CN113022891B - A wheel-leg composite rover - Google Patents

Abstract

The invention provides a wheel-leg composite mars vehicle, and relates to the technical field of mars vehicles. The wheel leg composite train comprises a plurality of wheel leg assemblies, wherein each wheel leg assembly comprises a wheel body, a connecting rod mechanism and a first fixed seat, the connecting rod mechanisms are respectively connected with the wheel bodies at a first position and a second position to form a first joint and a second joint, the connecting rod mechanisms and the wheel bodies are provided with four rotating joints, and the first fixed seats are rotationally connected with the connecting rod mechanisms to form a fifth joint; the four revolute joints are adapted to act together to effect relative positional adjustment of a fifth axis of the fifth joint and a sixth axis of the wheel body. This wheel leg compound mars car is through four the combined action of revolute joint, the fifth axis of fifth joint can for the axis of wheel body removes to the eccentricity of adjustment wheel body, wheel leg subassembly can realize eccentric walking or leg type walking, and the trafficability ability reinforce at the surperficial complicated topography of mars.

Description

A wheel-leg composite rover

technical field

The invention relates to the technical field of mars rovers, in particular to a wheel-leg composite mars rover.

Background technique

The composition of the fire soil on Mars is complex, and its surface terrain is complex and changeable. The Mars rover has a high probability of encountering large areas of easily subsided ground and rugged terrain. Moreover, there are generally no spare parts for Mars exploration. Once the components are damaged, it will affect the The operation of the rover, therefore, it is necessary to develop a rover with strong environmental adaptability and high reliability.

SUMMARY OF THE INVENTION

The present invention aims to solve the problem of how to improve the adaptability and reliability of the Mars rover in the related art to a certain extent.

In order to solve at least one aspect of the above problems at least to a certain extent, the present invention provides a wheel-leg composite Mars rover, comprising a plurality of wheel-leg assemblies, the wheel-leg assemblies including a wheel body, a link mechanism and a first fixing seat, The link mechanism is connected with the wheel body at the first position and the second position respectively and forms a first joint and a second joint, the link mechanism and the wheel body have four rotating joints, the first joint The fixing base is rotatably connected with the link mechanism to form a fifth joint; the four rotating joints are adapted to work together to realize the relative position adjustment of the fifth axis of the fifth joint and the sixth axis of the wheel body.

Optionally, the wheel leg assembly includes a wheeled walking mode; in the wheeled walking mode, the fifth axis and the sixth axis are collinear, the four rotating joints remain locked, and the fifth axis is The second driving device of the joint realizes the rotation of the wheel body and the link mechanism around the fifth axis.

Optionally, the link mechanism includes a first link structure and a second link structure, one end of the first link structure is located at the second position, and the other end of the first link structure is connected to the second link structure. The second link structure is rotatably connected to form a third joint, the first fixed seat is rotatably connected with the second link structure to form the fifth joint, the first drive device of the third joint and the The second driving devices of the fifth joint are all located on the side of the first fixing seat close to the second link structure.

Optionally, the second connecting rod structure includes a second connecting rod structure body, a connecting seat structure and a mounting seat structure, and the second connecting rod structure body and the mounting seat structure are disposed opposite to each other and are both along the same direction as the first connecting rod structure. The five axes are extended in a direction perpendicular to each other, the connecting seat structure is located between the second connecting rod structure body and the mounting seat structure and is respectively connected with the second connecting rod structure body and the mounting seat structure, Both the first driving device and the second driving device are located between the second link structure body and the mounting seat structure.

Optionally, the wheel body is provided with a second accommodating structure, and the link mechanism, the driving device of the link mechanism and the driving device of the fifth joint are all accommodated in the second accommodating structure In the structure, the first fixing seat is at least partially located outside the second accommodating structure.

Optionally, the distance between the first position and the center of the wheel body is less than or equal to the distance between the second position and the center of the wheel body; the link mechanism includes a third joint, the third The joint is the rotating joint adjacent to the second joint on the link mechanism, and the relative positions of the third joint and the fifth joint are fixed and suitable for coaxial arrangement.

Optionally, the wheel-leg composite Mars rover further includes a vehicle body, at least one swing arm group and a locking mechanism corresponding to the swing arm group, each of the swing arm groups including two fixedly connected swing arms and The swing arm group is rotatably connected to the vehicle body at the adjacent ends of the two swing arms, and the other ends of the two swing arms are respectively fixedly connected to one of the first fixing seats;

The locking mechanism is connected with the vehicle body, and the locking mechanism includes two triggering devices and locking devices, corresponding to the two wheel leg assemblies or two swing arms provided in the same swing arm group A triggering device is respectively arranged above the wheel, and the triggering device triggers when the wheel body moves upward relative to the vehicle body to a first preset position;

The locking device is suitable for locking or releasing the relative position of the swing arm group and the vehicle body when at least one of the two triggering devices is triggered. locking.

Optionally, the locking device includes a toothed wheel structure fixedly connected with the rotating shaft of the swing arm group, a first sleeve, a first rod, a second rod, a first sleeve, a first rod, a second rod, a first sleeve fixedly connected with the vehicle body. an elastic member and a second elastic member;

The first rod and the second rod are coaxially arranged and both pass through the first sleeve, and a first end gear is provided on the second rod near the end of the first rod , the inner wall of the first sleeve is provided with a first limiting boss at the adjacent position of the first rod and the second rod, the first rod and the second rod are The adjacent ends are respectively provided with a first chute and a second chute slidably connected with the first limit boss;

Whenever the first rod moves toward one end close to the second rod, and the second rod is disengaged from the first limiting boss, and the first rod and the first When the end-face gears are in contact, the second rod rotates by a first angle along a first direction;

Whenever the second rod rotates along the first direction by a first angle, the second rod is switched between a first state and a second state. In the first state, the first limiting convex The platform collides with the end surface of the second rod member close to one end of the first rod member, and the other end of the second rod member is located in the tooth slot of the toothed wheel structure to limit the toothed wheel structure in the second state, the first limiting boss is partially accommodated in the second chute, and the second rod is separated from the toothed wheel structure;

When the first rod moves toward the end close to the second rod and drives the second rod to move, the elastic potential energy of the first elastic member and the second elastic member increases. When the first rod moves to the end away from the second rod, the elastic potential energy of the first elastic member decreases, and when the second rod moves to the side away from the toothed wheel structure, The elastic potential energy of the second elastic member is reduced.

Optionally, the triggering device includes a third rod, a second fixing seat and a third elastic member, and the locking mechanism further includes a transmission device; the second fixing seat is located above the wheel leg assembly, so The third rod is slidably connected with the second fixing base, and the third elastic member is respectively connected with the third rod and the second fixing base;

When the wheel leg assembly is in contact with the third rod and moves upward, the elastic potential energy of the third elastic member increases, and when the wheel leg assembly is separated from the third rod, the The elastic potential energy of the three elastic members is reduced;

Whenever the wheel body moves to the first preset position, the third rod member drives the first rod member to move through the transmission device, and drives the second rod member to move in the first position. state and the second state.

Optionally, the transmission device includes at least two push rod structures, at least one of the adjacent ends of each of the third rod member and the push rod structure is provided with a first inclined surface structure, and the push rod structure At least one of the adjacent ends of the first rod member is provided with a second inclined surface structure, and when the third rod member moves upward, the third rod member realizes a the push rod structure moves, and the push rod structure realizes the movement of the first rod through at least one second inclined surface structure;

Alternatively, the transmission device includes a swinging member and at least two push rod structures, the swinging member is mounted on the vehicle body through a fourth elastic member, and an end of the swinging member close to the first rod is provided with a a cam groove, when the first rod is separated from the second rod, the end of the first rod away from the second rod is at least partially accommodated in the cam groove; each At least one of the adjacent ends of the third rod member and the push rod structure is provided with a first inclined surface structure, and when the third rod member moves upward, the third rod member passes through at least one of the first inclined surface structures. The inclined surface structure realizes one movement of the push rod structure; the movement of the push rod structure is suitable for pushing the swinging member to swing, and when the swinging member swings until the first rod is separated from the cam groove, the first The rod member drives the second rod member to move, and drives the second rod member to switch between the first state and the second state.

Optionally, the wheel-leg composite Mars rover includes six wheel-leg assemblies, and three wheel-leg assemblies are respectively provided on the left and right sides of the rover body;

Wherein, one of the wheel leg assemblies on the left side and one of the wheel leg assemblies on the right side are connected to the vehicle body through a swing arm group, and the swing arm group is located at the front end of the vehicle body or rear end;

And/or, the two adjacently arranged wheel leg assemblies on the left side are connected to the vehicle body through another swing arm group; the two adjacently arranged wheel leg assemblies on the right side pass through The other swing arm group is connected with the vehicle body.

Compared with the related prior art, the present invention has the following advantages:

Through the joint action of the four rotating joints, the fifth axis of the fifth joint can move relative to the sixth axis of the wheel body, so as to adjust the eccentricity of the wheel body, the wheel leg assembly can realize eccentric walking, and the wheel The leg compound rover has the ability to cross obstacles in rough terrain; and, through the joint action of the four rotating joints and the fifth joint, the reciprocation of the wheel body relative to the fifth axis of the fifth joint can be realized Swing can realize the legged walking of the wheel-leg composite Mars rover, and the wheel-leg composite Mars rover has the ability to cross large obstacles in rough terrain; at the same time, the setting method of the four rotating joints can improve the linkage mechanism and wheel The structural stability of the body connection, the high reliability of the wheel leg assembly, and the strong ability to pass through the complex terrain on the surface of Mars.

Description of drawings

1 is a schematic structural diagram of a wheel-leg composite Mars rover in an embodiment of the present invention;

2 is a schematic structural diagram of the wheel-leg composite Mars rover after removing the vehicle body and the locking mechanism in the embodiment of the present invention;

Fig. 3 is the partial enlarged view of A place in Fig. 2 of the present invention;

4 is a schematic structural diagram of the connection between the wheel body, the link mechanism and the first fixing seat in the embodiment of the present invention;

5 is another structural schematic diagram of the connection between the wheel body, the link mechanism and the first fixed seat in the embodiment of the present invention;

6 is another schematic structural diagram of the wheel-leg composite rover in the embodiment of the present invention;

7 is a schematic structural diagram of the locking mechanism of the wheel-leg composite Mars rover in FIG. 6 of the present invention;

Fig. 8 is a partial enlarged view at B in Fig. 7;

Fig. 9 is a partial enlarged view at C in Fig. 7;

Fig. 10 is a partial enlarged view at D in Fig. 7;

FIG. 11 is a partial enlarged view at E in FIG. 10 .

Description of reference numbers:

1- wheel leg assembly, 11- first wheel leg assembly, 12- second wheel leg assembly, 13- third wheel leg assembly, 14- fourth wheel leg assembly, 15- fifth wheel leg assembly, 16- sixth wheel leg assembly Wheel leg assembly, 2-wheel body, 21-second accommodating structure, 3-link mechanism, 31-first link structure, 32-second link structure, 321-second link structure body, 322- Connection seat structure, 323-mounting seat structure, 33-third link structure, 4-first fixing seat, 41-first fixing seat body, 42-rotating shaft, 51-first driving device, 52-second driving device , 6-car body, 7-swing arm group, 71-swing arm, 72-first swing arm group, 73-second swing arm group, 74-third swing arm group, 8-locking mechanism, 81-trigger Device, 811-third rod, 812-second fixed seat, 813-third elastic member, 814-disc structure, 82-transmission device, 821-swing piece, 8211-cam groove, 822-push rod structure, 8221-first inclined surface structure, 823-fourth elastic member, 83-locking device, 831-toothed wheel structure, 832-first sleeve, 8321-first limit boss, 833-first rod, 834 - the second rod, 8341 - the second chute, 8342 - the first face gear, 835 - the first elastic part, 836 - the second elastic part.

Detailed ways

In order to make the above objects, features and advantages of the present invention more clearly understood, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense, unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection connected, or integrally connected; either directly or indirectly through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In the description of this specification, references to the terms "an example," "one example," "some implementations," "exemplarily," and "one implementation" and the like are intended to be described in conjunction with the example or implementation. The specific features, structures, materials or characteristics of the present invention are included in at least one embodiment or implementation of the present invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or implementation. Furthermore, the particular features, structures, materials or characteristics described may be combined in any suitable manner in one or more of the embodiments or implementations.

The terms "first", "second", etc. are used for descriptive purposes only, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. As such, a feature delimited with "first", "second" may expressly or implicitly include at least one of that feature.

In the drawing, the Z axis represents the vertical direction, that is, the up and down position, and the positive direction of the Z axis (that is, the arrow of the Z axis points to) represents the up, and the negative direction of the Z axis (that is, the direction opposite to the positive direction of the Z axis) Indicated below; the X-axis in the figure represents the horizontal direction and is designated as the left and right positions, and the positive direction of the X-axis (that is, the arrow of the X-axis points to) represents the right side, and the negative direction of the X-axis (that is, the positive direction of the X-axis (that is, the positive direction of the X-axis) In the opposite direction), it represents the left side; in the figure, the Y-axis represents the front and rear position, and the positive direction of the Y-axis (that is, the arrow of the Y-axis points to) represents the front side, and the negative direction of the Y-axis (that is, the positive direction of the Y-axis is opposite to that of the Y-axis). It should be noted that the meanings of the aforementioned Z-axis, Y-axis and X-axis are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the indicated device or element must be It has a specific orientation, is constructed and operates in a specific orientation, and therefore should not be construed as a limitation of the present invention.

As shown in FIG. 1 to FIG. 5 , an embodiment of the present invention provides a wheel-leg composite Mars rover, which includes a plurality of wheel-leg assemblies 1 , and the wheel-leg assembly 1 includes a wheel body 2 , a link mechanism 3 and a first fixing seat 4 , The link mechanism 3 is rotatably connected with the wheel body 2 at the first position and the second position respectively and forms a first joint and a second joint. The link mechanism 3 and the wheel body 2 have four rotating joints. The lever mechanism 3 is rotatably connected to form a fifth joint; the four rotating joints are adapted to work together to realize the relative position adjustment of the fifth axis of the fifth joint and the sixth axis of the wheel body 2 .

As shown in FIG. 4 and FIG. 5 , for example, the link mechanism 3 includes a first link structure 31 , a second link structure 32 and a third link structure 33 connected in sequence; the third link structure 33 is far away from the first link structure 33 . One end of the two link structure 32 is connected with the wheel body 2 at the first position to form a first joint, and the axis of the first joint is the first axis; one end of the first link structure 31 away from the second link structure 32 is connected with the wheel body 2 is connected at the second position to form a second joint, and the axis of the second joint is the second axis; one end of the second link structure 32 is rotatably connected with the first link structure 31 to form a third joint, and the axis of the third joint is the first joint. Three axes; the other end of the second link structure 32 is rotatably connected with the third link structure 33 to form a fourth joint, and the axis of the fourth joint is the fourth axis. The first fixed seat 4 is rotatably connected with the second link structure 32 to form a fifth joint. At least one of the first joint, the second joint, the third joint and the fourth joint is correspondingly provided with a first driving device 51 , and the rotating joint is a first active joint under the driving of the first driving device 51 . The first axis, the second axis, the third axis, the fourth axis, the fifth axis and the sixth axis are parallel to each other, through the action of the first active joint, the fifth axis of the fifth joint and the sixth axis of the wheel body 2 Relative position adjustment. It should be noted that the fifth joint is provided with a second driving device 52, that is to say, the fifth joint is the second active joint. When the first active joint remains locked and the second active joint moves, the wheel body 2 and the connecting The lever mechanisms 3 all rotate around the fifth axis.

In some embodiments, the third link structure 33 is rotationally connected with the wheel body 2 at a first position to form a first joint, and the first link structure 31 is rotationally connected with the wheel body 2 at a second position to form a second joint. In other embodiments, the third link structure 33 and the first link structure 31 are connected by a fourth link structure, and a first joint and a second joint are respectively formed at both ends of the fourth link structure, The fourth connecting rod structure is fixedly connected with the wheel body 2 (not shown in this scheme). Here, the fourth link structure and the wheel body 2 may be fixed by welding, or may be detachably connected, and the fourth link may also be a telescopic rod, which will not be described in detail here.

It should be noted that the wheel-leg assembly 1 has an eccentric walking mode and a leg-type walking mode:

In the eccentric walking mode, the fifth axis and the sixth axis are arranged in parallel, the four rotating joints remain locked, and the second driving device 52 of the fifth joint realizes the rotation of the wheel body 2 and the link mechanism 3 around the fifth axis. , the wheel body 2 is an eccentric wheel, and the eccentricity of the wheel body 2 is adjusted jointly by four rotating joints. The larger the eccentricity, the greater the ability of the wheel leg assembly 1 to cross obstacles. , adjust the position of the fifth axis relative to the sixth axis of the wheel body 2 through the four rotating joints (that is, the process of adjusting the eccentricity at this time). The driving device 52 drives the link mechanism 3 and the wheel body 2 to rotate around the fifth axis, thereby crossing the obstacle.

In the legged walking mode, the four rotating joints and the fifth joint work together to make the wheel body 2 swing back and forth and cross obstacles. Taking the action of one of the wheel leg assemblies 1 as an example, when the height of the obstacle to be crossed is high or not It is suitable to pass through obstacles in the way of eccentric walking, etc. in which the walking wheel is in contact with the ground. In the case of realizing the reliable support of the wheel-leg compound Mars rover, the eccentricity of the wheel body 2 is first adjusted through the four rotating joints, and the fifth joint is used to adjust the eccentricity of the wheel body 2. Lift the wheel body 2 as a whole (at this time, the wheel body 2 is off the ground), and then continue to adjust the eccentricity of the wheel body 2 and the action of the fifth joint, so that the wheel body 2 can cross the obstacle and land on the ground. During this process, in order to ensure For the reliable support of the wheel-leg composite Mars rover and the advancement of the wheel-leg composite Mars rover, other wheel-leg assemblies 1 should take corresponding measures to cooperate with the actions of the wheel-leg assembly 1, which will not be described in detail here.

In some embodiments, the wheel-leg composite Mars rover may further include a controller and a sensor, the controller is respectively connected to the sensor and the wheel-leg assembly 1 through electrical connection and other means to achieve communication connection, and the sensor is suitable for detecting the space attitude of the wheel-leg composite Mars rover Information such as inclination information, the sensor can be a three-axis gyroscope, the sensor provides reliable data support for the controller to control the action of each wheel leg assembly 1, and is convenient to adjust the control strategy of the wheel leg assembly 1 in time. In addition, in the actual working process, the walking modes of the wheel-leg compound rover may be used in a cross manner, and the control strategy of each wheel-leg assembly 1 may be the same or different, which will not be described in detail here.

The advantage of this arrangement is that, through the joint action of the four rotating joints, the fifth axis of the fifth joint can move relative to the sixth axis of the wheel body 2, so as to adjust the eccentricity of the wheel body 2, and the wheel leg assembly 1 can realize the eccentricity Walking, the wheel-leg composite rover has the ability to cross obstacles in rough terrain; and, through the joint action of the four rotating joints and the fifth joint, the reciprocating swing of the wheel body 2 relative to the fifth axis of the fifth joint can be realized, It can realize the legged walking of the wheel-leg composite Mars rover, and the wheel-leg composite Mars rover has the ability to cross large obstacles in rough terrain; at the same time, the setting method of the four rotating joints can improve the connection between the link mechanism 3 and the wheel body 2 The structural stability of the wheel leg assembly 1 is high, and the passing ability of the complex terrain on the surface of Mars is strong.

As shown in FIG. 3 , in the embodiment of the invention, the wheel leg assembly 1 includes a wheeled walking mode; in the wheeled walking mode, the fifth axis and the sixth axis are collinear, the four rotating joints remain locked, and the fifth joint’s The second driving device 52 realizes the rotation of the wheel body 2 and the link mechanism 3 around the fifth axis.

As shown in Figure 3, that is to say, under the joint action of the four rotating joints, the fifth axis of the fifth joint can move to be collinear with the sixth axis of the wheel body 2, when the fifth axis and the sixth axis are collinear During the line, the four rotating joints remain locked, and the second driving device 52 drives the wheel body 2 to rotate relative to the first fixed seat 4 around the fifth axis, thereby realizing the wheeled walking of the wheel leg assembly 1 .

The advantage of this setting is that the wheel-leg assembly 1 of the wheel-leg composite Mars rover has various walking modes such as wheeled walking, eccentric walking, and legged walking. On a relatively flat ground, it can be switched to the wheel mode, with high speed and stable movement. And the energy consumption is low; when encountering obstacles, it can be switched to eccentric walking mode or legged walking mode, which can escape from subsidence and complex terrain, and has a strong ability to cross obstacles.

In the embodiment of the present invention, as shown in FIG. 3 , FIG. 4 and FIG. 5 , the link mechanism 3 includes a first link structure 31 and a second link structure 32 , and one end of the first link structure 31 is located at the second link structure 31 . position, the other end of the first link structure 31 is rotatably connected with the second link structure 32 to form a third joint, the first fixed seat 4 is rotatably connected with the second link structure 32 to form a fifth joint, and the third joint Both a driving device 51 and the second driving device 52 of the fifth joint are located on the side of the first fixing base 4 close to the second link structure 32 .

Specifically, as shown in FIGS. 4 and 5 , the second link structure 32 includes a second link structure body 321 , and two ends of the second link structure body 321 are respectively connected to the first link structure 31 and the third link The structure 33 is rotatably connected to form the third joint and the fourth joint, the first driving device 51 is installed on the side of the second link structure 32 close to the first fixed seat 4, and the second driving device 52 of the fifth joint is located in the first fixed The seat 4 is close to one side of the second connecting rod structure body 321 , and its installation structure is not limited, which will be described in detail later.

The advantage of this arrangement is that the installation structure of the first driving device 51 and the second driving device 52 is compact, the installation space of the first driving device 51 and the second driving device 52 can be reduced, and the first driving device 51 can be reduced to a certain extent. The device 51 and the second driving device 52 affect the position of the center of gravity of the wheel leg assembly 1 , and have high reliability and high practicability.

As shown in FIGS. 3 , 4 and 5 , the second link structure 32 includes a second link structure body 321 , a connecting seat structure 322 and a mounting seat structure 323 , and the second link structure body 321 and the mounting seat structure 323 are opposite to each other. The connecting seat structure 322 is located between the second connecting rod structure body 321 and the mounting seat structure 323 and is connected with the second connecting rod structure body 321 and the mounting seat structure 323 respectively. , the first driving device 51 and the second driving device 52 are both located between the second link structure body 321 and the mounting seat structure 323 .

As shown in FIGS. 3 and 4 , by way of example, the second link structure body 321 and the mounting seat structure 323 are both plate-like structures, and a space for accommodating the second link structure body 321 and the mounting seat structure 323 is formed between the second link structure body 321 and the mounting seat structure 323 . The first accommodating structure of the first driving device 51 and the second driving device 52 .

Here, the specific structure of the connecting seat structure 322 is not intended to be a limitation. For example, as shown in FIG. 5 , the connecting seat structure 322 includes a hollow connecting column, and the axis of the hollow connecting column is collinear with the third axis. The rod structure 32 is in the shape of a square as a whole, the first driving device 51 is accommodated in the hollow connecting column and fixedly mounted on the second connecting rod structure body 321 , and the output shaft of the first driving device 51 is fixedly connected with the first connecting rod structure 31 , the second driving device 52 is fixedly installed on the side of the mounting seat structure 323 close to the second link structure body 321 and is located on the end of the mounting seat structure 323 away from the hollow connecting column. Here, the second driving device 52 can be drivingly connected with the first fixing base 4 by means of belt transmission, gear transmission, or the like. Exemplarily, the connecting seat structure 322 includes a plurality of connecting rods, each connecting rod is respectively connected with the second connecting rod structure body 321 and the mounting seat structure 323 , and the plurality of connecting rods are along the circumferential direction of the second connecting rod structure body 321 . distributed, and the first accommodating structure is formed between a plurality of connecting rods. Here, the setting method of the second driving device is not limited to this, and it only needs to enable the second link structure 32 and the first fixing seat 4 to rotate relative to each other around the fifth axis, which will not be described in detail here.

The advantage of this arrangement is that the overall structural arrangement of the second link structure 32 is reasonable, which facilitates the installation of the first driving device 51 and the second driving device 52, and has a compact structure and strong practicability.

As shown in FIGS. 3 and 4 , in the above embodiment, the wheel body 2 is provided with a second accommodating structure 21 , and the link mechanism 3 , the drive device of the link mechanism 3 and the drive device of the fifth joint are all accommodated Inside the second accommodating structure 21 , the first fixing seat 4 is at least partially located outside the second accommodating structure 21 .

That is to say, the first link structure 31 , the second link structure 32 , the third link structure 33 , the first driving device 51 and the second driving device 52 are all accommodated in the second accommodating structure 21 . At this time, the width of the wheel body 2 should be large enough to accommodate the above-mentioned various structures.

In some embodiments, the opening of the second accommodating structure 21 faces the inside of the wheel-leg composite rover, and a flexible sealing structure is provided at the opening of the second accommodating structure 21 , and the flexible sealing structure is connected to the first fixing seat 4 . Exemplarily, as shown in FIG. 4 , the first fixing base 4 includes a first fixing base body 41 and a rotating shaft 42 , the first fixing base body 41 is suitable for realizing the integral installation of the wheel leg assembly 1 , and the rotating shaft 42 and the first fixing base are The main body 41 is fixedly connected, the second driving device 52 is drivingly connected with the rotating shaft 42, the flexible sealing device is fixedly connected with the wheel body 2, and is rotatably connected with the rotating shaft 42 (the specific structure of the flexible sealing device is not shown in the figure). The specific sealing form of the flexible sealing device can adopt the relevant existing technology. In order to adapt to the harsh environment on Mars, such as rays, etc., the entire wheel-leg composite rover can be coated with a coating layer to reflect various rays on Mars. , in order to increase the service life of the wheel-leg composite rover.

The advantage of this arrangement is that the wheel body 2 is provided with a second accommodating structure 21, which can not only be used to accommodate components such as a link mechanism, but also reduce the weight of the wheel body 2. The structure of the wheel leg assembly 1 is relatively compact, and the wheel body 2. It can also protect the internal components of the second accommodating structure 21 to a certain extent to avoid damage caused by bumps and other reasons, and can effectively improve the service life of the wheel-leg composite Mars rover in the case of no spare parts on Mars. In addition, the wheel body 2 can obtain a larger width, and a larger support area can be obtained on the ground, and the walking of the wheel-leg composite Mars rover is more stable and reliable, and has strong practicability.

As shown in Figures 3 and 4, the distance between the first position and the center of the wheel body 2 is less than or equal to the distance between the second position and the center of the wheel body 2; the link mechanism 3 includes a third joint, and the third joint is a link On the rotating joint adjacent to the second joint on the mechanism 3, the relative positions of the third joint and the fifth joint are fixed and suitable for coaxial arrangement.

That is to say, the distance between the first axis and the sixth axis is less than or equal to the distance between the second axis and the sixth axis, for example, the first axis is coaxial with the sixth axis, and the third joint and the fifth joint are coaxial The specific setting method of the setting has been described above, and will not be repeated here.

The advantage of this arrangement is that, under the action of the four rotating joints, the distance between the fifth axis and the sixth axis has a large adjustment range, the wheel body 2 can obtain a large eccentricity adjustment range, and the wheel leg assembly 1 has a relatively large adjustment range. Strong ability to cross obstacles; and, when the fifth axis moves to be collinear with the sixth axis, the link mechanism 3 is basically in a symmetrical state (for example, the first link and the third link are the same length and are approximately located in the first link position), the center (or center of gravity) of the wheel-leg assembly 1 is approximately located on the fifth axis, so that in the wheeled walking mode, the movement of the wheel-leg assembly 1 is stable, and the wheeled walking of the wheel-leg composite rover Stable, reliable and practical.

In the above-mentioned embodiment, as shown in FIG. 1 , FIG. 2 , FIG. 3 , FIG. 6 and FIG. 7 , the wheel-leg composite Mars rover further includes a vehicle body 6 , at least one swing arm group 7 and a lock corresponding to the swing arm group 7 . The tightening mechanism 8, each swing arm group 7 includes two fixedly connected swing arms 71, and the swing arm group 7 is rotatably connected with the vehicle body 6 at the adjacent ends of the two swing arms 71, and the other ends of the two swing arms 71 are respectively It is fixedly connected with a first fixed seat 4, and the locking mechanism 8 is connected with the vehicle body 6. The locking mechanism 8 is suitable for realizing the relative position locking of the swing arm group 7 and the vehicle body 6 or releasing the swing arm group 7 and the vehicle body 6. position lock.

As shown in FIGS. 1 and 2 , exemplarily, the wheel-leg composite rover includes at least six wheel-leg assemblies 1 and six swing arms 71 , wherein the first wheel-leg assembly 11 , the second wheel-leg assembly 12 and the first wheel-leg assembly 12 and the The three wheel leg assemblies 13 are all located on the left side of the vehicle body 6 (ie, the opposite direction of the X axis), and the fourth wheel leg assembly 14 , the fifth wheel leg assembly 15 and the sixth wheel leg assembly 16 are all located on the right side of the vehicle body 6 . (that is, the positive direction of the X-axis), wherein the first wheel leg assembly 11 and the fourth wheel leg are both located at the front or rear end of the vehicle body 6, and the first wheel leg assembly 11 and the fourth wheel leg assembly 14 are first fixed. The seat 4 is respectively fixedly connected with the first swing arm and the fourth swing arm, and the first swing arm and the fourth swing arm are fixedly connected to form a first swing arm group 72, and the first swing arm group 72 is between the first swing arm and the fourth swing arm. The connection position of the arm is rotatably connected with the front end or the shaft end of the vehicle body, and rotates around a seventh axis, which is consistent with the Y axis.

It should be noted that the structure of the locking mechanism 8 is not limited, and the relative position of the swing arm group 7 and the vehicle body 6 can be locked. For example, the locking mechanism 8 can be an electronically controlled locking mechanism 8, and the controller and the The electronically controlled locking mechanism 8 is connected in communication, and the controller controls the action of the electronically controlled locking mechanism 8 according to the detection data of the sensor (eg, the inclination sensor) disposed on the wheel body 2 and/or the swing arm 71 .

It should be noted that the two swing arms 71 are fixedly connected, which can be integrally connected or can be fixedly connected by disassembly and assembly. Although the figure only shows the collinear arrangement of the two swing arms 71, , which is not limited to this, for example, the two swing arms 71 can be connected in an inverted V-shaped structure, which will not be described in detail here.

Exemplarily, when the wheel-leg compound Mars rover is in the wheeled walking mode, the locking mechanism 8 releases the position locking of the first swing arm group 72 and the vehicle body 6, and the first swing arm group 72 is in a free movement state. At this time, The first swing arm group 72 plays a role similar to a suspension, and can dampen the wheel-leg composite Mars rover in a certain direction, thereby improving the service life of the components on the rover body 6 of the wheel-leg composite Mars rover.

Exemplarily, when the wheel body 2 of the first wheel leg assembly 11 moves upward to a first preset position (eg, in the first position, the center of the wheel body 2 of the first wheel leg assembly 11 and the fourth wheel leg assembly The angle between the center line of the wheel body 2 and the horizontal plane is 15°, 20° or 30°), and the locking mechanism 8 is suitable for realizing the relative position locking of the swing arm group 7 and the vehicle body 6. At this time, the first Both the wheel leg assembly 11 and the second wheel leg assembly 12 can realize eccentric walking and legged walking, which will be described in detail later.

The advantage of this arrangement is that when the locking mechanism 8 releases the relative position lock of the swing arm group 7 and the vehicle body 6 , the swing arm group 7 can swing and form a suspension structure of the two wheel leg assemblies 1 , which can to a certain extent When the wheel-leg assembly 1 performs eccentric walking (or wheeled walking), the wheel-leg composite Mars rover is damped and buffered to improve the walking stability of the wheel-leg composite Mars rover; when the locking mechanism 8 realizes the swing arm group 7 and the When the relative position of the vehicle body 6 is locked, at least one of the two wheel leg assemblies 1 provided corresponding to the swing arm group 7 can realize leg-type walking, and the locking mechanism 8 can ensure that the wheel leg assembly 1 is in each walking mode to a certain extent. Switching in the middle, high reliability and strong practicability.

As shown in FIGS. 6 and 7 , in the embodiment of the present invention, the locking mechanism 8 includes two triggering devices 81 and locking devices 83 , corresponding to the two wheel leg assemblies 1 or two provided in the same swing arm group 7 . A trigger device 81 is respectively provided above each swing arm 71, and the trigger device 81 is triggered when the wheel body 2 moves upward relative to the vehicle body 6 to the first preset position;

The locking device 83 is suitable for locking the relative position of the swing arm group 7 and the vehicle body 6 or releasing the relative position locking of the swing arm group 7 and the vehicle body 6 when at least one of the two triggering devices 81 is triggered.

Here, the trigger device 81 may be a mechanical trigger or an electronic control trigger, for example, the trigger device 81 may be a sensor, and the locking mechanism 8 may be an electromagnetic brake.

The advantage of this arrangement is that the movement of the two wheel bodies 2 corresponding to the same locking mechanism 8 can trigger the locking device 83 to lock the relative position of the swing arm group 7 and the vehicle body 6 or release the swing arm group 7 and the vehicle body 6 The relative position of the main body 6 is locked, which has high controllability and strong practicability.

As shown in FIG. 2 , by way of example, the first wheel leg assembly 11 and the second wheel leg assembly 12 work together to lower the overall height of the vehicle body 6 so that the position of the wheel body 2 relative to the vehicle body 6 moves to the first position, Both triggering devices 81 of the locking mechanism 8 are triggered. Of course, it can also be that one of the triggering devices 81 is triggered by the action of the first wheel leg assembly 11 or the second wheel leg assembly 12, which will not be described in detail here.

As shown in FIG. 6 , FIG. 7 , FIG. 9 , FIG. 10 and FIG. 11 , in this embodiment, the locking device 83 includes a toothed wheel structure 831 fixedly connected to the rotating shaft of the swing arm group 7 , and fixed to the vehicle body 6 . The connected first sleeve 832, the first rod 833, the second rod 834, the first elastic member 835 and the second elastic member 836;

The first rod member 833 and the second rod member 834 are coaxially arranged and both pass through the first sleeve 832. The end of the second rod member 834 close to the first rod member 833 is provided with a first face gear 8342. The first set of The inner wall of the cylinder 832 is provided with a first limiting boss 8321 at the adjacent position of the first rod 833 and the second rod 834, and the adjacent ends of the first rod 833 and the second rod 834 are respectively provided with the first rod 833 and the second rod 834. A first chute and a second chute 8341 slidably connected to the limiting boss 8321 (as shown in FIG. 11 , the first chute is not shown);

Whenever the first rod 833 moves toward the end close to the second rod 834 (ie, moves downward in the drawing), the second rod 834 is disengaged from the first limiting boss 8321 and the first rod 833 and When the first end gear 8342 is in contact, the second rod 834 rotates by a first angle along the first direction;

Whenever the second lever 834 rotates along the first direction by the first angle, the second lever 834 switches between the first state and the second state. In the first state, the lower end surface of the first limiting boss 8321 ( ) collides with the end face of the second rod 834 close to one end of the first rod 833, and the other end of the second rod 834 is located in the tooth slot of the toothed wheel structure 831 to limit the rotation of the toothed wheel structure 831; In the second state, the first limiting boss 8321 is partially accommodated in the second chute 8341, and the second rod 834 is separated from the toothed wheel structure 831 (the first state is shown in FIG. 11, and the second state is not shown). );

When the first rod 833 moves toward the end close to the second rod 834 and drives the second rod 834 to move, the elastic potential energy of the first elastic member 835 and the second elastic member 836 increases. When the end away from the second rod 834 moves, the elastic potential energy of the first elastic member 835 decreases, and when the second rod 834 moves to the side away from the toothed wheel structure 831 , the elastic potential energy of the second elastic member 836 decreases .

Exemplarily, at this time, the end of the first rod member 833 close to the second rod member 834 is provided with a second face gear, and the tooth tip of the second face gear is suitable for contacting the tooth surface of the first face gear 8342, thereby driving the second face gear. The rod 834 rotates by the first angle, and the number of the gear teeth of the first face gear 8342 and the second face gear is determined according to the actual situation, and will not be described in detail here.

As shown in FIGS. 10 and 11 , for example, the first elastic member 835 is located between the first rod 833 and the second rod 834 , or the first elastic member 835 is located between the first rod 833 and the first sleeve Between 832 , the first elastic member 835 is a compression spring, the first elastic member 835 provides the driving force for the reset of the first rod 833 , and similarly, the second elastic member 836 provides the driving force for the reset of the second rod 834 .

The advantage of this arrangement is that every time the first rod 833 is pressed to drive the second rod 834 to move and the second rod 834 is switched between the first state and the second state, the first rod 833 is restored to its original state , which is convenient for the next action of the first lever 833 when at least one of the two triggering devices 81 is triggered next time, which can realize the relative position locking or unlocking of the swing arm group 7 and the vehicle body 6, and has high reliability. Strong practicality.

As shown in FIG. 7 , FIG. 8 and FIG. 10 , in this embodiment, the triggering device 81 includes a third rod 811 , a second fixing seat 812 and a third elastic member 813 , and the locking mechanism 8 further includes a transmission device 82 ; The second fixed seat 812 is located above the wheel leg assembly 1, the third rod 811 is slidably connected with the second fixed seat 812, and the third elastic member 813 is respectively connected with the third rod 811 and the second fixed seat 812 (in FIG. 10 ). The second fixing seat 812 is configured as a sleeve structure);

When the wheel leg assembly 1 is in contact with the third rod member 811 and moves upward, the elastic potential energy of the third elastic member 813 increases, and when the wheel leg assembly 1 is separated from the third rod member 811, the elastic potential energy of the third elastic member 813 increases reduce;

Whenever the wheel body 2 moves to the first preset position, the third rod 811 drives the first rod 833 to move through the transmission device 82 and drives the second rod 834 to switch between the first state and the second state.

It should be noted that the specific structure of the transmission device 82 is not limited, and it is only necessary to convert the motion of the third rod 811 into the motion of the first rod 833 .

In some embodiments, the lower end of the third rod member 811 is provided with a disk-shaped structure 814 , so that the wheel body 2 drives the movement of the third rod member 811 . In addition, the working method of the locking mechanism 8 is described above by taking one of the wheel leg assemblies 1 to trigger the triggering device 81 as an example, and the manner in which the two wheel leg assemblies 1 respectively trigger one wheel leg assembly 1 is similar to this, and will not be described in detail here. illustrate.

The advantage of this arrangement is that the action of the locking device is triggered mechanically, the structural reliability is high, the use of sensors for triggering detection is avoided, and the applicability is high, not easy to be damaged, and strong in situations such as sparks without spare parts.

As shown in FIG. 7 , FIG. 8 and FIG. 10 , in this embodiment, the transmission device 82 includes a swinging member 821 and at least two push rod structures 822 . A cam groove 8211 is provided at one end of the member 821 close to the first rod member 833. When the first rod member 833 is separated from the second rod member 834, the end of the first rod member 833 away from the second rod member 834 is at least partially accommodated in In the cam groove 8211; at least one of the adjacent ends of each third rod 811 and the push rod structure 822 is provided with a first inclined surface structure 8221, when the third rod 811 moves upward, the third rod 811 passes through at least one A first inclined surface structure 8221 realizes the movement of a push rod structure 822; the movement of the push rod structure 822 is suitable for pushing the swing member 821 to swing, and when the swing member 821 swings until the first rod member 833 leaves the cam groove 8211, the first rod member 833 drives The second rod 834 moves and drives the second rod 834 to switch between the first state and the second state.

It should be noted that the push rod structure 822 is used to change the force transmission direction through the inclined surface structure, which may include one push rod or multiple push rods connected in sequence, and the movement direction is changed between two adjacent push rods through the inclined surface structure, and each push rod The number of push rods in each push rod structure 822 is determined according to actual needs, and will not be described in detail here.

Exemplarily, in order to make the swing directions of most of the swinging members 821 consistent when the two triggering devices 81 are triggered, the contact points of the two push rod structures 822 in contact with the swinging member 821 are centrally symmetrical with respect to the rotation center of the swinging member 821 (which may be approximately Center symmetrical arrangement), for example, the contact point of one push rod structure 822 and the swinging member 821 is located above the rotation center of the swinging member 821, and the contact point of the other push rod structure 822 and the swinging member 821 is located at the rotation center of the swinging member 821 In this way, the rocking direction of the rocking member 821 can be ensured to be consistent, and the driving force for the rocking member 821 to be rocked can be increased. In addition, the swinging member 821 can also be provided with a swinging arm, which is suitable for contacting the push rod structure 822 , so that the force-applying arm of the swinging member 821 can be lengthened and the difficulty of driving the swinging member 821 can be reduced.

The fourth elastic member 823 is respectively connected with the vehicle body 6 and the swinging member. When the push rod structure 822 pushes the swinging member 821 to swing, the elastic potential energy of the fourth elastic member 823 increases. The elastic potential energy of the elastic member 823 is reduced, and the fourth elastic member 823 is used to reset the swing member 821. In addition, the number of the fourth elastic member 823 can be set to multiple, and the fourth elastic member 823 can be a torsion spring, which is not repeated here. Detailed description.

In addition, the push rod structure 822 can also be switched to a wire transmission structure, which will not be described in detail here.

In other embodiments, the swinging member 821 may be omitted, and at least one of the adjacent ends of the push rod structure 822 and the first rod member 833 is provided with a second inclined surface structure. When the third rod member 811 moves upward, the third rod member 811 moves upward. The rod member 811 realizes the movement of a push rod structure 822 through at least one first inclined surface structure 8221 , and the push rod structure 822 realizes the movement of the first rod member 833 through at least one second inclined surface structure, which will not be described in detail here.

In this embodiment, each push rod of the push rod structure 822 may be provided with a return spring to avoid the push rod from moving, which will not be described in detail here.

The advantage of this arrangement is that the movement direction of each rod is converted through the inclined surface structure, and the two triggering devices 81 can both trigger the locking device 83, which has high structural stability, and when the transmission device 82 includes the swinging member At the time of 821, compared with the direct realization of force transmission through the inclined surface structure, the driving reliability and controllability of the swing member 821 are high, and the practicability is strong.

In addition, in the above embodiment, the locking device 83 can be arranged inside the vehicle body 6, which can protect the locking device 83 to a certain extent, and has high safety and long service life.

As shown in Figures 1, 2, 6 and 7, the wheel-leg composite Mars rover includes six wheel-leg assemblies 1, and three wheel-leg assemblies 1 are respectively provided on the left and right sides of the vehicle body 6;

Wherein, a wheel leg assembly 1 located on the left side and a wheel leg assembly 1 located on the right side are connected to the vehicle body 6 through a swing arm group 7, and the swing arm group 7 is located at the front or rear end of the vehicle body;

And/or, two adjacently arranged wheel leg assemblies 1 located on the left side are connected to the vehicle body 6 through another swing arm group 7; two adjacently arranged wheel leg assemblies 1 located on the right side are connected to the vehicle body 6 through another swing arm group The group 7 is connected to the vehicle body 6 .

Specifically, as shown in FIGS. 1 and 2 , the second wheel leg assembly 12 and the third wheel leg assembly 13 are connected to the vehicle body 6 through the second swing arm group 73 , the fifth wheel leg assembly 15 and the sixth wheel leg assembly 16 is connected to the vehicle body 6 through the third swing arm group 74 .

The advantage of this arrangement is that (the first swing arm group 72 makes) the wheel leg compound rover has vibration damping in the left and right directions, and/or, (the second swing arm group 73 and the third swing arm group 74 make) the wheel leg compound The rover has vibration buffering in the front and rear directions, and the wheel-leg composite rover movement has high stability and reliability.

Although the present disclosure is disclosed above, the scope of protection of the present disclosure is not limited thereto. Those skilled in the art can make various changes and modifications without departing from the spirit and scope of the present disclosure, and these changes and modifications will all fall into the protection scope of the present invention.

Claims (10)

1. The wheel-leg composite mars train is characterized by comprising a plurality of wheel leg assemblies (1), wherein each wheel leg assembly (1) comprises a wheel body (2), a connecting rod mechanism (3) and a first fixing seat (4), the connecting rod mechanism (3) is connected with the wheel body (2) at a first position and a second position respectively to form a first joint and a second joint, the connecting rod mechanism (3) and the wheel body (2) are provided with four rotating joints, and the first fixing seat (4) is rotatably connected with the connecting rod mechanism (3) to form a fifth joint; the four said revolute joints being adapted to act together to effect relative positional adjustment of a fifth axis of the fifth joint and a sixth axis of the wheel body (2);

the wheel-leg composite mars train further comprises a train body (6), at least one swing arm group (7) and a locking mechanism (8) arranged corresponding to the swing arm group (7), wherein each swing arm group (7) comprises two swing arms (71) fixedly connected, the swing arm group (7) is rotatably connected with the train body (6) at the adjacent ends of the two swing arms (71), and the other ends of the two swing arms (71) are respectively fixedly connected with one first fixing seat (4);

the locking mechanism (8) is connected with the vehicle body (6), the locking mechanism (8) comprises two triggering devices (81) and a locking device (83), one triggering device (81) is arranged above each of the two wheel leg assemblies (1) or the two swing arms (71) which are arranged corresponding to the same swing arm group (7), and the triggering devices (81) are triggered when the wheel body (2) moves upwards to a first preset position relative to the vehicle body (6);

the locking device (83) is suitable for realizing the relative position locking of the swing arm group (7) and the vehicle body (6) or releasing the relative position locking of the swing arm group (7) and the vehicle body (6) when at least one of the two triggering devices (81) is triggered.

2. A wheel-leg composite mars train as claimed in claim 1, wherein the wheel-leg assembly (1) comprises a wheeled walking mode; in the wheel type walking mode, the fifth axis and the sixth axis are collinear, the four rotating joints are kept locked, and a second driving device (52) of the fifth joint realizes the rotation of the wheel body (2) and the connecting rod mechanism (3) around the fifth axis.

3. A wheel-leg compound mars train as claimed in claim 1 or 2, wherein the linkage mechanism (3) comprises a first linkage structure (31) and a second linkage structure (32), one end of the first linkage structure (31) is located at the second position, the other end of the first linkage structure (31) is rotatably connected with the second linkage structure (32) to form a third joint, the first fixing seat (4) is rotatably connected with the second linkage structure (32) to form the fifth joint, and the first driving device (51) of the third joint and the second driving device (52) of the fifth joint are both located on one side of the first fixing seat (4) close to the second linkage structure (32).

4. A wheel-leg compound mars train as claimed in claim 3, wherein the second link structure (32) comprises a second link structure body (321), a connecting seat structure (322) and a mounting seat structure (323), the second link structure body (321) and the mounting seat structure (323) being disposed opposite to each other and extending in a direction perpendicular to the fifth axis, the connecting seat structure (322) being located between the second link structure body (321) and the mounting seat structure (323) and being connected to the second link structure body (321) and the mounting seat structure (323), respectively, the first driving device (51) and the second driving device (52) being located between the second link structure body (321) and the mounting seat structure (323).

5. A wheel-leg compound mars vehicle according to claim 1 or 2, characterized in that, a second accommodating structure (21) is provided on the wheel body (2), the link mechanism (3), the driving device of the link mechanism (3) and the driving device of the fifth joint are all accommodated in the second accommodating structure (21), and the first fixing seat (4) is at least partially located outside the second accommodating structure (21).

6. A wheel-leg compound mars vehicle according to claim 1 or 2, characterized in that the distance of the first position from the center of the wheel body (2) is less than or equal to the distance of the second position from the center of the wheel body (2); the connecting rod mechanism (3) comprises a third joint, the third joint is a rotating joint which is arranged on the connecting rod mechanism (3) and adjacent to the second joint, and the relative positions of the third joint and the fifth joint are fixed and are suitable for coaxial arrangement.

7. A wheel-leg composite mars carriage as claimed in claim 1, characterized in that said locking device (83) comprises a toothed wheel structure (831) fixedly connected to the rotation shaft of said swing arm group (7), a first sleeve (832) fixedly connected to said carriage body (6), a first rod (833), a second rod (834), a first elastic element (835) and a second elastic element (836);

the first rod piece (833) and the second rod piece (834) are coaxially arranged and are both arranged in the first sleeve (832) in a penetrating mode, one end, close to the first rod piece (833), of the second rod piece (834) is provided with a first face gear (8342), the inner wall of the first sleeve (832) is provided with a first limiting boss (8321) at the adjacent position of the first rod piece (833) and the second rod piece (834), and the adjacent ends of the first rod piece (833) and the second rod piece (834) are respectively provided with a first sliding chute and a second sliding chute (8341) which are in sliding connection with the first limiting boss (8321);

whenever the first rod (833) moves to an end near the second rod (834) and causes the second rod (834) to disengage from the first limit boss (8321) and the first rod (833) and the first face gear (8342) to contact, the second rod (834) rotates a first angle in a first direction;

every time the second rod (834) rotates for a first angle along a first direction, the second rod (834) is switched between a first state and a second state, in the first state, the first limit boss (8321) is abutted against the end surface of the second rod (834) close to one end of the first rod (833), and the other end of the second rod (834) is located in the tooth groove of the toothed wheel structure (831) to limit the rotation of the toothed wheel structure (831); in the second state, the first limit boss (8321) is partially accommodated in the second sliding groove (8341), and the second rod (834) is separated from the toothed wheel structure (831);

when the first rod piece (833) moves towards one end close to the second rod piece (834) and drives the second rod piece (834) to move, the elastic potential energy of the first elastic piece (835) and the second elastic piece (836) is increased, when the first rod piece (833) moves towards one end far away from the second rod piece (834), the elastic potential energy of the first elastic piece (835) is reduced, and when the second rod piece (834) moves towards one side far away from the toothed wheel structure (831), the elastic potential energy of the second elastic piece (836) is reduced.

8. A wheel-leg composite mars train as claimed in claim 7, wherein said triggering device (81) comprises a third rod (811), a second fixed seat (812) and a third elastic member (813), and said locking mechanism (8) further comprises a transmission device (82); the second fixed seat (812) is positioned above the wheel leg assembly (1), the third rod piece (811) is connected with the second fixed seat (812) in a sliding manner, and the third elastic piece (813) is respectively connected with the third rod piece (811) and the second fixed seat (812);

when the wheel leg assembly (1) is in contact with the third rod member (811) and moves upwards, the elastic potential energy of the third elastic member (813) is increased, and when the wheel leg assembly (1) is separated from the third rod member (811), the elastic potential energy of the third elastic member (813) is decreased;

when the wheel body (2) moves to the first preset position, the third rod (811) drives the first rod (833) to move through the transmission device (82) and drives the second rod (834) to switch between the first state and the second state.

9. A wheel-leg compound mars train as claimed in claim 8, wherein the transmission device (82) comprises at least two push rod structures (822), at least one of the adjacent ends of the push rod structures (822) and the third rod member (811) is provided with a first ramp structure (8221), at least one of the adjacent ends of the push rod structures (833) and the first rod member (833) is provided with a second ramp structure, when the third rod member (811) moves upward, the third rod member (811) moves one push rod structure (822) via at least one of the first ramp structures (8221), and the push rod structure (822) moves the first rod member (833) via at least one of the second ramp structures;

or the transmission device (82) comprises a swinging piece (821) and at least two push rod structures (822), the swinging piece (821) is mounted on the vehicle body (6) through a fourth elastic piece (823), one end, close to the first rod piece (833), of the swinging piece (821) is provided with a cam groove (8211), and when the first rod piece (833) is separated from the second rod piece (834), one end, far away from the second rod piece (834), of the first rod piece (833) is at least partially accommodated in the cam groove (8211); at least one of the adjacent ends of each of the third bar member (811) and the push rod structure (822) is provided with a first ramp structure (8221), when the third bar member (811) moves upwards, the third bar member (811) realizes the movement of one push rod structure (822) through at least one first ramp structure (8221); the push rod structure (822) is suitable for pushing the swinging piece (821) to swing, when the swinging piece (821) swings to the state that the first rod piece (833) is separated from the cam groove (8211), the first rod piece (833) drives the second rod piece (834) to move, and the second rod piece (834) is driven to switch between the first state and the second state.

10. A wheel-leg composite mars train as claimed in claim 1, characterized in that, the wheel-leg composite mars train comprises six wheel-leg assemblies (1), and three wheel-leg assemblies (1) are respectively arranged at the left and right sides of the train body (6);

wherein, one wheel leg assembly (1) positioned at the left side and one wheel leg assembly (1) positioned at the right side are connected with the vehicle body (6) through one swing arm group (7), and the swing arm group (7) is positioned at the front end or the rear end of the vehicle body;

and/or the two adjacently arranged wheel leg assemblies (1) positioned on the left side are connected with the vehicle body (6) through the other swing arm group (7); the two adjacent wheel leg assemblies (1) on the right side are connected with the vehicle body (6) through the other swing arm group (7).

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