The invention discloses a wheel-leg type star catalogue landing and moving integrated detector, and particularly relates to the technical field of deep space detectors, which comprises a main structure cabin section and a plurality of groups of main wheel-leg type mechanisms arranged on the side surface of the main structure cabin section, the main wheel leg type mechanism comprises a main supporting column, a swing leg, an auxiliary supporting column, an auxiliary shank rod, a buffering foot pad and a driving wheel mechanism. The main wheel leg type mechanism achieves three-degree-of-freedom movement of a single leg through a main buffering-driving mechanism and two auxiliary buffering-driving mechanisms, and the four-foot main wheel leg type mechanism achieves the leg type advancing function of the detector through cooperative control. According to the invention, through four groups of main wheel leg type mechanisms with three degrees of freedom and auxiliary wheel leg mechanisms arranged at two sides of a cabin section, the detector is adjusted to be in a leg type and wheel type configuration through configuration changing capability; the moving requirements of the detector in different task stages such as landing, wheel type driving, leg type advancing, obstacle avoidance and obstacle crossing and long-term residence are met, and the safety of a main structure cabin section is guaranteed.
本发明公开了轮腿式星表着陆移动一体化探测器,具体涉及深空探测器技术领域,包括主结构舱段、设置于其侧面的多组的主轮腿式机构;所述主轮腿式机构包括主支柱、摆动腿、辅助支柱、辅助小腿杆、缓冲足垫以及驱动轮机构;所述主轮腿式机构通过一套主缓冲‑驱动机构和两套辅助缓冲‑驱动机构实现单腿的三自由度运动,四足主轮腿式机构通过协同控制实现探测器的腿式行进功能。本发明通过四组具有三自由度的主轮腿式机构以及舱段两侧设置的辅助轮腿机构,通过变构型能力调整探测器为腿式及轮式构型,以满足探测器在着陆、轮式驱动、腿式行进、避障越障及长期驻留等不同任务阶段的移动要求及主结构舱段安全性。
Wheel-leg type star catalogue landing and moving integrated detector
轮腿式星表着陆移动一体化探测器
2025-01-24
Patent
Electronic Resource
Chinese
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