Portable lunar surface electromagnetic short-distance delivery device

Abstract

The invention discloses a portable lunar surface electromagnetic short-distance delivery device, and belongs to the technical field of deep space exploration. The device comprises a screw anchor and a rotary casting module. The spiral anchor drives the anchor rod to rotate through the torque motor, so that the anchor blade is screwed into the lunar soil, and the fin plate is stably anchored after being inserted into the lunar soil. The rotary casting module is composed of a control cabin section, a spherical motor, a detector swing arm and a balance weight swing arm. The spherical motor drives the output shaft to rotate, and the detector swing arm and the counterweight swing arm are connected through a pin shaft, are folded to reduce the size in a static state and are centrifugally unfolded in a rotating state; lunar soil is used as a counterweight in the counterweight box. The throwing direction and the inclination angle are adjusted through the attitude detection module, the detector and the lunar soil are released after the emitting speed is reached, and kilometer-level in-place detection is achieved. The invention solves the problems of lunar surface lightening and low instantaneous power large-range delivery, and has the advantages of high portability, low peak power and wide detection range.

Description

Technical Field

[0001] The present invention relates to the field of deep space exploration technology, in particular to a portable lunar electromagnetic short-range delivery device. Background Art

[0002] In previous lunar exploration activities, lunar rovers were mainly used for lunar maneuvers. However, due to the characteristics of the wheeled walking mechanism, lunar rovers are more suitable for traveling on a flat lunar surface. In the new era of lunar exploration, the scope of human exploration continues to expand, and will go deep into harsh and complex environments such as impact craters and permanent shadow areas that were previously inaccessible. Therefore, the research and development of equipment that can achieve large-scale exploration within a limited time has important practical significance. At present, chemical fuel-based aircraft have been proposed to solve the problem of large-scale exploration, but chemical fuels need to be carried from the earth and cannot support long-distance flights. Therefore, they still have certain shortcomings. In order to circumvent the use of chemical fuels and improve sustainability, some large-scale maneuvering methods have been proposed, but they all have shortcomings to varying degrees, as recorded in the following disclosed patents:

[0003] Publication number CN115477021B, titled "Rotary Launching Device and Method for Continuously Launching Satellites," addresses the technical problem of providing a rotary launching device capable of continuously launching satellites. This device utilizes centrifugal force to launch a satellite-carrying carrier into a predetermined orbit. The device is reusable and has low launch costs. However, its construction is large, and there is no mention of how to achieve portable launch. Furthermore, the tilt angle cannot be adjusted after the device is constructed.

[0004] Publication number CN117346735A, titled "A Planetary Surface Survey Method and System," addresses the problem of providing a planetary surface survey method that uses an oblique projection device to quickly and accurately acquire images of target targets, such as terrain in a set area on the planetary surface and space objects. This solves the problems of satellite detection, which are limited in accuracy due to orbital altitude and sunlight conditions, and the limited visual range of the planetary rover. However, it does not address how to anchor the vehicle to the planetary surface to maintain the projection angle, nor does it address the high instantaneous power requirements of linear trajectory projection.

[0005] The announcement number is CN114834646A, and the name is a projectile recovery type large-scale perception robot and perception method. The technical problem solved by this patent is to provide a projectile recovery type large-scale perception robot and perception method, which adopts a mechanical energy storage ejection recovery device to achieve reliable projectile recovery. By utilizing the dynamic attitude control in the flight module, the sensor can be accurately aligned and measured to the target point. It can be used through multiple ejection recoveries to achieve perception of a large range of extraterrestrial environments and has the ability to perceive a large range of environments (tens of meters to hundreds of meters). However, it does not mention how to solve the problem that the mechanical energy storage method has low energy and cannot break through the kilometer-level perception range, and it does not mention how to achieve in-situ detection.

[0006] In summary, the above patents fail to solve the problem of how to achieve large-scale on-site detection at the kilometer level on the lunar surface under the premise of lightness and low instantaneous power. Summary of the Invention

[0007] The technical problem to be solved by the present invention is to realize the delivery of a large-scale probe of kilometer level on the lunar surface under the premise of being light and having low instantaneous power.

[0008] The present invention solves the above technical problems through the following technical means:

[0009] A portable lunar electromagnetic short-range delivery device, comprising a spiral anchor and a rotary ejection module;

[0010] The spiral anchor includes a torque motor, a main shaft, an anchor rod, a housing, and an end cap. The anchor rod is provided with an anchor blade, and the end cap has a fin plate. The torque motor drives the main shaft to rotate, driving the anchor blade to screw into the lunar soil. When the anchor rod reaches a set depth, the fin plate penetrates the lunar soil, achieving the anchoring of the device.

[0011] The rotary ejection module includes a control cabin, a spherical motor, a probe swing arm, and a counterweight swing arm; the control cabin is equipped with a battery, a controller, and a handle; the spherical motor includes a spherical motor stator and a spherical motor rotor; the probe swing arm is connected to the output shaft via a pin and is equipped with an electromagnet to attract the probe; the counterweight swing arm is connected to the output shaft via a pin and is equipped with an electromagnet to attract a ferromagnetic cover plate, which encloses the counterweight box containing lunar soil;

[0012] The workflow includes:

[0013] a) The screw anchor is screwed into the lunar soil anchoring device;

[0014] b) The counterweight box is filled with lunar soil and then sealed;

[0015] c) The spherical motor drives the output shaft to rotate, causing the swing arm to expand centrifugally;

[0016] d) The attitude detection module adjusts the projectile direction and tilt angle;

[0017] e) Cut off the power supply to the electromagnet, release the probe and lunar soil, and the probe will fly to the target location by inertia.

[0018] Furthermore, the spiral anchor includes a bearing group, a torque motor, a main shaft, an anchor rod, a shell, and an end cover.

[0019] Furthermore, the bearing group includes a bearing, a sleeve, and a tightening nut.

[0020] Furthermore, the torque motor includes a stator, a rotor, and a tightening nut.

[0021] Furthermore, the anchor rod includes an anchor leaf.

[0022] Furthermore, the end cover includes a fin plate.

[0023] Furthermore, the rotary ejection module includes a control cabin, a spherical motor, a detector swing arm, and a counterweight swing arm.

[0024] Furthermore, the control compartment includes a shell, a battery, a controller, and a handle.

[0025] Furthermore, the spherical motor includes a spherical motor stator and a spherical motor rotor.

[0026] Furthermore, the spherical motor stator includes a stator shell, stator teeth, coils, a spherical bearing seat, a spherical bearing ring, a spherical bearing rolling element, a posture detection module, and a bracket.

[0027] Furthermore, the posture detection module includes a light source, an optical fiber, and a module body.

[0028] Furthermore, the spherical motor rotor includes a rotor shell, a permanent magnet, a reflector, and an output shaft.

[0029] Furthermore, the detector swing arm includes a pin shaft, a swing arm body, a battery, a cover plate, a controller, an electromagnet, and a detector.

[0030] Furthermore, the counterweight swing arm includes a pin shaft, a swing arm body, a battery, a cover plate, a controller, an electromagnet, a ferromagnetic cover plate, and a cable.

[0031] The advantages of the present invention are:

[0032] The present invention uses a slow rotation acceleration method to provide kinetic energy for the detector swing arm and the counterweight swing arm, reducing the instantaneous power demand;

[0033] The present invention uses screw anchors screwed into the lunar soil and fins inserted into the lunar soil to achieve a stable connection between the delivery device and the lunar surface, ensuring the position and attitude of the delivery device, and further ensuring the ejection direction and inclination angle;

[0034] The present invention utilizes a pin shaft to form a revolving pair to retract the detector swing arm and the counterweight swing arm, thereby reducing the envelope size of the delivery device and making the delivery device easy to carry;

[0035] The present invention uses a spherical motor to provide kinetic energy. The spherical motor rotor can rotate in three degrees of freedom, so that the delivery device has the ability to project at a certain angle. Compared with traditional multi-degree-of-freedom joints, it reduces weight and envelope size.

[0036] The present invention utilizes a reflector to reflect light waves to detect the posture of the spherical motor rotor in a non-contact manner, eliminating the need for complex mechanical detection devices and further reducing the envelope size of the delivery device;

[0037] The present invention utilizes lunar soil as a counterweight, eliminating the extra weight brought by the counterweight as a consumable. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 Schematic diagram of a delivery device at rest in an embodiment of the present invention;

[0039] Figure 2 Schematic diagram of the cross-sectional structure of a spiral anchor in an embodiment of the present invention;

[0040] Figure 3 This is a schematic cross-sectional structure diagram of a rotary ejection module in an embodiment of the present invention;

[0041] Figure 4 This is a schematic diagram of the cross-sectional structure of the control compartment in an embodiment of the present invention;

[0042] Figure 5 This is a schematic diagram of the cross-sectional structure of a spherical motor in an embodiment of the present invention;

[0043] Figure 6 Schematic diagram of a posture detection module in an embodiment of the present invention;

[0044] Figure 7 Schematic diagram of tilted projection in an embodiment of the present invention;

[0045] Among them, 1 is a spiral anchor;

[0046] 11 is a bearing assembly, 111 is a first bearing, 112 is a first sleeve, 113 is a second sleeve, 114 is a second bearing, 115 is a first tightening nut, and 116 is a second tightening nut;

[0047] 12 is a torque motor, 121 is a stator, 122 is a rotor, 123 is a third tightening nut, and 124 is a fourth tightening nut;

[0048] 13 is the main axis;

[0049] 14 is the anchor rod, 141 is the anchor blade;

[0050] 15 is a shell;

[0051] 16 is an end cover, 161 is a fin plate;

[0052] 2 is a rotating ejection module;

[0053] 21 is the control cabin, 211 is the outer shell, 212 is the battery, 213 is the controller, 214 is the first handle, and 215 is the second handle;

[0054] 22 is a spherical motor, 221 is a spherical motor stator, 2211 is a first stator shell, 2212 is a second stator shell, 2213 is a stator tooth, 2214 is a coil, 2215 is a spherical bearing seat, 2216 is a spherical bearing ring, 2217 is a spherical bearing rolling element, 2218 is a posture detection module, 22181 is a light source, 22182 is an optical fiber, 22183 is a module body, 2219 is a bracket, 222 is a spherical motor rotor, 2221 is a rotor shell, 2222 is a permanent magnet, 2223 is a reflector, and 2224 is an output shaft;

[0055] 23 is the detector swing arm, 231 is the first pin shaft, 232 is the first swing arm body, 233 is the first battery, 234 is the first cover plate, 235 is the first controller, 236 is the first electromagnet, and 237 is the detector;

[0056] 24 is a counterweight swing arm, 241 is a second pin shaft, 242 is a second swing arm body, 243 is a second battery, 244 is a second cover plate, 245 is a second controller, 246 is a second electromagnet, 247 is a ferromagnetic cover plate, and 248 is a cable. DETAILED DESCRIPTION

[0057] The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. However, the following embodiments are intended only to explain the present invention, and the scope of protection of the present invention should include the entire contents of the claims. Moreover, through the description of the following embodiments, those skilled in the art can fully implement the entire contents of the claims of the present invention.

[0058] Example

[0059] A portable short-range lunar electromagnetic delivery device includes a helical anchor 1 and a rotary ejection module 2. Helical anchor 1 relies on a torque motor 12 to drive an anchor rod 14 to rotate, which in turn rotates anchor blades 141. During rotation, anchor blades 141 penetrate the lunar soil. When the anchor rod 14 penetrates to a certain depth, fins 161 penetrate the lunar soil. The anchor rod 14, anchor blades 141, and fins 161 form a stable connection between the helical anchor 1 and the lunar surface, ensuring its posture. The rotary ejection module 2 is installed above the spiral anchor 1. The handles (including the first handle 214 and the second handle 215) are used to straighten the spiral anchor 1 during the rotation process. At the same time, they artificially provide downward pressure for the spiral anchor 1 during the rotation process. The direction pointed by the handle is the azimuth reference. After the spiral anchor 1 is anchored on the lunar surface, the first electromagnet 236 is used to attract the detector 237, and the lunar soil is loaded into the counterweight box. The second electromagnet 246 is used to attract the ferromagnetic cover 247 to prevent the lunar soil from leaking. The ejection azimuth, ejection speed, and tilt angle are determined, and the spherical motor 22 is driven to rotate slowly to reduce power requirements. When stationary, the detector swing arm 23 and the counterweight swing arm 24 are retracted under the action of gravity. state, making the device envelope small and easy to carry. When the spherical motor 22 starts to rotate, the detector swing arm 23 and the counterweight swing arm 24 expand under the action of centrifugal force as the speed increases. During the rotation process, the reflector 2223 and the attitude detection module 2218 at the bottom of the spherical motor 22 are used to determine the attitude of the spherical motor rotor 222. When the exit speed is reached, the spherical motor 22 is controlled to rotate to a predetermined inclination angle, and then the power supply of the first electromagnet 236 is cut off to release the detector 237, and the power supply of the second electromagnet 246 is cut off to release the ferromagnetic cover 247. The lunar soil flies out, and the dynamic imbalance impact is effectively controlled. The detector 237 will rely on inertia to fly to the target location.

[0060] In this embodiment, refer to Figure 1 A portable lunar electromagnetic short-range delivery device consists of a spiral anchor 1 and a rotating ejection module 2, and the spiral anchor 1 and the rotating ejection module 2 are fixedly connected.

[0061] See Figure 2The spiral anchor 1 includes a bearing group 11, a torque motor 12, a main shaft 13, an anchor rod 14, a housing 15, and an end cover 16; the bearing group 11 is used to support the main shaft 13 for rotation, the torque motor 12 is used to drive the main shaft 13 to rotate, the anchor rod 14 is fixedly connected to the main shaft 13, the anchor rod 14 includes an anchor blade 141, the end cover 16 is fixedly connected to the housing 15, and the end cover 16 includes a fin plate 161; the bearing group 11 includes a first bearing 111, a first sleeve 112, a second sleeve 113, a second bearing 114, a first tightening nut 115, and a second tightening nut 116 The first sleeve 112 and the second sleeve 113 are placed between the first bearing 111 and the second bearing 114, which play a role in increasing the support span. The first tightening nut 115 can be screwed into the main shaft 13 and press the second bearing 114. The second tightening nut 116 can be screwed into the housing 15 and press the second bearing 114. The torque motor 12 includes a stator 121, a rotor 122, a third tightening nut 123, and a fourth tightening nut 124. The stator 121 is fixed by the fourth tightening nut 124, and the rotor 122 is fixed by the third tightening nut 123.

[0062] See Figure 3 The rotating ejection module 2 consists of a control cabin 21, a spherical motor 22, a detector swing arm 23, and a counterweight swing arm 24; the control cabin 21 is fixedly connected to the spherical motor 22, the detector swing arm 23 is connected to the output shaft 2224 of the spherical motor 22 through a first pin shaft 231, and the counterweight swing arm 24 is connected to the output shaft 2224 of the spherical motor 22 through a second pin shaft 241.

[0063] See Figure 1 and Figure 4 The control compartment 21 includes a shell 211, a battery 212, a controller 213, a first handle 214, and a second handle 215. The battery 212 is installed in the shell 211 and is used to power the torque motor 12, the controller 213, and the attitude detection module 2218. The controller 213 is fixed on the shell 211, and the first handle 214 and the second handle 215 are fixed on the shell 211. The direction of the first handle 214 is used as the orientation reference for attitude detection.

[0064] See Figure 5The spherical motor 22 includes a spherical motor stator 221 and a spherical motor rotor 222. The spherical motor rotor 222 can rotate around three degrees of freedom. The spherical motor stator 221 includes a first stator shell 2211, a second stator shell 2212, stator teeth 2213, a coil 2214, a spherical bearing seat 2215, a spherical bearing ring 2216, a spherical bearing rolling element 2217, a posture detection module 2218, and a bracket 2219. The first stator shell 2211 and the second stator shell 2212 are fixedly connected. , a plurality of stator teeth 2213 are installed on the inside, and coils 2214 are wound on the stator teeth 2213. A plurality of spherical bearing seats 2215 are installed on the inside of the first stator shell 2211 and the second stator shell 2212. Spherical bearing rings 2216 are installed on the spherical bearing seats 2215. The spherical bearing rolling elements 2217 can rotate freely inside the spherical bearing rings 2216. The bracket 2219 is fixed to the second stator shell 2212, and the posture detection module 2218 is fixed to the bracket 2219;

[0065] See Figure 6 The posture detection module 2218 includes a light source 22181, an optical fiber 22182, and a module body 22183. The light wave emitted by the light source 22181 is reflected by the reflector 2223, and the optical fibers 22182 receive the reflected light wave signals. Since the optical fibers 22182 are located in different spatial positions, the light wave signals received by different spherical motor rotors 222 are also different. The module body 22183 uses a neural network algorithm to process the light wave signals to obtain the posture of the spherical motor rotor 222. ; The spherical motor rotor 222 includes a rotor shell 2221, a permanent magnet 2222, a reflector 2223, and an output shaft 2224. Several permanent magnets 2222 are installed on the rotor shell 2221, the reflector 2223 is installed on the rotor shell 2221, and the output shaft 2224 is fixed on the rotor shell 2221; the surface of the rotor shell 2221 is spherical and contacts the spherical bearing rolling element 2217. The rotor shell 2221 can rotate freely under the support of the spherical bearing rolling element 2217.

[0066] See Figure 3The detector swing arm 23 includes a first pin shaft 231, a first swing arm body 232, a first battery 233, a first cover plate 234, a first controller 235, a first electromagnet 236, and a detector 237. The first battery 233 and the first controller 235 are installed in the first swing arm body 232. The first cover plate 234 is fixedly connected to the first swing arm body 232. The first electromagnet 236 is installed on the first swing arm body 232. The detector 237 is connected to the first electromagnet 236 by electromagnetic attraction. The first battery 233 is used to power the first controller 235 and the first electromagnet 236. The counterweight swing arm 24 includes a second pin shaft 241, The second swing arm body 242, the second battery 243, the second cover 244, the second controller 245, the second electromagnet 246, the ferromagnetic cover 247, and the cable 248. The second battery 243 and the second controller 245 are installed in the second swing arm body 242. The second cover 244 is fixedly connected to the second swing arm body 242. The second electromagnet 246 is installed on the second swing arm body 242. The ferromagnetic cover 247 is connected to the second electromagnet 246 by electromagnetic attraction. The ferromagnetic cover 247 is connected to the second swing arm body 242 by the cable 248. The second battery 243 is used to power the second controller 245 and the second electromagnet 246.

[0067] The specific working principle of this embodiment is as follows: the spiral anchor 1 is fixedly connected to the rotary ejection module 2, the anchor rod 14 is driven to rotate by the torque motor 12, driving the anchor blade 141 to rotate into the lunar soil. When it rotates to a certain depth, the fin plate 161 penetrates the lunar soil. The coupling effect between the anchor blade 141 and the fin plate 161 and the lunar soil stabilizes the position and posture of the delivery device. The space surrounded by the second swing arm body 242, the second electromagnet 246, and the ferromagnetic cover plate 247 is filled with lunar soil as a counterweight. The direction of the handles (including the first handle 214 and the second handle 215) serves as an azimuth reference. The probe swing arm 23 is connected to the output shaft 2224 via the first pin 231 and is freely rotatable. The counterweight swing arm 24 is connected to the output shaft 2224 via the second pin 241 and is freely rotatable. The output shaft 2224 rotates under the drive of the spherical motor 22. The probe swing arm 23 and the counterweight swing arm 24 expand upward under the action of centrifugal force, and the spherical motor rotor 222 can achieve three-degree-of-freedom motion.

[0068] See Figure 7The spherical motor rotor 222 can tilt at a certain angle while maintaining a certain rotation speed. The light source 22181 emits light waves, which are transmitted by the reflector 2223. Several optical fibers 22182 receive the reflected light wave signals. Since the optical fibers 22182 are in different spatial positions, the light wave signals received by different spherical motor rotor postures are also different. The module body 22183 uses a neural network algorithm to process the light wave signals to obtain the posture of the spherical motor rotor 222. When the ejection direction, ejection speed, and tilt angle meet the requirements, the controller 213 sends instructions to the first controller 235 and the second controller 245 via wireless signals. The first electromagnet 236 and the second electromagnet 246 are powered off, the detector 237 flies out, the ferromagnetic cover 247 opens, the lunar soil flies out, and the detector 237 relies on inertia to fly to the target location.

[0069] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. A portable lunar electromagnetic short-range delivery device, characterized in that: Includes helical anchor and rotary projectile modules; The spiral anchor includes a torque motor, a main shaft, an anchor rod, a housing, and an end cap. The anchor rod is provided with an anchor blade, and the end cap has a fin plate. The torque motor drives the main shaft to rotate, driving the anchor blade to screw into the lunar soil. When the anchor rod reaches a set depth, the fin plate penetrates the lunar soil, achieving the anchoring of the device. The rotary ejection module includes a control cabin, a spherical motor, a detector swing arm, and a counterweight swing arm; the control cabin is equipped with a battery, a controller, and a handle; the spherical motor includes a spherical motor stator and a spherical motor rotor; the detector swing arm is connected to the output shaft via a pin shaft and is equipped with an electromagnet to attract the detector; The counterweight swing arm is connected to the output shaft through a pin shaft and is provided with an electromagnet to attract a ferromagnetic cover plate, which seals the counterweight box containing lunar soil; The workflow includes: a) The screw anchor is screwed into the lunar soil anchoring device; b) The counterweight box is filled with lunar soil and then sealed; c) The spherical motor drives the output shaft to rotate, causing the swing arm to expand centrifugally; d) The attitude detection module adjusts the projectile direction and tilt angle; e) Cut off the power supply to the electromagnet, release the probe and lunar soil, and the probe will fly to the target location by inertia.

2. The device according to claim 1, characterized in that The spiral anchor also includes a bearing group, which is composed of a bearing, a sleeve and a tightening nut and is used to support the rotation of the main shaft.

3. The device according to claim 1, characterized in that The spherical motor stator comprises a stator housing, stator teeth, coils, a spherical bearing seat, a spherical bearing ring and a spherical bearing rolling body; the spherical bearing rolling body supports the spherical motor rotor to realize three-degree-of-freedom rotation.

4. The device according to claim 1, characterized in that The posture detection module includes a light source, an optical fiber and a module body; the module body processes the light wave signal reflected by the reflector through a neural network algorithm to determine the posture of the spherical motor rotor.

5. The device according to claim 1, characterized in that The detector swing arm and the counterweight swing arm are folded together to reduce the envelope size when stationary, and are centrifugally expanded when rotating.

6. The device according to claim 1, characterized in that The handle provides a straightening force and a downward force when the screw anchor is screwed in, and the direction of the handle serves as an azimuth reference.

7. The device according to claim 1, characterized in that The ferromagnetic cover plate of the counterweight swing arm is connected to the swing arm body through a cable.

8. The device according to claim 1, characterized in that The spherical motor adopts slow acceleration rotation to reduce instantaneous power demand.

9. The device according to claim 1, characterized in that The detector and the ferromagnetic cover are released synchronously after the electromagnet is powered off.

10. The device according to claim 1, characterized in that After releasing the probe and lunar soil, the dynamic unbalanced impact was controlled.

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