1. A multi-mode detector for a starry adversity attitude-adjusting landing tour, comprising: main structure box and four sets of multi-mode leg mechanisms of distributing in its four sides, wherein: the multi-mode leg mechanism includes: a multimode main chain and two multimode auxiliary chains;

the starry adversity attitude-adjusting landing patrol refers to the following steps: the mode of transferring the appearance, landing mode, tour the mode, further realize folding expansion, independently transfer the appearance, landing buffering, tour walking, topography adaptation, gesture adjustment through the combination switching between the multimode specifically is: 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, the main transmission connecting rod in the multi-mode main chain is fixed and fixed in the posture adjusting mode, the multi-mode auxiliary chain is driven by the auxiliary motor to rotate around the axis of the stator in a controlled manner, so that the auxiliary operating rod of the multi-mode auxiliary chain always moves along the side wall of the main structure box body in a controlled manner, and the truss attribute invariance and the landing stability of the leg mechanism are ensured; in a landing mode, the multi-mode main chain and the multi-mode auxiliary chain are locked, and piston rods in the multi-mode main chain and the multi-mode auxiliary chain act on a buffer material in a buffer cylinder to absorb impact energy, so that the leg mechanism has truss properties and stable and reliable landing configuration; in a tour mode, the leg mechanism is driven by a power source to move in a controlled manner, the main transmission connecting rod in the multi-mode main chain is controlled to move in the tour mode, and the piston rods in the multi-mode main chain and the multi-mode auxiliary chain act on the buffer material in the buffer cylinder to absorb impact energy, so that the detector can perform four-footed robot walking detection.

2. The multi-mode probe for a starry reversing landing maneuver as set forth in claim 1, wherein said multi-mode backbone comprises: main mount pad, main motor mounting flange, lead screw nut subassembly, main drive connecting rod, main outer sleeve buffer cylinder, bull dysmorphism flange, main piston rod, ankle and foot pad, wherein: the main mounting seat is fixedly connected with the main structure box body and is respectively connected with a main motor mounting flange and the middle part of a main transmission connecting rod through a rotating hinge, a screw nut component is fixedly connected with the main mounting seat and a screw of the screw nut component is connected with one end of the main transmission connecting rod through a rotating hinge, the other end of the main transmission connecting rod is connected with a main outer sleeve buffer cylinder through a hook hinge, a buffering energy-absorbing material is arranged in the main outer sleeve buffer cylinder, one end of a multi-head special-shaped flange is fixedly connected with the main outer sleeve buffer cylinder, the middle of the multi-head special-shaped flange is of a hollow cylindrical structure and can enable a main piston rod to buffer and stretch out and draw back, the multi-head special-shaped flange is further connected with two auxiliary chains through two.

3. The multi-mode probe for a alien adversity landing maneuver according to claim 1, wherein the multi-mode auxiliary link comprises: assist the motor, assist motor mounting flange, assist motor output pendulum rod, assist transmission connecting rod, assist the piston rod, assist outer sleeve cushion cylinder, assist control lever and variable axis of rotation three modes from reconstructing the joint, wherein: an auxiliary motor shell is fixedly connected with a main structure box body through a mounting flange, a rotating shaft of the auxiliary motor shell is fixedly connected with an auxiliary motor output oscillating bar, two ends of an auxiliary transmission connecting rod are respectively connected with the auxiliary motor output oscillating bar and the middle part of an auxiliary operating rod through two spherical hinges, one end of the auxiliary operating rod is connected with a three-mode self-reconstruction joint with a variable rotating axis through a rotating hinge, the other end of the auxiliary operating rod is connected with an auxiliary outer sleeve buffer cylinder through a hook hinge, a buffering energy-absorbing material is arranged in the auxiliary outer sleeve buffer cylinder, an auxiliary piston rod stretches out and draws back relative to the auxiliary outer sleeve buffer cylinder during landing buffering, one end of the auxiliary piston rod is connected with a multi-head special-shaped flange through a spherical hinge, and the three-mode self-reconstruction joint with the variable rotating axis only realizes that a rotor rotates relative to a stator under a posture adjusting mode; in the landing mode, the joint is completely stiffened and immobilized; in the patrol mode, only the rotation of the auxiliary joystick around the root rotating shaft is realized in the joint.

4. A multi-mode probe for a starry adversity landing patrol as recited in claim 3, wherein said variable axis of rotation tri-mode self-reconfigurable joint comprises: stator, rotor, separation and reunion motor, separation and reunion coordinated wheel, separation and reunion connecting rod, six separation and reunion plungers, lead screw motor, compound screw slider, slide rail, embrace claw push rod and embrace the claw, wherein: the stator is fixedly connected with the main structure box body, the rotor and the stator are coaxially arranged and rotate relative to the stator, a shell of a clutch motor is fixedly connected with the end part of the rotor, an output shaft of the clutch motor is fixedly connected with a clutch linkage wheel, the clutch linkage wheel is respectively connected with six clutch connecting rods through rotating hinges, each clutch connecting rod is connected with a clutch plunger through a rotating hinge, the clutch plungers are movably arranged on the side wall of the rotor to realize telescopic motion, the shell of a lead screw motor is fixedly connected with the end part of the rotor, a built-in thread in a composite screw nut sliding block is in matched transmission with a lead screw, two sliding grooves are formed in the composite screw nut sliding block to guide and slide on a sliding rail in a reciprocating mode, two ends of the sliding rail are fixedly connected with the rotor, two sides of the composite screw nut sliding block are respectively connected with a clamping claw push rod through one rotating hinge, the other end of; in the posture adjusting mode, the holding claw firmly holds the auxiliary operating lever, and the clutch plunger is separated from the stator, so that the rotor can be controlled to rotate for a certain angle relative to the stator under the driving of the auxiliary motor, and the clutch plunger is inserted into the stator after the rotation is stopped, so that the rotor and the stator are fixed; in a landing mode, the holding claw firmly holds the auxiliary operating lever, the clutch plunger is inserted into the stator, and the rotor and the stator are fixed; in the patrol mode, the clutch plunger keeps inserted into the stator and the rotor and the stator are fixed, the holding claw is completely opened, and therefore the auxiliary operating rod can rotate around the root rotating shaft under the driving of the auxiliary motor.

5. The multi-mode probe for a starry adversity landing patrol as claimed in claim 4, wherein said telescoping movement is: when the clutch plunger extends to the limit position, the end part of the plunger is positioned in the stator and is in a dead point state, and the rotor is fixed relative to the stator; when the clutch plunger retracts to a certain degree, the plunger disengages from the stator, and the rotor can rotate relative to the stator.

6. The multi-mode detector for the alidade adversity pose-adjusting landing patrol of the alien claim 4, wherein the slide rails, the holding claw push rods and the holding claws are symmetrically arranged in pairs, when the composite screw nut slide block moves to a limit position, the composite screw nut slide block just clings to the end wall of the rotor on the fixed side of the screw motor, the holding claws are in a dead point state, and the auxiliary operating lever is firmly held by the holding claws and cannot be separated; when the composite screw sliding block moves to the other limit position, the sliding block is just attached to the end wall of the rotor on the other side, the holding claw is completely opened, and the auxiliary operating lever can rotate around the fixed shaft of the rotating hinge of the root.

Background

The landing of the surface of the extraterrestrial planet and the regional movement patrol are important technical means for recognizing the evolution of the planet and the formation of the earth surface. In order to realize landing and movable detection of the surfaces of the alien objects in the prior art, a lander is adopted to carry a patrol instrument, and the lander and the patrol instrument cooperate with each other, such as Chang' e moon exploration engineering and Tian Wen fire exploration engineering in China. Or a landing patrol integrated robot or a movable lander is adopted. However, the disadvantages of the prior art include complex composition, high redundancy, high transmission quality and high cost. The surface environment of the outer satellite is complex, and the detection range is limited due to the limitation of signal transmission conditions between the two devices; the number of connecting rods is large, the working space of the leg end is small, and the rigidity and the reliability are low.

More importantly, the two schemes only have landing buffering and patrol walking functions and can only land and patrol in a smooth area with small equal gradient and flat surface in an extraterrestrial plain area, and the detection area range is greatly limited.

Disclosure of Invention

Aiming at the defects in the prior art, the invention provides a multi-mode detector for the starry adversity attitude-adjusting landing patrol. A multi-mode integrated leg type integrating a posture adjusting mode, a landing mode and a patrol mode is designed by utilizing a reconfigurable principle. The attitude adjusting mode can automatically match the foot end touch point according to the geometric shape of the extraterrestrial complex earth surface, the stable and reliable buffering configuration can be ensured in the landing mode, and the quadruped walking detection can be carried out in the patrol mode.

The invention is realized by the following technical scheme:

the invention relates to a multi-mode detector for starry adversity attitude-adjusting landing patrol, which comprises: main structure box and four sets of multi-mode leg mechanisms of distributing in its four sides, wherein: the multi-mode leg mechanism includes: one multimode main chain and two multimode auxiliary chains.

The starry adversity attitude-adjusting landing patrol refers to the following steps: the mode of transferring the appearance, landing mode, tour the mode, further realize folding expansion, independently transfer the appearance, landing buffering, tour walking, topography adaptation, gesture adjustment through the combination switching between the multimode specifically is: 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, the main transmission connecting rod in the multi-mode main chain is fixed and fixed in the posture adjusting mode, the multi-mode auxiliary chain is driven by the auxiliary motor to rotate around the axis of the stator in a controlled manner, so that the auxiliary operating rod of the multi-mode auxiliary chain always moves along the side wall of the main structure box body in a controlled manner, and the truss attribute invariance and the landing stability of the leg mechanism are ensured; in a landing mode, the multi-mode main chain and the multi-mode auxiliary chain are locked, and piston rods in the multi-mode main chain and the multi-mode auxiliary chain act on a buffer material in a buffer cylinder to absorb impact energy, so that the leg mechanism has truss properties and stable and reliable landing configuration; in the tour mode, the leg mechanism is driven by the power source to move in a controlled manner, and the main transmission connecting rod in the multi-mode main chain is controlled to move in the tour mode, so that the detector can perform four-footed robot walking detection.

The buffer material is made of, but not limited to, aluminum honeycomb, metal foam, gas-liquid, electro-hydraulic material, magnetorheological material and the like.

The multi-modal backbone comprises: main mount pad, main motor mounting flange, lead screw nut subassembly, main drive connecting rod, main outer sleeve buffer cylinder, bull dysmorphism flange, main piston rod, ankle and foot pad, wherein: the main mounting seat is fixedly connected with the main structure box body and is respectively connected with a main motor mounting flange and the middle part of a main transmission connecting rod through a rotating hinge, a screw nut component is fixedly connected with the main mounting seat and a screw of the screw nut component is connected with one end of the main transmission connecting rod through a rotating hinge, the other end of the main transmission connecting rod is connected with a main outer sleeve buffer cylinder through a hook hinge, a buffering energy-absorbing material is arranged in the main outer sleeve buffer cylinder, one end of a multi-head special-shaped flange is fixedly connected with the main outer sleeve buffer cylinder, the middle of the multi-head special-shaped flange is of a hollow cylindrical structure and can enable a main piston rod to buffer and stretch out and draw back, the multi-head special-shaped flange is further connected with two auxiliary chains through two spherical hinges respectively, and a foot ankle is fixedly connected with the main piston rod and is connected with a foot pad through a spherical hinge.

The multi-mode secondary chain comprises: assist the motor, assist motor mounting flange, assist motor output pendulum rod, assist transmission connecting rod, assist the piston rod, assist outer sleeve cushion cylinder, assist control lever and variable axis of rotation three modes from reconstructing the joint, wherein: an auxiliary motor shell is fixedly connected with a main structure box body through a mounting flange, a rotating shaft of the auxiliary motor shell is fixedly connected with an auxiliary motor output oscillating bar, two ends of an auxiliary transmission connecting rod are respectively connected with the auxiliary motor output oscillating bar and the middle part of an auxiliary operating rod through two spherical hinges, one end of the auxiliary operating rod is connected with a three-mode self-reconstruction joint with a variable rotating axis through a rotating hinge, the other end of the auxiliary operating rod is connected with an auxiliary outer sleeve buffer cylinder through a hook hinge, a buffering energy-absorbing material is arranged in the auxiliary outer sleeve buffer cylinder, an auxiliary piston rod stretches out and draws back relative to the auxiliary outer sleeve buffer cylinder during landing buffering, one end of the auxiliary piston rod is connected with a multi-head special-shaped flange through a spherical hinge, and the three-mode self-reconstruction joint with the variable rotating axis only realizes that a rotor rotates relative to a stator under a posture adjusting mode; in the landing mode, the joint is completely stiffened and immobilized; in the patrol mode, only the rotation of the auxiliary joystick around the root rotating shaft is realized in the joint.

The variable rotation axis three-mode self-reconstruction joint comprises: stator, rotor, separation and reunion motor, separation and reunion coordinated wheel, separation and reunion connecting rod, six separation and reunion plungers, lead screw motor, compound screw slider, slide rail, embrace claw push rod and embrace the claw, wherein: the stator is fixedly connected with the main structure box body, the rotor and the stator are coaxially arranged and rotate relative to the stator, a shell of a clutch motor is fixedly connected with the end part of the rotor, an output shaft of the clutch motor is fixedly connected with a clutch linkage wheel, the clutch linkage wheel is respectively connected with six clutch connecting rods through rotating hinges, each clutch connecting rod is connected with a clutch plunger through a rotating hinge, the clutch plungers are movably arranged on the side wall of the rotor to realize telescopic motion, the shell of a lead screw motor is fixedly connected with the end part of the rotor, a built-in thread in a composite screw nut sliding block is in matched transmission with a lead screw, two sliding grooves are formed in the composite screw nut sliding block to guide and slide on a sliding rail in a reciprocating mode, two ends of the sliding rail are fixedly connected with the rotor, two sides of the composite screw nut sliding block are respectively connected with a clamping claw push rod through one rotating hinge, the other end of the clamping claw push rod is connected with a clamping claw through a rotating hinge, and the middle part of the clamping claw is connected with the rotor through a rotating hinge; in the posture adjusting mode, the holding claw firmly holds the auxiliary operating lever, and the clutch plunger is separated from the stator, so that the rotor can be controlled to rotate for a certain angle relative to the stator under the driving of the auxiliary motor, and the clutch plunger is inserted into the stator after the rotation is stopped, so that the rotor and the stator are fixed; in a landing mode, the holding claw firmly holds the auxiliary operating lever, the clutch plunger is inserted into the stator, and the rotor and the stator are fixed; in the patrol mode, the clutch plunger keeps inserted into the stator and the rotor and the stator are fixed, the holding claw is completely opened, and therefore the auxiliary operating rod can rotate around the root rotating shaft under the driving of the auxiliary motor.

The telescopic motion refers to the following steps: when the clutch plunger extends to the limit position, the end part of the plunger is positioned in the stator and is in a dead point state, and the rotor is fixed relative to the stator; when the clutch plunger retracts to a certain degree, the plunger disengages from the stator, and the rotor can rotate relative to the stator.

The slide rail, the clamping claw push rod and the clamping claws are symmetrically arranged in pairs, when the composite screw nut slide block moves to a limit position, the composite screw nut slide block just clings to the end wall of the rotor on the fixed side of the screw motor, the clamping claws are in a dead point state, and the auxiliary operating lever is firmly clamped by the clamping claws and cannot be separated; when the composite screw sliding block moves to the other limit position, the sliding block is just attached to the end wall of the rotor on the other side, the holding claw is completely opened, and the auxiliary operating lever can rotate around the fixed shaft of the rotating hinge of the root.

Technical effects

The invention integrally solves the problem that the existing lander (comprising the actual application configuration in the space navigation engineering and the configuration retrieved by the literature) is limited to landing in the plain area with small equal gradient and flat surface and a small detection range. The landing in the adversity landforms of the extraterrestrial (such as mountains, canyons, hills, pits, gravels and the like) cannot be realized, otherwise, a severe landing safety problem is generated, and the adversity landforms are easy to retain a large amount of original information of celestial evolution; the current patrol device is difficult to reach the alien adverse terrain due to limited movement range;

compared with the prior art, the invention can automatically match the foot end touch point according to the complex geometric morphology of the surface of the outer star by the automatic attitude-adjusting landing capability and ensure the stable landing buffer configuration. The method provides technical reference for landing on the terrain which cannot be reached by the prior art means of human beings; the detector integrates three functional modes, namely an attitude adjusting mode, a landing mode and a patrol mode. Thereby carrying out regional foot walking detection on the landform of the alien adversity; the invention obviously reduces the number of connecting rods and the number of branched chains of the leg mechanism, improves the rigidity, the shock resistance and the reliability of the leg mechanism, and improves the landing stability and the stability of the patrol walking stage.

Drawings

FIG. 1 is a schematic diagram illustrating a landing mode of the present embodiment;

FIG. 2 is a schematic diagram of the posture adjustment mode of the present embodiment;

FIG. 3 is a schematic diagram illustrating the patrol mode of the present embodiment;

FIG. 4 is a schematic diagram of a multi-mode leg mechanism in a landing mode;

FIG. 5 is a schematic view of the backbone of the multimode leg mechanism;

FIG. 6 is a schematic diagram of a secondary chain of a multi-mode leg mechanism;

FIG. 7 is a schematic view of a variable axis of rotation tri-mode self-reconstructing joint;

FIG. 8 is a schematic view of a clutch mechanism in a variable axis of rotation three-mode self-reconfiguring joint;

FIG. 9 is a schematic view of a clasping mechanism in a variable axis of rotation three-mode self-reconfigurable joint;

in the figure: the multi-mode leg mechanism comprises a main structure box 100, a multi-mode leg mechanism 200, a multi-mode main chain 300, a main mounting base 301, a main motor mounting flange 302, a lead screw nut component 303, a main transmission connecting rod 304, a main outer sleeve buffer cylinder 305, a multi-head special-shaped flange 306, a main piston rod 307, an ankle 308, a foot pad 309, a multi-mode auxiliary chain 400, an auxiliary motor 401, an auxiliary motor mounting flange 402, an auxiliary motor output swing rod 403, an auxiliary transmission connecting rod 404, an auxiliary piston rod 405, an auxiliary outer sleeve buffer cylinder 406, an auxiliary operating rod 407, a variable rotation axis three-mode self-reconfigurable joint 500, a joint stator 501, a joint rotor 502, a joint clutch motor 503, a joint clutch linkage wheel 504, a joint clutch connecting rod 505, a joint clutch plunger 506, a joint lead screw motor 507, a joint composite screw sliding block 508, a joint 509 sliding rail, a joint holding push rod 510 and a joint holding claw 511.

Detailed Description

As shown in fig. 1 to 3, the present embodiment includes: the multi-mode leg mechanism 200 realizes task conversion among a posture adjusting mode, a landing mode and a patrol mode through self-reconstruction, and has the functions of folding and unfolding, automatic posture adjustment, landing buffering, patrol walking, terrain adaptation and posture adjustment.

As shown in fig. 4, the multimode leg mechanism 200 comprises: one multimode backbone 300 and two multimode sidelines 400.

As shown in fig. 5, the multi-mode backbone 300 includes: main mount 301, main motor mounting flange 302, lead screw nut subassembly 303, main drive connecting rod 304, main outer sleeve cushion cylinder 305, bull dysmorphism flange 306, main piston rod 307, ankle 308, footpad 309, wherein: the main mounting base 301 is fixedly connected to the main structure box 100 and is connected with the middle portions of the main motor mounting flange 302 and the main transmission connecting rod 304 through a rotating hinge, the lead screw nut assembly 303 is fixed to the main mounting base 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 the main outer sleeve buffer cylinder 305 through a hook hinge, and a buffering energy-absorbing material is arranged in the main outer sleeve buffer cylinder 305. One end of the multi-head special-shaped flange 306 is fixedly connected to the main outer sleeve buffer cylinder 305, the middle part of the multi-head special-shaped flange is of a hollow cylindrical structure to enable the main piston rod 307 to be buffered and stretched, the multi-head special-shaped flange 306 is further connected with the two auxiliary chains 400 through two spherical hinges respectively, the ankle 308 is fixedly connected to the main piston rod 307 and is connected with the foot pad 309 through the spherical hinge,

as shown in fig. 6, the multi-mode secondary chain 400 includes: auxiliary motor 401, auxiliary motor mounting flange 402, auxiliary motor output swing rod 403, auxiliary transmission connecting rod 404, auxiliary piston rod 405, auxiliary outer sleeve buffer cylinder 406, auxiliary operating lever 407, variable axis of rotation three-mode self-reconfigurable joint 500, wherein: the shell of the auxiliary motor 401 is fixedly connected to the main structure box 100 through a mounting flange 402, a rotating shaft of the auxiliary motor 401 is fixedly connected with an auxiliary motor output swing rod 403, two ends of an auxiliary transmission connecting rod 404 are respectively connected with the auxiliary motor output swing rod 403 and the middle part of an auxiliary operating rod 407 through two spherical hinges, one end of the auxiliary operating rod 407 is connected with the three-mode self-reconfigurable joint 500 with a variable rotating axis through a rotating hinge, the other end of the auxiliary operating rod is connected with an auxiliary outer sleeve buffer cylinder 406 through a Hooke hinge, and a buffering energy-absorbing material is arranged in the auxiliary outer sleeve buffer cylinder 406. The auxiliary piston rod 405 extends and retracts relative to the auxiliary outer sleeve buffer cylinder 406 during landing buffering, one end of the auxiliary piston rod is connected with the multi-head special-shaped flange 306 through a spherical hinge,

as shown in fig. 7 to 9, the variable rotation axis three-mode self-reconfigurable joint 500 includes: stator 501, rotor 502, clutch motor 503, clutch linkage wheel 504, clutch connecting rod 505, clutch plunger 506, lead screw motor 507, compound screw slider 508, slide rail 509, embrace claw push rod 510, embrace claw 511, wherein: the stator 501 is fixedly connected with the main structure box 100, and the rotor 502 is coaxial with the stator 501 and has the capability of rotating relative to the stator 501. A shell of the clutch motor 503 is fixedly connected to the end of the rotor 502, an output shaft of the clutch motor is fixedly connected with the clutch linkage wheel 504, the clutch linkage wheel 504 is respectively connected with six clutch connecting rods 505 through rotating hinges, each clutch connecting rod 505 is connected with a clutch plunger 506 through a rotating hinge, the total number of the clutch plungers 506 is six, so that the clutch plungers can move on the side wall of the rotor 502 in a telescopic mode, when the clutch plungers 506 extend out to the limit positions, the end parts of the plungers are located inside the stator 501 and are in a dead point state, and the rotor 502 is fixed relative to the stator 501; when the clutch plunger 506 is retracted to a certain extent, the plunger disengages from the stator 501, and the rotor 502 can rotate relative to the stator 501. The housing of the lead screw motor 507 is fixedly connected to the end of the rotor 502. The built-in screw thread of the composite nut slide block 508 is in fit transmission with the lead screw, and two sliding grooves are formed in the composite nut slide block to guide and slide on a sliding rail 509 in a reciprocating manner, and two ends of the sliding rail 509 are fixedly connected to the rotor 502. The two sides of the composite screw sliding block 508 are respectively connected with a clamping claw push rod 510 through a rotating hinge, the other end of the clamping claw push rod 510 is connected with a clamping claw 511 through a rotating hinge, the middle part of the clamping claw 511 is connected with the rotor 502 through a rotating hinge, and the sliding rail 509, the clamping claw push rod 510 and the clamping claw 511 are symmetrically arranged in pairs. When the composite screw slider 508 moves to a limit position, the composite screw slider is just attached to the end wall of the rotor 502 on the fixed side of the lead screw motor 507, the holding claw 511 is in a dead point state, and the auxiliary operating lever 407 is firmly held by the holding claw 511 and cannot be separated; when the composite screw slider 508 moves to the other extreme position, the slider is just attached to the end wall of the other rotor 502, the holding claw 511 is fully opened, and the auxiliary operating lever 407 can rotate around the rotating hinge dead axle of the root.

As shown in fig. 2, 4-9, the posture adjusting mode is: the main drive link 304 is fixed relative to the main mount 301, thereby immobilizing the multi-mode main chain 300. In the variable axis of rotation three-mode self-reconfigurable joint 500, the holding claw 511 firmly holds the auxiliary lever 407, and the clutch plunger 506 is disengaged from the stator 501. Thus, for the multi-mode auxiliary chain 400, the auxiliary motor 401 can drive the rotor 502 in the self-reconfigurable joint 500 to rotate relative to the stator 501 in a controlled manner, and the clutch plunger 506 is inserted into the stator 501 after the rotation is stopped so as to fix the rotor 502 and the stator 501. Therefore, the auxiliary operating rod 407 always moves against the side wall of the main structure box 100, thereby ensuring the truss property invariance and landing stability of the leg mechanism 200;

as shown in fig. 1, 4-9, the landing mode is: the holding claw 511 in the self-reconfigurable joint 500 holds the auxiliary lever 407 firmly and the clutch plunger 506 is inserted into the stator 501 to be locked and stiffened. Thus, the multi-mode main chain 300 and the auxiliary chain 400 are locked and immobilized, and the multi-mode leg mechanism 200 has truss properties and a stable and reliable landing configuration, and the mechanism topology is completely consistent with that of the Chang's fly engineering series landers.

As shown in fig. 3 to 9, the patrol mode is: the main drive link 304 is driven by the lead screw nut assembly 303 to rotate with respect to the main mount 301 in a fixed axis manner. The clutch plunger 506 in the self-reconfigurable joint 500 keeps the insertion stator 501 locked and stiffened, and the locking claw 511 is fully opened, so that the auxiliary operating lever 407 can be driven by the auxiliary motor 401 to rotate around the root rotating shaft in a controlled manner. In summary, the multimodal backbone 300 and the secondary 400 chains each perform controlled movements to navigate through the survey.

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 1.95 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 followed by landing, the fuselage is kept horizontally grounded on an incline with a maximum slope of 14.76 ° 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 0.635m, which means that the single leg can avoid the gravel with the length of 1.27 meters by adjusting the position of the foot pad. Similarly, through analysis, the foot pad can step on the gravel with the thickness of 0.46m in the vertical direction through adjustment; 2) in the tour mode, the present embodiment can perform static walking with a maximum step size of 0.85m and a maximum step height of 0.6 m.

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 and a patrol mode, the number of connecting rods and branched chains of the leg mechanism is obviously reduced, the rigidity, the impact resistance and the reliability of the leg mechanism are improved, and the landing stability and the stability of a patrol walking stage are improved.

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.