base 2414, and a rotary wheel 2415; wherein, the upper support frame 2401... One end of the frame 2402 is fixed to the wheel-foot rotary motor 2401. The connecting rod drive flange 2404 is fixedly connected to the wheel-foot rotary motor 2401. The wheel-foot rotary motor 2401 drives the connecting rod drive flange 2404 to rotate. The other end of the wheel system support frame 2402 is fixed to the wheel-foot switching motor 2405. The limit block 2403 is fixed to the wheel system support frame 2402. The limit block 2403 holds the connecting rod 2408 in the footed state. When the robot is under force in the footed state, the limit block 2403 bears the force. If the limit block 2403 is removed, the connecting rod 2408 will continue to push the connecting rod drive flange 2404 to rotate when the foot is under force, and the driving force of the wheel-foot rotary motor 2401 is needed to resist the force. One end of the lower support frame 2406 is fixed to the wheel foot switching motor 2405, and the other end of the lower support frame 2406 is rotatably connected to the wheel motor mounting base 2414 via a slewing pin 2413. One end of the connecting rod drive flange 2404 is fixed to the wheel foot switching motor 2405, and the other end of the connecting rod drive flange 2404 is rotatably connected to one end of the connecting rod 2408 via a connecting rod pin 2407. The other end of the connecting rod 2408 is rotatably connected to the wheel motor mounting base 2414 via a connecting rod pin 2407. The lower support frame 2406, the connecting rod drive flange 2404, and the connecting rod 2408 are all connected. 08 and the wheel motor mounting base 2414 form a four-bar linkage mechanism. One end of the wheel motor 2409 is fixed to the wheel motor mounting base 2414, and the other end of the wheel motor 2409 is fixed to the drive hub 2410 through the wheel motor adapter flange 2411. The rotary wheel 2415 is fixedly installed on the drive hub 2410 to realize the rotary wheel 2415 to rotate and move. The foot 2412 is fixed on the wheel motor adapter flange 2411, and the wheel foot rotary motor 2401 is fixed on the knee swing arm 231 to realize the wheel foot structure component 24 to rotate under the drive of the wheel foot rotary motor 2401.

[0049] In this embodiment, as Figure 7As shown, the wheel foot structure assembly 24 consists of a wheel foot rotary motor 2401, a wheel system upper support frame 2402, a limit block 2403, a connecting rod drive flange 2404, a wheel foot switching motor 2405, a wheel system lower support frame 2406, a connecting rod pin 2407, a connecting rod 2408, a wheel motor 2409, a drive hub 2410, a wheel motor adapter flange 2411, a foot base 2412, a rotary pin 2413, a wheel motor mounting base 2414, and a rotary wheel 2415. One end of the upper support frame 2402 is fixed to the wheel foot rotary motor 2401, and the other end is fixed to the wheel foot switching motor 2405. The limiting block 2403 is fixed to the upper support frame 2402. One end of the lower support frame 2406 is fixed to the wheel foot switching motor 2405, and the other end is rotatably connected to the wheel motor mounting base 2414 via a rotary pin 2413. One end of the connecting rod drive flange 2404 is fixed to the wheel foot switching motor 2405, and the other end is rotatably connected to the connecting rod 2408 via a connecting rod pin 2407. The other end of the connecting rod 2408 is rotatably connected to the wheel motor mounting base 2414 via a connecting rod pin 2407. The lower support frame 2406, the connecting rod drive flange 2404, the connecting rod 2408, and the wheel motor mounting base 2414 constitute a four-bar linkage. One end of the wheel motor 2409 is fixed to the wheel motor mounting base 2414, and the other end is rotatably fixed to the drive hub 2410 via the wheel motor adapter flange 2411. The rotary wheel 2415 is fixedly mounted on the drive hub 2410, thus enabling the rotary wheel 2415 to rotate and move. The foot sole 2412 is fixed to the wheel motor adapter flange 2411, and its outer end has a rounded arc feature. The wheel-foot rotary motor 2401 is fixed to the knee swing arm 231, as shown below. Figure 6 As shown, the wheel foot structure assembly 24 can be rotated as a whole under the drive of the wheel foot rotary motor 2401.

[0050] The wheel-foot switching motor 2405 is used to switch the wheel-foot state. In the wheel state, driven by the wheel-foot switching motor 2405, the wheel motor fixing seat 2414 is in contact with the lower support frame 2406 of the wheel system, maintaining the rigidity of the structure in the wheel state. In the gait state, driven by the wheel-foot switching motor 2405, the connecting rod 2408 is in contact with the limiting block 2403, maintaining the rigidity of the structure in the gait state.

[0051] In this embodiment, as Figure 8 As shown, the mechanism can switch between wheel and foot states under the drive of the wheel-foot switching motor 2405. In wheel state, the wheel motor mounting base 2414 is in contact with the lower support frame 2406 of the wheel system, maintaining sufficient rigidity of the structure in wheel state; in gait state, the connecting rod 2408 is in contact with the limiting block 2403, maintaining sufficient rigidity of the structure in gait state.

[0052] Under the combined action of the root drive motor 131, hip motor 224, knee motor 232 and wheel-foot rotary motor 2401, the planet robot presents different configurations.

[0053] In this embodiment, as Figure 9 As shown, under the combined action of the root drive motor 131, hip motor 224, knee motor 232 and wheel-foot rotary motor 2401, the planet robot presents different configurations.

[0054] For example:

[0055] (1) Configuration I: The wheel system can move in an M configuration by adjusting the orientation of the wheel system through the wheel foot rotary motor 2401.

[0056] (2) Configuration II: By adjusting the wheel-foot switching motor 2405, the wheel state is adjusted to the foot state, and then the configuration is M, which can realize spider-like crawling movement.

[0057] (3) Configuration III: Based on Configuration I, the overall position of the outriggers is adjusted by adjusting the root drive motor 131, thereby changing the configuration and adapting to specific terrain.

[0058] (4) Configuration IV: Based on configuration III, the configuration and direction of movement are changed by adjusting the orientation of the wheel system through the wheel foot rotary motor 2401, so as to adapt to specific terrain movement;

[0059] (5) Configuration V, based on configuration III, adjusts the overall position of the outriggers by adjusting the root drive motor 131, changes the configuration, and adapts to specific terrain movement;

[0060] (6) Configuration VI: Based on configuration III, the robot body 1 is raised by changing its posture through hip motor 224 and knee motor 232, thereby changing its configuration and adapting to specific terrain.

[0061] (7) Configuration VII: Based on configuration II, the robot body 1 is raised by changing its posture through hip motor 224 and knee motor 232, thereby changing its configuration to adapt to crawling on specific terrain.

[0062] (8) Configuration VIII: Based on configuration VII, by adjusting the root drive motor 131, the overall position of the outrigger is adjusted, and the hip motor 224 and knee motor 232 form a double counter-elbow posture, changing the configuration and enabling walking.

[0063] (9) Configuration IX: Based on configuration VIII, by adjusting the overall position of the support leg, the hip motor 224 and knee motor 232 form a positive elbow posture on one side, changing the configuration, and walking can be performed.

[0064] The above configurations are merely examples and do not include all configurations.

[0065] In existing technologies, the wheel motors are offset and relatively far apart, resulting in relatively large bending moments on the structure. This problem exists in both footed and wheeled states. However, in this embodiment, in the footed state, the force on the mechanism is mainly concentrated on the axis of the outriggers. Figure 10 As shown, in wheel mode, the minimum offset distance minimizes the bending moment received by the outriggers, as follows: Figure 11 As shown, in foot mode, the foot 2412 is coaxial with each motor, and there is almost no additional torque except for the root drive assembly 13; in wheel mode, due to the distance between the wheel axis and the motor, a portion of the torque will act on the structure; under the combined action of the root drive motor 131, hip motor 224, knee motor 232 and wheel-foot rotation motor 2401, both omnidirectional movement and stability can be achieved.

[0066] like Figure 12 , Figure 13 As shown, the robot's own weight and the four supporting forces of the legs are balanced as follows: G = F1 + F2 + F3 + F4, where G is the robot's own weight, F1 is the supporting force of the first leg, F2 is the supporting force of the second leg, F3 is the supporting force of the third leg, and F4 is the supporting force of the fourth leg. Taking the supporting force F1 of the first leg on the rotating wheel 2415 of the legs as an example, when the robot moves forward, the torque provided by the supporting force F1 of the first leg to prevent the robot's center of gravity from tilting forward is: M1 = F1 × L2; the torque provided by the supporting force F1 of the first leg to prevent the robot's center of gravity from tilting sideways is: M2 = F1 × L1, where M1 is the torque provided to prevent tilting forward, M2 is the torque to prevent tilting sideways, L1 is the first lever arm of the robot body, and L2 is the second lever arm of the robot body. When L2 is large, the spider-like planetary robot can better prevent tipping over, and the longer lever arm results in better stability.

[0067] The various embodiments in this application are described in a progressive manner. The same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on describing the differences from other embodiments.

[0068] The scope of protection of this application is not limited to the embodiments described above. Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from the scope and spirit of this disclosure. If such modifications and variations fall within the scope of equivalent technology of this disclosure, then the intent of this disclosure also includes such modifications and variations.

Claims

1. A spider-like planetary robot, characterized in that, include: The robot body (1) and N legs, where N is an integer greater than 4, the robot body (1) includes: robot housing (11), bottom support (12) and root drive assembly (13), the root drive assembly (13) consists of N root drive assemblies (13) with the same structure, distributed on the top corner and edge of the robot housing (11), the bottom support (12) consists of M bottom supports (12) with the same structure, symmetrically distributed on the bottom of the robot housing (11), where M is an integer greater than 4, the N root drive assemblies (13) are connected to the N legs one by one, and all legs have the same structure; The root drive assembly (13) includes: a root drive motor (131), a root motor mounting bracket (132), and a root rotary bearing (133). The root drive motor (131) is fixedly connected to the robot housing (11) through the root motor mounting bracket (132). Each leg includes: a root connecting rod (21), a hip joint (22), a knee joint (23), and a wheel foot structure assembly (24). The root connecting rod (21) is connected to the root drive motor (131) and the root slewing bearing (133) respectively. The root connecting rod (21) is connected to the hip joint (22), the hip joint (22) is connected to the knee joint (23), and the knee joint (23) is connected to the wheel foot structure assembly (24). The wheel foot structure assembly (24) comprises: a wheel foot rotary motor (2401), an upper support frame for the wheel system (2402), a limiting block (2403), a connecting rod drive flange (2404), a wheel foot switching motor (2405), a lower support frame for the wheel system (2406), a connecting rod pin (2407), a connecting rod (2408), a wheel motor (2409), a drive hub (2410), a wheel motor adapter flange (2411), a foot (2412), a rotary pin (2413), a wheel motor mounting base (2414), and a rotary wheel (2415). One end of the upper support frame (2402) is fixed to the wheel foot rotary motor (2401), and the other end of the upper support frame (2402) is fixed to the wheel foot switching motor (2405). A limiting block (2403) is fixed to the upper support frame (2402). One end of the lower support frame (2406) is fixed to the wheel foot switching motor (2405), and the other end of the lower support frame (2406) is rotatably connected to the wheel motor mounting base (2414) via a rotary pin (2413). The connecting rod drive... One end of the moving flange (2404) is fixed to the wheel foot switching motor (2405), and the other end of the connecting rod drive flange (2404) is rotatably connected to one end of the connecting rod (2408) through the connecting rod pin (2407). The other end of the connecting rod (2408) is rotatably connected to the wheel motor mounting base (2414) through the connecting rod pin (2407). The wheel system lower support frame (2406), the connecting rod drive flange (2404), the connecting rod (2408), and the wheel motor mounting base (2414) constitute a four-bar linkage mechanism. The wheel-foot switching motor (2405) is used to realize the switching of wheel-foot states. In the wheel state, under the drive of the wheel-foot switching motor (2405), the wheel motor fixing seat (2414) is in contact with the lower support frame (2406) of the wheel system, so as to maintain the rigidity of the structure in the wheel state. In the gait state, under the drive of the wheel-foot switching motor (2405), the connecting rod (2408) is in contact with the limiting block (2403), so as to maintain the rigidity of the structure in the gait state.

2. The spider-like planetary robot according to claim 1, characterized in that, The hip joint (22) includes: a hip motor mounting base (221), a hip slewing bearing (222), a hip bearing end cap (223), a hip motor (224), and a hip swing arm (225). The hip motor (224) is fixedly installed in the hip motor mounting base (221), the hip slewing bearing (222) is fixed in the hip motor mounting base (221), one end of the hip swing arm (225) is fixed to the hip bearing end cap (223) through the hip slewing bearing (222), and the other end of the hip swing arm (225) is fixed on the hip motor (224) so ​​as to realize the rotation of the hip swing arm (225) around the hip motor (224).

3. The spider-like planetary robot according to claim 1, characterized in that, The knee joint (23) includes: a knee swing arm (231), a knee motor (232), a knee bearing (233), and a knee bearing end cap (234). The knee motor (232) is fixedly installed with the knee swing arm (231). The knee bearing (233) is fixed by the knee swing arm (231) and the knee bearing end cap (234). The knee motor (232) and the knee bearing (233) are fixedly installed with the hip swing arm (225). Under the drive of the knee motor (232), the knee joint (23) as a whole rotates around the hip swing arm (225).

4. The spider-like planetary robot according to claim 1, characterized in that, One end of the wheel motor (2409) is fixed to the wheel motor mounting base (2414), and the other end of the wheel motor (2409) is connected to the drive hub (2410) via the wheel motor adapter flange (2411). The rotary wheel (2415) is fixedly installed on the drive hub (2410) to enable the rotary wheel (2415) to rotate and walk. The foot (2412) is fixed on the wheel motor adapter flange (2411), and the wheel foot rotary motor (2401) is fixed on the knee swing arm (231) to enable the wheel foot structure assembly (24) to rotate under the drive of the wheel foot rotary motor (2401).

5. A spider-like planetary robot according to claim 1, characterized in that, Under the combined action of the root drive motor (131), hip motor (224), knee motor (232) and wheel-foot rotary motor (2401), the planetary robot presents different configurations.

Images