CN113022891B

CN113022891B - Wheel-leg composite mars vehicle

Info

Publication number: CN113022891B
Application number: CN202110376511.3A
Authority: CN
Inventors: 刘振; 卢仁超; 高海波; 丁亮; 杨怀广; 于海涛; 李楠; 邓宗全
Original assignee: Harbin Institute of Technology
Current assignee: Harbin Institute of Technology
Priority date: 2021-04-06
Filing date: 2021-04-06
Publication date: 2022-07-12
Anticipated expiration: 2041-04-06
Also published as: CN113022891A

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

Wheel-leg composite mars vehicle

Technical Field

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

Background

The composition of the firesoil on the mars is complex, the surface topography of the firesoil is complex and changeable, the probability that the mars vehicle encounters large-area ground which is easy to sink and rugged topography is very high, and spare parts are generally not available during the detection of the mars, and once the parts are damaged, the operation of the mars vehicle can be influenced, so that the mars vehicle with strong environmental adaptability and high reliability is necessary to be researched and developed.

Disclosure of Invention

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

In order to solve at least one aspect of the above problems to at least some extent, the present invention provides a wheel-leg composite mars train, comprising a plurality of wheel-leg assemblies, wherein each wheel-leg assembly comprises a wheel body, a link mechanism and a first fixing seat, the link mechanism is respectively connected with the wheel body at a first position and a second position to form a first joint and a second joint, the link mechanism and the wheel body have four rotating joints, and the first fixing seat is rotatably connected with the link mechanism 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.

Optionally, the wheel-leg assembly 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 the second driving device of the fifth joint realizes the rotation of the wheel body and the connecting rod 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, the other end of the first link structure is rotatably connected to the second link structure to form a third joint, the first fixing seat is rotatably connected to the second link structure to form the fifth joint, and the first driving device of the third joint and the second driving device of the fifth joint are both located on one side of the first fixing seat close to the second link structure.

Optionally, the second connecting rod structure comprises a second connecting rod structure body, a connecting seat structure and a mounting seat structure, the second connecting rod structure body and the mounting seat structure are arranged oppositely and are arranged along a direction perpendicular to the fifth axis in an extending mode, the connecting seat structure is located between the second connecting rod structure body and the mounting seat structure and is connected with the second connecting rod structure body and the mounting seat structure respectively, and the first driving device and the second driving device are located between the second connecting rod structure body and the mounting seat structure.

Optionally, a second accommodating structure is arranged on the wheel body, the link mechanism, the driving device of the link mechanism, and the driving device of the fifth joint are accommodated in the second accommodating structure, and at least part of the first fixing seat is located outside the second accommodating structure.

Optionally, the first position is a distance from the center of the wheel body that is less than or equal to the second position; the connecting rod mechanism comprises a third joint, the third joint is a rotating joint which is arranged on the connecting rod mechanism and adjacent to the second joint, and the relative positions of the third joint and the fifth joint are fixed and are suitable for being coaxially arranged.

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

the locking mechanism is connected with the vehicle body and comprises two triggering devices and a locking device, one triggering device is respectively arranged above two wheel leg assemblies or two swing arms which are arranged corresponding to the same swing arm group, and the triggering devices trigger when the wheel body moves upwards to a first preset position relative to the vehicle body;

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

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

the first rod piece and the second rod piece are coaxially arranged and penetrate through the first sleeve, a first face gear is arranged at one end, close to the first rod piece, of the second rod piece, a first limiting boss is arranged on the inner wall of the first sleeve at the position, adjacent to the first rod piece and the second rod piece, of the inner wall of the first sleeve, and a first sliding groove and a second sliding groove which are connected with the first limiting boss in a sliding mode are formed in the adjacent ends of the first rod piece and the second rod piece respectively;

when the first rod piece moves to one end close to the second rod piece and the second rod piece is separated from the first limiting boss and the first rod piece is in gear contact with the first end face, the second rod piece rotates for a first angle along a first direction;

when the second rod piece rotates for a first angle along a first direction, the second rod piece is switched between a first state and a second state, in the first state, the first limit boss is abutted against the end face, close to one end of the first rod piece, of the second rod piece, and the other end of the second rod piece is located in the tooth groove of the toothed wheel structure to limit the rotation of the toothed wheel structure; in the second state, the first limiting boss part is accommodated in the second sliding groove, and the second rod piece is separated from the toothed wheel structure;

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

Optionally, the triggering device includes a third rod, a second fixed seat and a third elastic member, and the locking mechanism further includes a transmission device; the second fixed seat is positioned above the wheel leg assembly, the third rod piece is connected with the second fixed seat in a sliding manner, and the third elastic piece is respectively connected with the third rod piece and the second fixed seat;

when the wheel leg assembly is in contact with the third rod piece and moves upwards, the elastic potential energy of the third elastic piece is increased, and when the wheel leg assembly is separated from the third rod piece, the elastic potential energy of the third elastic piece is reduced;

when the wheel body moves to the first preset position, the third rod piece drives the first rod piece to move through the transmission device and drives the second rod piece to switch between the first 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 and the push rod structure is provided with a first inclined surface structure, at least one of the adjacent ends of the push rod structure and the first rod is provided with a second inclined surface structure, when the third rod moves upwards, the third rod realizes one push rod structure movement through at least one of the first inclined surface structures, and the push rod structure realizes the first rod movement through at least one of the second inclined surface structures;

or, the transmission device comprises a swinging piece and at least two push rod structures, the swinging piece is mounted on the vehicle body through a fourth elastic piece, a cam groove is formed in one end, close to the first rod piece, of the swinging piece, and when the first rod piece is separated from the second rod piece, at least part of one end, far away from the second rod piece, of the first rod piece is accommodated in the cam groove; at least one of the adjacent ends of each third rod piece and the push rod structure is provided with a first inclined surface structure, and when the third rod piece moves upwards, the third rod piece realizes the movement of one push rod structure through at least one first inclined surface structure; the push rod structure is suitable for pushing the swinging piece to swing, and when the swinging piece swings to the state that the first rod piece is separated from the cam groove, the first rod piece drives the second rod piece to move and drives the second rod piece to switch between the first state and the second state.

Optionally, the wheel-leg composite mars train comprises six wheel-leg assemblies, and three wheel-leg assemblies are respectively arranged on the left side and the right side of the train body;

the wheel leg assembly positioned on the left side and the wheel leg assembly positioned on the right side are connected with the vehicle body through the swing arm group, and the swing arm group is positioned at the front end or the rear end of the vehicle body;

and/or the two adjacent wheel leg assemblies positioned on the left side are connected with the vehicle body through the other swing arm group; the two adjacent wheel leg assemblies positioned on the right side are connected with the vehicle body through the other swing arm group.

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

through the combined action of the four rotating joints, a fifth axis of a fifth joint can move relative to a sixth axis of the wheel body, so that the eccentricity of the wheel body is adjusted, the wheel leg assembly can realize eccentric walking, and the wheel leg composite mars train has the capability of crossing obstacles in rugged terrain; through the combined action of the four rotating joints and the fifth joint, the reciprocating swing of the wheel body relative to a fifth axis of the fifth joint can be realized, the leg type walking of the wheel-leg composite mars vehicle can be realized, and the wheel-leg composite mars vehicle has the capability of crossing large obstacles in rugged terrain; simultaneously, four revolute joint's the mode of setting up can improve link mechanism and wheel body coupling's structural stability, and the reliability of wheel leg subassembly is high, and the trafficability characteristic in mars surface complex topography is strong.

Drawings

FIG. 1 is a schematic structural view of a wheel-leg compound Mars vehicle according to an embodiment of the invention;

FIG. 2 is a schematic structural view of a wheel-leg combination Mars vehicle with the vehicle body and locking mechanism removed in accordance with an embodiment of the present invention;

FIG. 3 is an enlarged view of a portion of the invention at A in FIG. 2;

FIG. 4 is a schematic structural view of the connection between the wheel body, the link mechanism and the first fixing base according to the embodiment of the present invention;

FIG. 5 is another schematic structural view of the wheel body, the link mechanism and the first fixing base connected together according to the embodiment of the present invention;

FIG. 6 is another schematic structural view of a wheel-leg compound Mars vehicle according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of the locking mechanism of the leg-on-wheel compound Mars vehicle of FIG. 6 in accordance with the present invention;

FIG. 8 is an enlarged partial view taken at B in FIG. 7;

FIG. 9 is an enlarged partial view at C of FIG. 7;

FIG. 10 is an enlarged partial view taken at D in FIG. 7;

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

Description of reference numerals:

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, 2-wheel body, 21-second accommodating structure, 3-link mechanism, 31-first link structure, 32-second link structure, 321-second link structure body, 322-connecting 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-vehicle body, 7-swing arm group, 71-swing arm, 72-first swing arm group, 73-second swing arm group, 74-a third swing arm group, 8-a locking mechanism, 81-a trigger device, 811-a third rod piece, 812-a second fixed seat, 813-a third elastic piece, 814-a disc structure, 82-a transmission device, 821-a swinging piece, 8211-a cam groove, 822-a push rod structure, 8221-a first inclined surface structure, 823-a fourth elastic piece, 83-a locking device, 831-a toothed wheel structure, 832-a first sleeve, 8321-a first limit boss, 833-a first rod piece, 834-a second rod piece, 8341-a second sliding groove, 8342-a first face gear, 835-a first elastic piece and 836-a second elastic piece.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the description herein, references to the terms "an embodiment," "one embodiment," "some embodiments," "exemplary" and "one embodiment," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or embodiment is included in at least one embodiment or embodiment of the invention. In this specification, the schematic representations of the terms used above 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 any one or more embodiments or implementations.

The terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature.

In the drawings, the Z-axis represents the vertical, i.e., up-down, position, and the positive direction of the Z-axis (i.e., the arrow of the Z-axis points) represents up, and the negative direction of the Z-axis (i.e., the direction opposite to the positive direction of the Z-axis) represents down; in the drawings, the X-axis represents the horizontal direction and is designated as the left-right position, and the positive direction of the X-axis (i.e., the arrow direction of the X-axis) represents the right side, and the negative direction of the X-axis (i.e., the direction opposite to the positive direction of the X-axis) represents the left side; in the drawings, the Y-axis indicates the front-rear position, and the positive direction of the Y-axis (i.e., the arrow direction of the Y-axis) indicates the front side, and the negative direction of the Y-axis (i.e., the direction opposite to the positive direction of the Y-axis) indicates the rear side; it should also be noted that the foregoing Z-axis, Y-axis, and X-axis representations are merely intended to facilitate the description of the invention and to simplify the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and are not to be construed as limiting the invention.

As shown in fig. 1 to 5, an embodiment of the present invention provides a wheel-leg composite mars vehicle, including a plurality of wheel-leg assemblies 1, where each wheel-leg assembly 1 includes a wheel body 2, a link mechanism 3 and a first fixing seat 4, the link mechanism 3 is respectively rotatably connected with the wheel body 2 at a first position and a second position to form a first joint and a second joint, the link mechanism 3 and the wheel body 2 have four rotating joints, and the first fixing seat 4 is rotatably connected with the link mechanism 3 to form a fifth joint; the four revolute joints are adapted to co-act to effect relative positional adjustment of the fifth axis of the fifth joint and the sixth axis of the wheel body 2.

As shown in fig. 4 and 5, the link mechanism 3 illustratively includes a first link structure 31, a second link structure 32, and a third link structure 33 connected in this order; one end of the third connecting rod structure 33, which is far away from the second connecting rod structure 32, is connected with the wheel body 2 at a first position to form a first joint, and the axis of the first joint is a first axis; one end of the first connecting rod structure 31, which is far away from the second connecting rod structure 32, is connected with the wheel body 2 at a second position to form a second joint, and the axis of the second joint is a second axis; one end of the second connecting rod structure 32 is rotatably connected with the first connecting rod structure 31 to form a third joint, and the axis of the third joint is a third axis; 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 a fourth axis. The first fixed seat 4 and the second connecting rod structure 32 are rotatably connected 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, and the relative position of the fifth axis of the fifth joint and the sixth axis of the wheel body 2 is adjusted through the action of the first driving joint. It should be noted that the second driving device 52 is disposed at the fifth joint, that is, the fifth joint is a second driving joint, and when the first driving joint is kept locked and the second driving joint moves, the wheel body 2 and the link mechanism 3 both rotate around the fifth axis.

In some embodiments, the third linkage 33 is rotationally coupled to the wheel body 2 at a first location to form a first joint and the first linkage 31 is rotationally coupled to the wheel body 2 at a second location 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 two ends of the fourth link structure, and the fourth link structure is fixedly connected with the wheel body 2 (this embodiment is not shown in the figures). Here, the fourth link structure and the wheel body 2 may be fixed by welding or detachably connected, and the fourth link may also be a telescopic link, which is not described in detail herein.

The wheel-leg assembly 1 includes an eccentric walking mode and a leg walking mode:

in the eccentric walking mode, the fifth axis and the sixth axis are arranged in parallel, the four rotating joints are kept locked, the 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, at the moment, the wheel body 2 is an eccentric wheel, the eccentricity of the wheel body 2 is jointly adjusted through the four rotating joints, the larger the eccentricity is, the larger the ability of the wheel leg assembly 1 to cross obstacles is, exemplarily, when the wheel body 2 lands on the ground, the position of the fifth axis relative to the sixth axis of the wheel body 2 is adjusted through the four rotating joints (at the moment, the process of adjusting the eccentricity is also included), when the proper eccentricity is adjusted, the four rotating joints are kept locked, and the second driving device 52 drives the connecting rod mechanism 3 and the wheel body 2 to rotate around the fifth axis, so as to cross obstacles.

Under the leg walking mode, the four rotating joints and the fifth joint act together to enable the wheel body 2 to swing back and forth and cross obstacles, taking the action of one wheel leg assembly 1 as an example, when the height of the obstacle needing to cross is high or the obstacle is not suitable to pass through by adopting the contact mode of walking wheels such as eccentric walking and the like with the ground, under the condition of realizing the reliable support of the wheel leg composite mars vehicle, firstly, the eccentric distance of the wheel body 2 is adjusted through the four rotating joints, the wheel body 2 is lifted integrally through the action of the fifth joint (at this time, the wheel body 2 is separated from the ground), then, the eccentric distance of the wheel body 2 and the action of the fifth joint are continuously adjusted to enable the wheel body 2 to cross the obstacle and land, in the process, in order to ensure the reliable support of the wheel leg composite mars vehicle and the advancing of the wheel leg composite mars vehicle, other wheel leg assemblies 1 should adopt corresponding measures to match the action of the wheel leg assembly 1, and will not be described in detail herein.

In some embodiments, the wheel-leg composite mars vehicle may further include a controller and a sensor, the controller is in communication connection with the sensor and the wheel-leg assemblies 1 through an electrical connection or the like, the sensor is adapted to detect spatial attitude information, such as tilt angle information, of the wheel-leg composite mars vehicle, the sensor may be a three-axis gyroscope, and the sensor provides reliable data support for the controller to control actions of each wheel-leg assembly 1, so as to facilitate timely adjustment of a control strategy for the wheel-leg assemblies 1. In addition, in the actual working process, the walking mode of the wheel-leg composite mars vehicle can be used in a crossed mode, and the control strategy of each wheel-leg assembly 1 can be the same or different, and is not described in detail herein.

The arrangement has the advantages that through the combined 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 that the eccentricity of the wheel body 2 is adjusted, the wheel leg assembly 1 can realize eccentric walking, and the wheel leg composite mars train has the capability of crossing obstacles in rugged terrain; moreover, through the combined 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, the leg type walking of the wheel-leg composite mars vehicle can be realized, and the wheel-leg composite mars vehicle has the capability of crossing larger obstacles in rugged terrain; meanwhile, the four rotary joints are arranged, so that the structural stability of connection of the connecting rod mechanism 3 and the wheel body 2 can be improved, the reliability of the wheel leg assembly 1 is high, and the passing capacity of a complex terrain on the surface of a Mars is strong.

As shown in fig. 3, in an embodiment of the invention, 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 the 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.

As shown in fig. 3, that is, under the combined action of the four revolute joints, the fifth axis of the fifth joint can move to be collinear with the sixth axis of the wheel body 2, and when the fifth axis and the sixth axis are collinear, the four revolute joints remain locked, and the second driving device 52 drives the wheel body 2 to rotate around the fifth axis relative to the first fixed seat 4, so that the wheel-type walking of the wheel-leg assembly 1 is realized.

The wheel leg assembly 1 of the wheel leg composite mars vehicle has multiple walking modes such as wheel walking, eccentric walking and leg walking, can be switched into a wheel mode on a relatively flat ground, and has high speed, stable motion and low energy consumption; when encountering obstacles, the walking robot can be switched into an eccentric walking mode or a leg walking mode, can be separated from subsidence and complex terrains, and has strong obstacle crossing capability.

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

Specifically, as shown in fig. 4 and 5, the second link structure 32 includes a second link structure body 321, two ends of the second link structure body 321 are respectively rotatably connected to the first link structure 31 and the third link structure 33 to form a third joint and a fourth joint, the first driving device 51 is installed at a side of the second link structure 32 close to the first fixing base 4, and the second driving device 52 of the fifth joint is located at a side of the first fixing base 4 close to the second link structure body 321, and the installation structure thereof is not limited, and will be described in detail later.

The arrangement has the advantages that the mounting structure of the first driving device 51 and the second driving device 52 is compact, the mounting space of the first driving device 51 and the second driving device 52 can be reduced, the influence of the first driving device 51 and the second driving device 52 on the position of the gravity center of the wheel leg assembly 1 can be reduced to a certain extent, the reliability is high, and the practicability is high.

As shown in fig. 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, the second link structure body 321 and the mounting seat structure 323 are disposed oppositely and extend along a direction perpendicular to the fifth axis, the connecting seat structure 322 is located between the second link structure body 321 and the mounting seat structure 323 and is connected to the second link structure body 321 and the mounting seat structure 323, and the first driving device 51 and the second driving device 52 are located between the second link structure body 321 and the mounting seat structure 323.

As shown in fig. 3 and 4, the second link structure body 321 and the mounting seat structure 323 are each a plate-shaped structure, and a first accommodating structure for accommodating the first driving device 51 and the second driving device 52 is formed between the second link structure body 321 and the mounting seat structure 323.

Here, the specific structure of the connecting seat structure 322 is not limited, for example, as shown in fig. 5, the connecting seat structure 322 includes a hollow connecting column, the axis of the hollow connecting column is collinear with the third axis, at this time, the second connecting rod structure 32 is an Jiong-shaped structure as a whole, the first driving device 51 is accommodated in the hollow connecting column and is fixedly installed on the second connecting rod structure body 321, the output shaft of the first driving device 51 is fixedly connected with the first connecting rod structure 31, and the second driving device 52 is fixedly installed on one side of the mounting seat structure 323 close to the second connecting rod structure body 321 and is located on one end of the mounting seat structure 323 away from the hollow connecting column. Here, the second driving device 52 may be in driving connection with the first fixed base 4 through a belt transmission, a gear transmission, and the like. Illustratively, the connecting seat structure 322 includes a plurality of connecting rods, each connecting rod is respectively connected to the second connecting rod structure body 321 and the mounting seat structure 323, the plurality of connecting rods are distributed along the circumference of the second connecting rod structure body 321, and the first accommodating structure is formed between the plurality of connecting rods. Here, the arrangement of the second driving device is not limited to this, and it is sufficient that the second link structure 32 and the first fixed seat 4 can rotate relatively around the fifth axis, and the detailed description is omitted here.

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

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

That is, 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 various structures described above.

In some embodiments, the opening of the second accommodating structure 21 faces the inside of the wheel-leg composite mars vehicle, and a flexible sealing structure is disposed at the opening of the second accommodating structure 21 and connected to the first fixing seat 4. Illustratively, as shown in fig. 4, the first fixing seat 4 includes a first fixing seat body 41 and a rotating shaft 42, the first fixing seat body 41 is adapted to implement integral installation of the wheel leg assembly 1, the rotating shaft 42 is fixedly connected with the first fixing seat body 41, the second driving device 52 is in driving connection with the rotating shaft 42, and 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 related prior art, and in order to adapt to the severe environment such as rays and the like on the mars, the whole wheel-leg composite mars vehicle can be coated with a coating layer to reflect various rays on the mars so as to prolong the service life of the wheel-leg composite mars vehicle.

The wheel body 2 is provided with the second accommodating structure 21, so that the wheel body 2 can be used for accommodating components such as a connecting rod mechanism and the like, the weight of the wheel body 2 is reduced, the structure of the wheel leg assembly 1 is compact, the wheel body 2 can also protect the components in the second accommodating structure 21 to a certain extent, damage caused by collision and the like is avoided, and the service life of the wheel leg composite mars vehicle can be effectively prolonged on the mars without spare components; in addition, the wheel body 2 can obtain larger width, larger supporting area can be obtained on the ground, the walking of the wheel-leg composite mars vehicle is more stable and reliable, and the practicability is strong.

As shown in fig. 3 and 4, the distance from the first position to the center of the wheel body 2 is smaller than or equal to the distance from the second position to the center of the wheel body 2; the link mechanism 3 comprises a third joint, the third joint is a rotary joint adjacent to the second joint on the link mechanism 3, and the relative positions of the third joint and the fifth joint are fixed and are suitable for coaxial arrangement.

That is, 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 and the sixth axis are coaxially disposed, and the specific disposing manner of the third joint and the fifth joint is described above, and is not described herein again.

The arrangement has the advantages that under the action of the four rotary joints, the distance between the fifth axis and the sixth axis has a larger adjusting range, the wheel body 2 can obtain a larger eccentricity adjusting range, and the wheel leg assembly 1 has stronger obstacle crossing capability; 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 equal in length and are approximately located at two sides of the first position), and the center (or the center of gravity) of the wheel-leg assembly 1 is approximately located on the fifth axis, so that in the wheel-type walking mode, the motion stability of the wheel-leg assembly 1 and the wheel-type walking of the wheel-leg composite mars vehicle are stable and reliable, and the practicability is strong.

In the above embodiment, as shown in fig. 1, fig. 2, fig. 3, fig. 6 and fig. 7, the wheel-leg compound mars further includes a body 6, at least one swing arm group 7 and a locking mechanism 8 disposed corresponding to the swing arm group 7, each swing arm group 7 includes two swing arms 71 fixedly connected, the swing arm group 7 is rotatably connected to the body 6 at adjacent ends of the two swing arms 71, the other ends of the two swing arms 71 are respectively fixedly connected to one first fixing seat 4, the locking mechanism 8 is connected to the body 6, and the locking mechanism 8 is adapted to lock or unlock relative positions of the swing arm group 7 and the body 6, or to unlock positions of the swing arm group 7 and the body 6.

As shown in fig. 1 and 2, the wheel-leg composite mars train exemplarily 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 third wheel-leg assembly 13 are all located at the left side of the train body 6 (i.e., the reverse direction of the X-axis), the fourth wheel-leg assembly 14, the fifth wheel-leg assembly 15 and the sixth wheel-leg assembly 16 are all located at the right side of the train body 6 (i.e., the forward direction of the X-axis), wherein the first wheel-leg assembly 11 and the fourth wheel-leg assembly 16 are all located at the front end or the rear end of the train body 6, the first fixing seats 4 of the first wheel-leg assembly 11 and the fourth wheel-leg assembly 14 are respectively and fixedly connected with the first swing arm and the fourth swing arm, the first swing arm and the fourth swing arm are fixedly connected to form a first swing arm group 72, the first swing arm group 72 is rotatably connected with the front end or the seventh shaft end of the train body at the connection position of the first swing arm and the fourth swing arm and rotates around a seventh shaft end, the seventh axis coincides with the Y axis.

It should be noted that the structure of the locking mechanism 8 is not limited, and the locking of the relative position between the swing arm group 7 and the vehicle body 6 can be achieved, for example, the locking mechanism 8 may be an electronic control locking mechanism 8, the controller is in communication connection with the electronic control locking mechanism 8, and the controller controls the action of the electronic control locking mechanism 8 according to the detection data of the sensor (e.g., tilt sensor) arranged on the wheel body 2 and/or the swing arm 71.

It should be noted that the two swing arms 71 are fixedly connected, and may be integrally connected, or may be fixedly connected by a detachable manner, although the figure only shows an arrangement manner that the two swing arms 71 are collinear, it is not limited to this, for example, the two swing arms 71 may have an inverted V-shaped structure after being connected, and will not be described in detail herein.

Illustratively, when the wheel-leg compound spark ignition vehicle is in a wheel type walking mode, the locking mechanism 8 releases the position locking of the first swing arm group 72 and the vehicle body 6, 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, the shock absorption can be carried out on the wheel-leg compound spark ignition vehicle in a certain degree direction, and the service life of parts on the vehicle body 6 of the wheel-leg compound spark ignition vehicle is prolonged.

Illustratively, when the wheel body 2 of the first wheel-leg assembly 11 moves upward to a first predetermined position (for example, in the first position, the angle between the line connecting the center of the wheel body 2 of the first wheel-leg assembly 11 and the center of the wheel body 2 of the fourth wheel-leg assembly 14 and the horizontal plane is 15 °, 20 ° or 30 °), the locking mechanism 8 is adapted to lock the relative positions of the swing arm assembly 7 and the vehicle body 6, and at this time, both the first wheel-leg assembly 11 and the second wheel-leg assembly 12 can perform eccentric walking and leg walking, which will be described in detail later.

The arrangement has the advantages that when the locking mechanism 8 releases the relative position locking of the swing arm group 7 and the vehicle body 6, the swing arm group 7 can swing to form a suspension structure of the two wheel leg assemblies 1, so that the wheel leg composite mars vehicle can be subjected to damping and buffering when the wheel leg assemblies 1 perform eccentric walking (or wheel walking) to a certain extent, and the walking stability of the wheel leg composite mars vehicle is improved; when locking mechanism 8 realizes the relative position lock of swing arm group 7 and car body 6, at least one in two wheel leg subassemblies 1 that correspond swing arm group 7 setting can realize the leg walking, and locking mechanism 8 can ensure to a certain extent that wheel leg subassembly 1 switches in each walking mode, and the reliability is high, and the practicality is strong.

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

the locking device 83 is adapted to lock the relative position of the swing arm group 7 and the vehicle body 6 or unlock the relative position 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 electrical trigger, for example, the trigger device 81 may be a sensor, and the locking mechanism 8 may be an electromagnetic band-type brake.

The advantage that sets up like this lies in, thereby the motion homoenergetic of two wheel bodies 2 corresponding same locking mechanism 8 all can trigger locking means 83 and realize the relative position locking of swing arm group 7 and car body 6 or relieve the relative position locking of swing arm group 7 and car body 6, and its controllability is high, and the practicality is strong.

As shown in fig. 2, the first wheel leg assembly 11 and the second wheel leg assembly 12 cooperate 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, and both triggering devices 81 of the locking mechanism 8 are triggered, but it is also possible that the first wheel leg assembly 11 or the second wheel leg assembly 12 acts to trigger one of the triggering devices 81, which will not be described in detail herein.

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

the first rod 833 and the second rod 834 are coaxially arranged and both penetrate through the first sleeve 832, one end of the second rod 834 close to the first rod 833 is provided with a first end face gear 8342, the inner wall of the first sleeve 832 is provided with a first limit 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 a first sliding groove and a second sliding groove 8341 (as shown in fig. 11, wherein the first sliding groove is not shown) slidably connected with the first limit boss 8321;

whenever the first rod 833 moves closer to one end of the second rod 834 (i.e., moves downward in the drawing), and such that the second rod 834 is disengaged from the first limit boss 8321 and the first rod 833 and the first end gear 8342 are in contact, the second rod 834 rotates by a first angle in the first direction;

every time the second rod 834 rotates a first angle in the first direction, the second rod 834 switches between a first state and a second state, in the first state, (the lower end surface of) the first limit boss 8321 collides with 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 slot of the serrated wheel structure 831 to limit the rotation of the serrated wheel structure 831; in the second state, the first limit boss 8321 is partially accommodated in the second sliding slot 8341, and the second rod 834 is separated from the toothed wheel structure 831 (fig. 11 shows the first state, and the second state is not shown);

when the first rod 833 moves to an end close to the second rod 834 and drives the second rod 834 to move, elastic potential energy of the first elastic element 835 and the second elastic element 836 increases, when the first rod 833 moves to an end far from the second rod 834, elastic potential energy of the first elastic element 835 decreases, and when the second rod 834 moves to a side far from the toothed wheel structure 831, elastic potential energy of the second elastic element 836 decreases.

Illustratively, in this case, the first rod 833 is provided with a second end face gear near one end of the second rod 834, the teeth tops of the second end face gear are adapted to contact the teeth surfaces of the first end face gear 8342, so as to drive the second rod 834 to rotate by a first angle, the number of the teeth of the first end face gear 8342 and the second end face gear is determined according to actual conditions, and will not be described in detail herein.

As shown in fig. 10 and 11, exemplarily, 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 832, the first elastic member 835 is a compression spring, the first elastic member 835 provides a driving force for returning the first rod 833, and similarly, the second elastic member 836 provides a driving force for returning the second rod 834.

The advantage of setting up like this lies in, every time first member 833 presses the action of drive second member 834 and makes second member 834 switch once between first state and second state, first member 833 all resumes the original state, when being convenient for two trigger device 81 of next time at least one trigger, the action once more of first member 833, it can realize the relative position of swing arm group 7 and automobile body 6 and lock or remove the position lock, and the reliability is high, and the practicality is strong.

As shown in fig. 7, 8 and 10, in the present 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 connected with the second fixed seat 812 in a sliding manner, and the third elastic piece 813 is connected with the third rod 811 and the second fixed seat 812 respectively (in fig. 10, the second fixed seat 812 is configured as a sleeve structure);

when the wheel leg assembly 1 is in contact with the third link 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 link 811, the elastic potential energy of the third elastic member 813 decreases;

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 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 82 is not limited, and it is sufficient that the transmission can convert the movement of the third rod 811 into the movement of the first rod 833.

In some embodiments, the lower end of the third bar 811 is provided with a disc-shaped structure 814, which facilitates the movement of the third bar 811 carried by the wheel body 2. In addition, the operation of the locking mechanism 8 is described above by taking one of the wheel leg assemblies 1 as an example of the triggering device 81, and the manner in which two wheel leg assemblies 1 trigger one wheel leg assembly 1 is similar to this, and will not be described in detail here.

The advantage that sets up like this lies in, adopts mechanical mode to trigger locking device's action, and structural reliability is high, has avoided adopting the sensor to trigger the detection, and the suitability is high in the occasion of no spare parts such as mars, and is not fragile, and the practicality is strong.

As shown in fig. 7, 8 and 10, in the present embodiment, the transmission device 82 includes a swinging member 821 and at least two push rod structures 822, the swinging member 821 is mounted on the vehicle body 6 through a fourth elastic member 823, one end of the swinging member 821 close to the first rod 833 is provided with a cam groove 8211, and when the first rod 833 is separated from the second rod 834, one end of the first rod 833 far from the second rod 834 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 inclined surface structure 8221, and 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 inclined surface structure 8221; the movement of the push rod structure 822 is suitable for pushing the swinging member 821 to swing, when the swinging member 821 swings to make the first rod 833 disengage from the cam slot 8211, the first rod 833 drives the second rod 834 to move, 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 for changing the force transmission direction through the inclined plane structure, and may include one push rod or a plurality of push rods connected in sequence, the movement direction between two adjacent push rods is changed through the inclined plane structure, 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.

Illustratively, in order to make the swinging directions of most of the swinging members 821 coincide when the two triggering devices 81 trigger, the contact points of the two push rod structures 822 and the swinging members 821 are arranged in central symmetry (may be arranged approximately in central symmetry) with respect to the rotation center of the swinging members 821, for example, the contact point of one of the push rod structures 822 and the swinging members 821 is located above the rotation center of the swinging members 821, and the contact point of the other push rod structure 822 and the swinging members 821 is located below the rotation center of the swinging members 821, so that the swinging directions of the swinging members 821 can be ensured to coincide, and the driving force for swinging the swinging members 821 can be increased. In addition, the swing member 821 may further be provided with a swing arm, and the swing arm is suitable for contacting with the push rod structure 822, so that the force application arm of the swing member 821 can be increased, and the driving difficulty of the swing member 821 can be reduced.

The fourth elastic member 823 is respectively connected to the vehicle body 6 and the swing member, when the pushing rod structure 822 pushes the swing member 821 to swing, the elastic potential energy of the fourth elastic member 823 increases, when the pushing rod structure 822 is separated from the swing member 821, the elastic potential energy of the fourth elastic member 823 decreases, the fourth elastic member 823 is used for resetting the swing member 821, in addition, the number of the fourth elastic members 823 may be set to be multiple, and the fourth elastic member 823 may be a torsion spring, which will not be described in detail herein.

In addition, the pusher structure 822 may be switched to a wire drive structure, which will not be described in detail herein.

In other embodiments, the swinging member 821 can be omitted, at least one of the adjacent ends of the push rod structure 822 and the first rod 833 is provided with a second slope structure, when the third rod 811 moves upwards, the third rod 811 realizes the movement of one push rod structure 822 through at least one first slope structure 8221, and the push rod structure 822 realizes the movement of the first rod 833 through at least one second slope structure, which will not be described in detail herein.

In this embodiment, a return spring may be disposed on each of the push rods of the push rod structure 822 to prevent the push rods from moving, which will not be described in detail herein.

The advantage of this setting is that the switching of the motion direction of each rod is realized through the inclined plane structure, and both triggering devices 81 can trigger the locking device 83, and its structural stability is high, and when the transmission device 82 includes the oscillating piece 821, compared with the transmission of force directly realized through the inclined plane structure, the reliability and controllability of the driving of the oscillating piece 821 are high, and the practicality is strong.

In the above embodiment, the lock device 83 may be provided inside the vehicle body 6, and the lock device 83 can be protected to some extent, and therefore, the safety is high and the service life is long.

As shown in fig. 1, 2, 6 and 7, the wheel-leg composite train includes six wheel-leg assemblies 1, and three wheel-leg assemblies 1 are respectively disposed on the left and right sides of a train body 6;

wherein, one wheel leg assembly 1 positioned on the left side and one wheel leg assembly 1 positioned on the right side are connected with the vehicle body 6 through a 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 two adjacent wheel leg assemblies 1 positioned on the left side are connected with the vehicle body 6 through another swing arm group 7; two adjacently arranged wheel leg assemblies 1 on the right side are connected with the vehicle body 6 through another swing arm group 7.

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

The advantage of this arrangement is that the wheel-leg compound spark ignition (enabled by the first set of swing arms 72) has vibration damping in the left-right direction, and/or the wheel-leg compound spark ignition (enabled by the second set of swing arms 73 and the third set of swing arms 74) has vibration damping in the front-back direction, and the stability and reliability of the movement of the wheel-leg compound spark ignition are high.

Although the present disclosure has been described above, the scope 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 such changes and modifications will fall within the scope of the present invention.

Claims

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).