1. The utility model provides an appearance landing tour transmission integration detector is independently transferred to extraterrestrial complex environment which characterized in that includes: the multi-mode leg mechanism comprises a main structure box body and multi-mode leg mechanisms respectively arranged on four side surfaces of the main structure box body, each multi-mode leg mechanism comprises a multi-mode main chain and two multi-mode auxiliary chains, and a controller, a double-shaft inclination angle sensor, a position sensor and a vision sensor are arranged on the main structure box body;

the multimode refers to that: the device comprises a main structure box body, a posture adjusting mode, a landing mode, a patrol mode and/or a launching mode, wherein the controller on the main structure box body is used for switching among different modes and mutual alternation thereof according to sensing information and control instructions to realize folding and unfolding, automatic posture adjustment, landing buffering, patrol walking, terrain adaptation, posture adjustment and launching return.

2. The integrated extraterrestrial complex environment autonomous attitude-adjusting landing patrol launching detector as claimed in claim 1, wherein the multi-mode main chain comprises: main mount pad, main motor mounting flange, lead screw nut subassembly, main transmission connecting rod, main buffer outer sleeve, main buffer piston rod, moving platform, ankle, foot pad, wherein: the main mount pad links to each other with the main structure box and links to each other with main motor mounting flange and main transmission connecting rod mid portion respectively through rotating the hinge, lead screw nut subassembly links to each other with the main mount pad and its screw links to each other through the one end of rotating hinge and main transmission connecting rod, the other end of main transmission connecting rod passes through the hooke hinge and links to each other with the main buffer outer sleeve, built-in buffering energy-absorbing material between main buffer outer sleeve and the main piston rod, the other end and the movable platform of main piston rod are fixed continuous, the movable platform further links to each other with two auxiliary chains respectively through two ball joints, the ankle links to each other and links to each other with the footpad through the ball joint with the movable platform.

3. The integrated detector of claim 2, wherein the main transmission link is fixed relative to the main mounting base in the gesture adjustment mode, is controlled to move in the patrol mode, and is fixed or controlled to move in the launch mode.

4. The integrated detector of claim 1, wherein the multi-mode auxiliary link comprises: auxiliary motor, auxiliary motor mounting flange, tooth formula clutch stator, tooth formula clutch rotor, gyration axis dish, supplementary control rod, supplementary buffer outer sleeve, supplementary buffer piston rod, wherein: the auxiliary motor mounting flange is respectively fixedly connected with an auxiliary motor shell and a main structure box body side plate, a tooth-meshed clutch stator is fixedly connected with the main structure box body side plate and is matched with or separated from a rotor through tooth-meshed type, a tooth-meshed clutch rotor is fixedly connected with a rotary shaft disc, an auxiliary operating rod is fixedly connected with the rotary shaft disc and is connected with an auxiliary buffer outer sleeve through a hooke hinge, a buffering energy-absorbing material is arranged in the auxiliary buffer outer sleeve, and an auxiliary piston rod is relatively extended and contracted when in landing buffering and one end of the auxiliary piston rod is connected with a movable platform through a spherical hinge.

5. The integrated detector of claim 4, wherein the auxiliary motor, the auxiliary motor mounting flange, the meshing clutch stator, the meshing clutch rotor and the rotary shaft disk are coaxially connected in sequence.

6. The integrated detector of extra-terrestrial complex environment autonomous attitude-adjusting landing patrol emission according to claim 1 or 4, wherein the multi-mode auxiliary chain is configured such that a tooth-engaging clutch stator is disengaged from a rotor in autonomous attitude-adjusting, patrol traveling and emission modes, and at this time, the auxiliary operating lever is driven by the auxiliary motor to rotate around the axis of the output shaft of the auxiliary motor, and it is noted that the axis direction of the rotating shaft is perpendicular to the side surface of the main structure box; in the landing mode, the tooth-meshed clutch stator is matched and fixed with the rotor, and the auxiliary operating rod is rigid and fixed relative to the main structure box body.

7. The integrated detector for the independent posture-adjusting landing patrol and launch of the extraterrestrial complex environment according to any one of claims 1 to 6, wherein the switching between the different modes and the mutual switching thereof comprises: in the posture adjusting mode, in order to match the complex geometric morphology of the extraterrestrial earth surface, the foot pad position needs to be changed to match the optimal foot end contact point, at the moment, the multi-mode main chain is locked and fixed, and the tooth-meshed clutch in the multi-mode auxiliary chain is in a disengaged state, so that the auxiliary motor drives the auxiliary operating rod to move along the side wall of the main structure box body all the time, and the truss attribute invariance and the landing stability of the leg mechanism are ensured; in the landing mode, the tooth-meshed clutch is in a matched state, and the multi-mode main chain and the multi-mode auxiliary chain are locked and fixed, so that the leg mechanism has truss properties and stable and reliable landing configuration; under the patrol mode, the tooth-meshed clutch is in a disengaged state, and the leg mechanism is driven by the power source to perform controlled motion, so that the detector performs four-footed robot walking detection; under the transmission mode, the tooth-lock type clutch is in a disengaged state, and the main transmission connecting rod is fixed or moves relative to the main mounting seat, so that the leg mechanism is ensured to have stable truss attributes while the transmission angle of the riser is adjusted by the main transmission connecting rod, the adjusting capacity of the transmission angle of the riser is further improved by the main mounting seat, and the tooth-lock type clutch is in a matched state and all motors are locked during final transmission.

Background

The landing of the extraterrestrial planet, the inspection tour and the sampling return are important technical means for recognizing the origin and evolution of the planet. The prior detection mode generally adopts a lander to carry a patrol device and an ascender, the lander is responsible for safely landing on the surface of an outer satellite, the patrol device is responsible for carrying out patrol detection, drilling and sampling on the surface of the outer satellite, and the ascender is responsible for carrying a sample collected by the patrol device to be transmitted on the lander and butted with an on-orbit satellite so as to transfer the sample to the earth. However, this system mainly has the following problems: 1) the existing lander is of a truss structure, and the position of a foot end touch point relative to a machine body before landing cannot be changed, so that the safe landing site selection is required to be an extraterrestrial plain area with small gradient and a flat and smooth surface, and cannot reach a complex and severe environment which is not explored by human beings; 2) the lander and the patrol device are separated, so that mechanical and electronic hardware systems are high in redundancy, large in emission quality, large in volume and high in cost, and the cooperative cooperation between the lander and the patrol device brings a problem to communication control; 3) the lander after landing has no attitude adjustment capability, so that the riser cannot be launched and returned on the lander at the optimal launching angle.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides an independent posture-adjusting landing patrol and launch integrated detector for a complex foreign environment, integrates the functions of a lander and a patrol device for the complex foreign environment detection, and can carry a raiser and be used as a launch return support of the lander.

The invention is realized by the following technical scheme:

the invention relates to an integrated detector for autonomous attitude-adjusting landing patrol and launching in a complex environment of an alien, which comprises: the multi-mode leg mechanism comprises a main structure box body and multi-mode leg mechanisms arranged on four side faces of the main structure box body respectively, each multi-mode leg mechanism comprises a multi-mode main chain and two multi-mode auxiliary chains, and a controller, a double-shaft inclination angle sensor, a position sensor and a vision sensor are arranged on the main structure box body.

The multimode refers to that: the device comprises a main structure box body, a posture adjusting mode, a landing mode, a patrol mode and/or a launching mode, wherein the controller on the main structure box body is used for switching among different modes and mutual alternation thereof according to sensing information and control instructions to realize folding and unfolding, automatic posture adjustment, landing buffering, patrol walking, terrain adaptation, posture adjustment and launching return.

The multi-modal backbone comprises: main mount pad, main motor mounting flange, lead screw nut subassembly, main transmission connecting rod, main buffer outer sleeve, main buffer piston rod, moving platform, ankle, foot pad, wherein: the main mount pad links to each other with the main structure box and links to each other with main motor mounting flange and main transmission connecting rod mid portion respectively through rotating the hinge, lead screw nut subassembly links to each other with the main mount pad and its screw links to each other through the one end of rotating hinge and main transmission connecting rod, the other end of main transmission connecting rod passes through the hooke hinge and links to each other with the main buffer outer sleeve, built-in buffering energy-absorbing material between main buffer outer sleeve and the main piston rod, the other end and the movable platform of main piston rod are fixed continuous, the movable platform further links to each other with two auxiliary chains respectively through two ball joints, the ankle links to each other and links to each other with the footpad through the ball joint with the movable platform.

The main transmission connecting rod is fixed relative to the main mounting base in the posture adjusting mode, is controlled to move in the tour mode, and is fixed or controlled to move in the launching mode.

The multi-mode secondary chain comprises: auxiliary motor, auxiliary motor mounting flange, tooth formula clutch stator, tooth formula clutch rotor, gyration axis dish, supplementary control rod, supplementary buffer outer sleeve, supplementary buffer piston rod, wherein: the auxiliary motor mounting flange is respectively fixedly connected with an auxiliary motor shell and a main structure box body side plate, a tooth-meshed clutch stator is fixedly connected with the main structure box body side plate and is matched with or separated from a rotor through tooth-meshed type, a tooth-meshed clutch rotor is fixedly connected with a rotary shaft disc, an auxiliary operating rod is fixedly connected with the rotary shaft disc and is connected with an auxiliary buffer outer sleeve through a hooke hinge, a buffering energy-absorbing material is arranged in the auxiliary buffer outer sleeve, and an auxiliary piston rod is relatively extended and contracted when in landing buffering and one end of the auxiliary piston rod is connected with a movable platform through a spherical hinge.

The auxiliary motor, the auxiliary motor mounting flange, the tooth-meshed clutch stator, the tooth-meshed clutch rotor and the rotary shaft disc are sequentially and coaxially connected.

Under the independent posture adjustment, tour walking and launching modes of the multi-mode auxiliary chain, the tooth-meshed clutch stator is separated from the rotor, and the auxiliary operating rod can rotate around the axis of the output shaft of the auxiliary motor under the driving of the auxiliary motor. Note that the axial direction of the rotating shaft is vertical to the side surface of the main structure box body; in the landing mode, the tooth-meshed clutch stator is matched and fixed with the rotor, and the auxiliary operating rod is rigid and fixed relative to the main structure box body.

Technical effects

The invention integrally solves the problems that the prior lander is of a truss structure, the position of a foot end touch point relative to a machine body before landing cannot be changed, so that the safe landing site selection is required to be an extraterrestrial plain area with small gradient and a flat and smooth surface area, and the complicated and severe environment which is not explored by human cannot be reached; the lander and the patrol device are separated, so that mechanical and electronic hardware systems are high in redundancy, large in emission quality, large in volume and high in cost, and the cooperative cooperation between the lander and the patrol device brings a problem to communication control; the lander after landing has no attitude adjustment capability, so that the riser cannot be launched and returned on the lander at the optimal launching angle.

Compared with the prior art, the invention has four modes of an attitude adjusting mode, a landing mode, a tour mode and an emission mode, has wide application range and has multi-task foreign object detection capability and complex operation capability; in the posture adjusting mode, the invention aims to land in extraterrestrial adverse terrain topography (such as mountains, canyons, hills, pits and gravels) by matching foot tip configurations and landing point geometries, and has higher landing capability and wider detection area range; in the landing buffering stage, the structure of the invention is completely butted with the structure of the landing buffering mechanism of the existing Mars Tanker I, has the comprehensive landing capability after practical inspection and is convenient for technical upgrading; in the patrol walking stage, the corresponding configuration has larger patrol walking space, larger span-height ratio, higher patrol stability, stronger terrain adaptability and posture adjustment capability; in the launching return stage, the invention can maintain the truss property while adjusting the attitude of the fuselage, and provides the best launching angle for the launcher to launch and return. The invention has compact and light structure, reduces the launching and carrying cost, maintains the transverse stability and has higher longitudinal stability.

Drawings

FIG. 1 is a schematic diagram of the present embodiment at an autonomous posture adjustment stage;

FIG. 2 is a schematic diagram illustrating a landing buffer phase according to the present embodiment;

FIG. 3 is a schematic diagram of the embodiment during the patrol walking phase;

FIG. 4 is a schematic diagram of the present embodiment during the transmission return phase;

FIG. 5 is a schematic view of the leg mechanism of the present embodiment;

FIG. 6 is a schematic view of the main chain of the leg mechanism of the present embodiment;

FIG. 7 is a schematic view of the secondary chain of the leg mechanism of the present embodiment;

in the figure: the main structure comprises a main structure box 100, a leg mechanism 200, a main chain 300, a main mounting base 301, a main motor mounting flange 302, a lead screw nut assembly 303, a main transmission connecting rod 304, a main buffer outer sleeve 305, a main buffer piston rod 306, a movable platform 307, a foot ankle 308, a foot pad 309, an auxiliary chain 400, an auxiliary motor 401, an auxiliary motor mounting flange 402, a meshing clutch stator 403, a meshing clutch rotor 404, a rotary shaft disc 405, an auxiliary operating rod 406, an auxiliary buffer outer sleeve 407 and an auxiliary buffer piston rod 408.

Detailed Description

As shown in fig. 1 to 4, the present embodiment includes: a main structure case 100 and multi-mode leg mechanisms 200 respectively provided at four sides thereof.

As shown in fig. 5, the leg mechanism 200 includes: one multimode backbone 300 and two multimode sidelines 400.

As shown in fig. 6, the multi-mode backbone 300 includes: main mount 301, main motor mounting flange 302, lead screw nut assembly 303, main drive connecting rod 304, main bumper outer sleeve 305, main bumper piston rod 306, move platform 307, ankle 308, footpad 309, wherein: the main mounting seat 301 is connected with the main structure box 100 and is respectively connected with the middle parts of a main motor mounting flange 302 and a main transmission connecting rod 304 through a rotating hinge, the lead screw nut assembly 303 is connected with the main mounting seat 301, a screw nut of the lead screw nut assembly is connected with one end of the main transmission connecting rod 304 through a rotating hinge, the other end of the main transmission connecting rod 304 is connected with a main buffer outer sleeve 305 through a Hooke hinge, a buffering energy-absorbing material is arranged between the main buffer outer sleeve 305 and a main piston rod 306, the other end of the main piston rod 306 is fixedly connected with a movable platform 307, the movable platform 307 is further connected with two auxiliary chains 400 through two spherical hinges respectively, and a ankle 308 is connected with the movable platform 307 and is connected with a foot pad 309 through a spherical hinge.

The main transmission connecting rod 304 is fixed relative to the main mounting base 301 in the posture adjusting mode, moves in the patrol mode and can be fixed or move in the launching mode.

As shown in fig. 7, the multi-mode secondary chain 400 includes: auxiliary motor 401, auxiliary motor mounting flange 402, tooth-engaging clutch stator 403, tooth-engaging clutch rotor 404, rotary shaft disc 405, auxiliary operating lever 406, auxiliary buffer outer sleeve 407, auxiliary buffer piston rod 408, wherein: the auxiliary motor mounting flange 402 is fixedly connected with an outer shell of an auxiliary motor 401 and a side plate of the main structure box body 100 respectively, a tooth-meshed clutch stator 403 is fixedly connected with the side plate of the main structure box body 100 and is matched with or separated from a rotor 404 in a tooth-meshed mode, the tooth-meshed clutch rotor 404 is fixedly connected with a rotary shaft disc 405, an auxiliary operating rod 406 is fixedly connected with the rotary shaft disc 405 and is connected with an auxiliary buffer outer sleeve 407 through a hooke hinge, a buffering energy-absorbing material is arranged in the auxiliary buffer outer sleeve 407, an auxiliary piston rod 408 stretches relative to the auxiliary buffer outer sleeve 407 during landing buffering, and one end of the auxiliary piston rod 408 is connected with the movable platform 307 through a spherical hinge.

The following steps: the auxiliary motor 401, the auxiliary motor mounting flange 402, the meshing clutch stator 403, the meshing clutch rotor 404 and the rotary shaft disc 405 are sequentially and coaxially connected.

The multi-mode secondary chain 400: in the autonomous posture adjusting, patrol walking and launching modes, the meshing clutch stator 403 is disengaged from the rotor 404, and the auxiliary operating lever 406 can rotate around the axis of the output shaft of the auxiliary motor 401 under the driving of the auxiliary motor 401. Note that the axial direction of the rotating shaft is perpendicular to the side of the main structure box 100; in the landing mode, the meshing clutch stator 403 is engaged with and fixed to the rotor 404, and the auxiliary operating lever 406 is rigid with respect to the main structure case 100.

The different modes and the switching among the different modes comprise: in the posture adjustment mode, in order to match the complex geometric morphology of the extraterrestrial earth surface, the position of the foot pad 309 needs to be changed to match the optimal foot end contact point, at the moment, the multi-mode main chain 300 is locked and fixed, and the tooth-engaging clutch in the multi-mode auxiliary chain 400 is in a disengaged state, so that the auxiliary motor 401 drives the auxiliary operating rod 406 to move along the side wall of the main structure box 100, thereby ensuring the truss attribute invariance and the landing stability of the leg mechanism 200; in the landing mode, the tooth-engaging clutch is in a matching state, and the multi-mode main chain 300 and the auxiliary chain 400 are locked and fixed, so that the leg mechanism 200 has truss properties and a stable and reliable landing configuration; in the patrol mode, the tooth-meshed clutch is in a disengaged state, and the leg mechanism 200 is driven by the power source to perform controlled motion, so that the detector performs four-footed robot walking detection; in the launching mode, the tooth-meshing clutch is in a disengaged state, meanwhile, the main transmission connecting rod 300 is fixed or moves relative to the main mounting seat 401, the main transmission connecting rod 300 guarantees that the leg mechanism 200 has stable truss properties while the launching angle of the ascender is adjusted, the main mounting seat 401 further increases the adjusting capacity of the launching angle of the ascender, and the tooth-meshing clutch is in a matched state and all motors are locked during final launching.

Through specific practical experiments, the embodiment performs 1:1 design modeling in UG NX12.0 software environment, and the side length of the main structure box body of the detector is 2.46m, and the height of the whole detector is 2.14 m. Further drawing a working space in Matlab, analyzing and planning the movement capability and gait, and performing simulation calculation by jointly using a UG NX12.0 self-contained movement simulation solver to obtain the detector under the current parameters: 1) for autonomous attitude adjustment and subsequent landing, the fuselage is kept horizontally grounded on an incline with a maximum slope of 11.75 ° so that it does not topple. In addition, the maximum adjustment range of the foot pad in the horizontal lateral direction is plus or minus 1.05m, which means that the single leg can avoid the gravel with the length of 2.10 meters by adjusting the position of the foot pad. Similarly, through analysis, the foot pad can step on the gravel with the thickness of 0.98m in the vertical direction through adjustment; 2) in the tour mode, the embodiment can perform static walking with a maximum step size of 1.16m and a maximum step height of 0.78 m; 3) in the emission return mode, the present embodiment can provide emission angle adjustment capability of plus or minus 18.96 ° at maximum.

Compared with the prior art, the device is innovatively designed based on a reconfigurable theory, so that the detector has an attitude adjusting mode, a landing mode, a patrol mode and an emission mode, the number of connecting rods and branched chains of the leg mechanism is obviously reduced, the rigidity, the shock resistance and the reliability of the leg mechanism are improved, the landing stability and the stability of a patrol walking stage are improved, and the emission angle adjusting capability of the raiser is endowed.

The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.