A transverse telescopic rod side swing continuous feeding transfer device and transfer method

Abstract

The present invention proposes a transverse telescopic rod side-swing continuous transfer device and a transfer method thereof, which belong to the field of planetary rover transfer mechanisms. The invention solves the problems of how to make the transfer mechanism reliably transfer the planetary rover to the lunar surface, and can achieve the reliable transfer of the planetary rover to the lunar surface under various landing conditions, and the problem that the landing location of the planetary rover should have a certain selectable range to avoid the pits and protrusions on the lunar surface. The transfer device includes a detachment mechanism, a telescopic rope, a telescopic rocker, a hinge support and a power assembly. One end of the telescopic rocker is fixed to the top of the lander through the hinge support, and the other end is connected to the telescopic rope. The lower end of the telescopic rope is connected to the detachment mechanism, and the detachment mechanism is connected to the planetary rover; the power assembly drives the swing and extension of the telescopic rocker on the one hand, and the extension and contraction of the telescopic rope on the other hand. The present invention can arbitrarily select a release position suitable for the landing of the planetary rover within the fan-shaped surface, and the landing is flexible.

Description

Technical Field

[0001] The present invention belongs to the technical field of planetary rover transfer mechanisms, and in particular relates to a transverse telescopic rod side-swing continuous transfer device and a transfer method thereof. Background Art

[0002] Deep space exploration refers to human exploration of the Moon and other celestial bodies, or the space environment, beyond. As a key direction of human spaceflight and a crucial avenue for innovation in space science and technology, it is a key priority for current and future space development. Deep space exploration reflects not only a country's scientific and technological prowess but also its overall national strength.

[0003] At present, my country has achieved the landing of planetary rovers and Mars rovers. However, the surface conditions of alien planets are complex and difficult to predict, which makes it difficult for planetary rovers and other mission rovers to land. In order to better cope with the complex surface conditions at the landing site, it is necessary to improve the existing rover landing mechanism so that the rover can land safely and smoothly.

[0004] The transfer mechanism is the component that transfers and releases the rover from a lander to a planetary surface. It has important applications in extraterrestrial exploration. The transfer and release technology represented by the transfer mechanism is a key component of the entire technical system required for extraterrestrial exploration missions and is crucial to the success of such missions.

[0005] The transfer mechanism takes various forms, depending on the landing method and the rover's mass. For example, the transfer of a planetary rover requires that the rover and its transfer mechanism be securely pressed against the lander's sidewalls during the Earth-Moon transfer phase, the lunar orbit phase, and the powered descent phase, and be able to withstand lateral and longitudinal acceleration loads. After the lander safely touches down on the lunar surface, the transfer mechanism ensures the rover is reliably transferred to the lunar surface and then reliably detached. This also puts higher requirements on the transfer mechanism. During the flight phase and before the lunar transfer, the planetary rover and the transfer mechanism must be safely and reliably pressed and installed on the lander. After the lander lands on the moon, the transfer mechanism and the planetary rover are separated and unlocked from the lander, and the transfer mechanism reliably transfers the planetary rover to the lunar surface. At the same time, the lander has various working conditions such as roll and pitch. Therefore, the transfer mechanism should be able to reliably transfer the planetary rover to the lunar surface under various landing conditions. The landing location of the planetary rover should have a certain optional range to avoid pits and protrusions on the lunar surface. After the planetary rover lands smoothly on the moon, the planetary rover is separated from the transfer mechanism, allowing the planetary rover to move freely on the lunar surface.

[0006] The requirements for other rovers are basically the same as those for planetary rovers, so it is necessary to provide a solution that can meet the current requirements for the transfer of planetary rovers. Summary of the Invention

[0007] In view of this, the present invention aims to propose a transverse telescopic rod side-swing transfer device and a transfer method thereof, so as to solve multiple technical problems such as how to separate and unlock the transfer mechanism and the planetary rover from the lander, how to make the transfer mechanism reliably transfer the planetary rover to the lunar surface, and how to reliably transfer the planetary rover to the lunar surface under various landing conditions, and the landing location of the planetary rover should have a certain optional range to avoid pits and protrusions on the lunar surface.

[0008] To achieve the above objectives, the present invention adopts the following technical solution: a transverse telescopic rod side-swing continuous transfer device, comprising a detachment mechanism, a telescopic rope, a telescopic swing rod, a hinge support, and a power assembly. One end of the telescopic swing rod is fixed to the top of the lander via the hinge support, and the other end is connected to the telescopic rope. The lower end of the telescopic rope is connected to the detachment mechanism, and the detachment mechanism is connected to the planetary rover.

[0009] The power assembly drives the telescopic rocker arm to swing and extend on the one hand, and drives the telescopic rope to extend and retract on the other hand.

[0010] Furthermore, the power assembly includes a rocker arm motor and a continuous feeding motor, the rocker arm motor drives the swing and extension of the telescopic rocker arm, and the continuous feeding motor drives the extension and extension of the telescopic rope.

[0011] Furthermore, the forward rotation of the rocker motor can realize the swing of the telescopic rocker within a range of 180 degrees, and the reverse rotation thereof can realize the radial extension of the telescopic rocker.

[0012] Furthermore, the forward rotation of the continuous feeding motor can release the rope and the reverse rotation can retract the rope.

[0013] Furthermore, the telescopic rocker includes a multi-stage rod, and the multi-stage rod is a sleeve structure.

[0014] Furthermore, the multi-stage rod includes a primary rod, a secondary rod and a tertiary rod, wherein the primary rod is connected to the hinge support through a rotary pair, and the primary rod and the secondary rod, and the secondary rod and the tertiary rod are connected through a sliding pair.

[0015] Furthermore, the fully extended length of the telescopic swing arm is 3020 mm, the unextended length is 1100 mm, the swingable angle range is 0 to 180 degrees, and the range for landing on the moon is a semicircular area with a radius of 1100 to 3020 mm.

[0016] Furthermore, the disengagement mechanism includes a flip locking block and a rotary release pin, the rotary release pin is installed on the planetary rover, the flip locking block is connected to the telescopic rope, and the rotary release pin cooperates with the flip locking block to complete the fixation and disengagement of the telescopic rope and the planetary rover.

[0017] A transfer method for a transverse telescopic rod side swing continuous transfer device specifically comprises the following steps:

[0018] (1) Swing: After the clamping mechanism is unlocked, the swing arm motor starts to swing the telescopic swing arm around point O of the hinge support to the required angle;

[0019] (2) Extension: The pendulum motor reverses to extend the telescopic pendulum, flipping the locking block to separate from the rotary release pin of the release mechanism. At this time, the rover's own gravity drives the rotary release pin of the release mechanism to rotate to a direction perpendicular to the lunar surface;

[0020] (3) Continue to extend: The telescopic swing arm continues to extend to the position suitable for landing on the moon, and the motor continues to rotate forward, synchronously cooperating with the rope release;

[0021] (4) Landing on the moon: The motor continues to rotate forward and the rope continues to be lowered to land the rover.

[0022] (5) Unlock: After the rover lands, the pyrotechnics are separated and unlocked.

[0023] Compared with the prior art, the beneficial effects of the transverse telescopic rod side-swing transfer device and transfer method described in the present invention are:

[0024] (1) The transverse telescopic rod side-swing continuous conveying and transferring device described in the present invention uses only two motors to complete all actions, which can effectively reduce the number of driving components.

[0025] (2) The lateral telescopic rod side-swing transfer device described in the present invention can arbitrarily select a release position suitable for the landing of a planetary rover within the fan-shaped surface range, and the landing is flexible.

[0026] (3) The swinging and extending of the telescopic swing arm of the transverse telescopic rod side-swing transfer device described in the present invention are driven by a motor, and therefore will not be affected by the landing posture of the lander.

[0027] (4) The transverse telescopic rod side swing continuous feeding transfer device described in the present invention has a simple structure, high reliability, small mass and low processing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0029] Figure 1 It is a schematic diagram of the three-dimensional structure of the transverse telescopic rod side-swing continuous conveying and transferring device of the present invention;

[0030] Figure 2 This is a schematic structural diagram of the transverse telescopic rod side-swing continuous conveying and transferring device of the present invention;

[0031] Figure 3 Schematic diagram of the swinging process of the transverse telescopic rod side-swing continuous delivery transfer device of the present invention;

[0032] Figure 4 Schematic diagram of the lateral telescopic rod side-swing continuous transfer device of the present invention swinging through an angle θ;

[0033] Figure 5 Schematic diagram of the extension process of the telescopic swing rod of the transverse telescopic rod side swing continuous transfer device of the present invention;

[0034] Figure 6 The lateral telescopic rod side-swing continuous feeding transfer device of the present invention is described in the following figures: ① indicates the state where the flip limit block has not yet separated from the rotary release pin; ② indicates the state where the flip limit block separates from the rotary release pin as the telescopic swing rod extends forward; ③ indicates the planetary rover rotating downward around the flip locking block under the action of gravity; and ④ indicates the rover rotating until it is perpendicular to the ground after 90 degrees of rotation.

[0035] Figure 7 A schematic diagram of the telescopic swing rod of the transverse telescopic rod side-swing continuous transfer device of the present invention continuing to extend;

[0036] Figure 8 Schematic diagram of the moon landing process of the transverse telescopic rod side swing continuous transfer device of the present invention;

[0037] Figure 9 Schematic diagram of the unlocking process of the transverse telescopic rod side swing transfer device of the present invention;

[0038] Figure 10 Schematic diagram of the lateral telescopic rod side swing feeding transfer device of the present invention;

[0039] Figure 11 A schematic diagram of the moon landing range of the transverse telescopic rod side-swing continuous delivery transfer device of the present invention;

[0040] In the figure: 1- flip limit block, 2- separation mechanism, 3- planetary rover, 4- telescopic rocker, 5- hinge support, 6- flip locking block, 7- rotation release pin, 8- power assembly, 9- lander, 10- first rod, 11- second rod, 12- third rod. DETAILED DESCRIPTION

[0041] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features therein can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0042] 1. Specific implementation method 1, see Figure 1-11 This embodiment describes a transverse telescopic rod side-swing continuous transfer device, comprising a flip limit block 1, a disengagement mechanism 2, a telescopic swing arm 4, a hinge support 5, and a power assembly 8. One end of the telescopic swing arm 4 is fixed to the top of a lander 9 via the hinge support 5, and the other end is connected to a telescopic rope. The lower end of the telescopic rope is connected to the disengagement mechanism 2, and the disengagement mechanism is connected to a planetary rover 3.

[0043] The power assembly 8 drives the telescopic rocker 4 to swing and extend on the one hand, and drives the telescopic rope to extend and retract on the other hand.

[0044] The power assembly 8 includes a rocker motor and a retracting motor. The rocker motor drives the swing and extension of the telescopic rocker 4, while the retracting motor drives the extension and retraction of the telescopic rope. Forward rotation of the rocker motor allows the telescopic rocker 4 to swing within a 180° range, while reverse rotation allows the telescopic rocker 4 to extend radially. Forward rotation of the retracting motor releases the rope, while reverse rotation retracts it.

[0045] The telescopic swing arm 4 comprises a multi-stage rod having a sleeve structure, comprising a primary rod 10, a secondary rod 11 and a tertiary rod 12, wherein the primary rod 10 is connected to the hinge support 5 via a rotary joint, and the primary rod 10 and the secondary rod 11, and the secondary rod 11 and the tertiary rod 12 are connected via sliding joints.

[0046] The fully extended length of the telescopic swing arm 4 is 3020 mm, the unextended length is 1100 mm, the swingable angle range is 0 to 180°, and the range for landing the moon is a semicircular area with a radius of 1100 to 3020 mm.

[0047] The disengagement mechanism 2 includes a flip locking block 6 and a rotary release pin 7. The rotary release pin 7 is installed on the planetary rover 3. The flip locking block 6 is connected to the telescopic rope. The rotary release pin 7 cooperates with the flip locking block 6 to complete the fixation and disengagement of the telescopic rope and the planetary rover 3.

[0048] This embodiment takes the moon landing transfer process as an example, and the planetary rover 3 is a lunar rover.

[0049] The Rashid lunar rover is installed on the Z side of the lander 9. To meet the requirements of the carrying envelope space, the connection between the lunar rover and the lander 9 adopts a side-mounted connection. The task of the transfer mechanism scheme is: after the lunar rover and the lander 9 are unlocked, the transfer mechanism selects a suitable landing position for the lunar rover in the sector area and transfers the lunar rover to the lunar surface by means of continuous delivery. The system composition is as follows: Figure 1-2 shown.

[0050] The transverse telescopic rod side swing continuous feeding transfer device consists of the following parts:

[0051] (1) Power assembly 8: It includes a rocker motor and a feed motor. The rocker motor can swing the telescopic rocker 4 within a range of 180 degrees when it rotates forward, and can extend the telescopic rocker 4 radially when it rotates reversely. The feed motor can release the rope when it rotates forward, and can retract the rope when it rotates reversely.

[0052] (2) Telescopic rocker arm 4: It consists of three sections, namely the primary rod 10, the secondary rod 11 and the tertiary rod 12, and is a sleeve structure. The primary rod 10 is connected to the hinge support 5 through a rotary joint, and the primary rod 10 and the secondary rod 11, and the secondary rod 11 and the tertiary rod 12 are connected through a sliding joint.

[0053] (3) Hinge support 5: fixed to the top of the lander 9, providing support for the rotation axis of the telescopic rocker arm 4.

[0054] (4) Flip limit block 1: It limits the rotational freedom of the disengagement mechanism 2. The flip limit block 1 is fixedly connected to the telescopic rocker 4 (more precisely, the primary rod 10). When the telescopic rocker 4 extends forward, the lower end of the flip limit block 1 separates from the rotation release pin 7, thereby releasing the rotational freedom of the rotation release pin 7. After that, the planet rover can rotate downward by gravity, as shown in FIG. Figure 6 -②As shown.

[0055] (5) Disengagement mechanism 2: Connect the telescopic rope and the lunar rover and release the lunar rover after it lands smoothly.

[0056] The transfer process of the transverse telescopic rod side swing continuous transfer device is as follows:

[0057] (1) Swing: After the clamping mechanism is unlocked, the swing arm motor starts and swings the telescopic swing arm 4 around point O to the required angle (such as Figure 3 and Figure 4 shown).

[0058] (2) Extension: The rocker motor reverses to extend the telescopic rocker 4, flipping the locking block 6 and separating it from the rotary release pin 7 of the separation mechanism 2. At this time, the lunar rover relies on its own gravity to drive the rotary release pin 7 of the separation mechanism 2 to rotate to a direction perpendicular to the lunar surface (such as Figure 5 shown).

[0059] (3) Continue to extend: The telescopic rocker 4 continues to extend to a position suitable for landing on the moon, and the motor continues to rotate forward, synchronously cooperating with the rope release.

[0060] (4) Landing on the moon: Continue to send the motor forward and continue to release the rope to land the lunar rover.

[0061] (5) Unlock: After the lunar rover lands, the pyrotechnics are separated and unlocked.

[0062] Working condition adaptability analysis:

[0063] The rotation and extension of the telescopic rocker 4 are both driven by a motor and are therefore unaffected by the lander's lunar landing posture. However, the slewing release pin 7 of the release mechanism 2 relies on the gravity of the rover 3 to achieve its rotation. Only when the slewing release pin 7 is aligned with the notch can the motor release the rope to continue the rover's journey to the lunar surface. Otherwise, the slewing release pin 7 will not be able to slide smoothly out of the notch, and the rover will not be able to land on the moon.

[0064] Parameter analysis:

[0065] The fully extended length of the telescopic swing rod 4 is 3020mm, and the unextended length is 1100mm. The swing angle range is 0-180°. Therefore, the range of the moon landing can be a semicircular area with a radius of 1100-3020mm. Figure 11 shown.

[0066] The transfer plan for planetary rovers to other planets is the same as the lunar landing transfer process, and the planetary rover 3 can be the rover of the corresponding planet.

[0067] The embodiments of the present invention disclosed above are intended only to illustrate the present invention. The embodiments do not describe all details in detail, nor do they limit the present invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention.

Claims

1. A transverse telescopic rod side swing continuous transfer device, characterized by: The invention comprises a detachment mechanism (2), a telescopic swing arm (4), a telescopic rope, a hinge support (5) and a power assembly (8), wherein one end of the telescopic swing arm (4) is fixed to the top of a lander (9) via the hinge support (5), and the other end is connected to a telescopic rope, the lower end of the telescopic rope is connected to the detachment mechanism (2), and the detachment mechanism is connected to a planetary rover (3); The power assembly (8) drives the telescopic rocker (4) to swing on the one hand, and drives the telescopic rope to rise and fall on the other hand.

2. The lateral telescopic rod side-swing continuous conveying and transferring device according to claim 1, characterized in that: The power assembly (8) comprises a rocker motor and a continuous feed motor, wherein the rocker motor drives the telescopic rocker (4), and the continuous feed motor drives the telescopic rope to rise and fall.

3. The lateral telescopic rod side-swing continuous conveying and transferring device according to claim 2, characterized in that: The forward rotation of the rocker motor enables the telescopic rocker (4) to swing within a range of 180 degrees, and the reverse rotation thereof enables the radial extension of the telescopic rocker (4).

4. The lateral telescopic rod side-swing continuous conveying and transferring device according to claim 2, characterized in that: The continuous feeding motor rotates forward to release the rope and rotates reversely to retract the rope.

5. The lateral telescopic rod side-swing continuous conveying and transferring device according to claim 1, characterized in that: The telescopic rocker (4) comprises a multi-stage rod, and the multi-stage rod is in a sleeve structure.

6. The lateral telescopic rod side-swing continuous conveying and transferring device according to claim 5, characterized in that: The multi-stage rod comprises a primary rod (10), a secondary rod (11) and a tertiary rod (12), wherein the primary rod (10) is connected to the hinge support (5) through a rotary pair, and the primary rod (10) and the secondary rod (11), and the secondary rod (11) and the tertiary rod (12) are connected through a sliding pair.

7. The lateral telescopic rod side-swing continuous conveying and transferring device according to claim 5 or 6, characterized in that: The telescopic swing rod (4) has a fully extended length of 3020 mm and an unextended length of 1100 mm. The swing angle range is 0-180°, and the range of the moon landing selection is a semicircular ring area with a radius of 1100-3020 mm.

8. The lateral telescopic rod side-swing continuous conveying and transferring device according to claim 1, characterized in that: The disengagement mechanism (2) comprises a flip locking block (6) and a rotary disengagement pin (7), wherein the rotary disengagement pin (7) is mounted on the planetary rover (3), the flip locking block (6) is connected to the telescopic rope, and the rotary disengagement pin (7) cooperates with the flip locking block (6) to complete the fixation and disengagement of the telescopic rope and the planetary rover (3).

9. A transfer method for a transverse telescopic rod side-swing transfer device according to claim 1, characterized in that: The specific steps include: (1) Swing: After the clamping mechanism is unlocked, the swing arm motor starts to swing the telescopic swing arm (4) around the point O of the hinge support (5) to the required angle; (2) Extension: The swing arm motor rotates in reverse to extend the telescopic swing arm (4), flipping the locking block (6) to separate it from the rotary release pin (7) of the separation mechanism (2). At this time, the planet rover (3) relies on its own gravity to drive the rotary release pin (7) of the separation mechanism (2) to rotate to a direction perpendicular to the lunar surface; (3) Continue to extend: the telescopic swing rod (4) continues to extend to a position suitable for landing on the moon, and the motor continues to rotate forward, synchronously cooperating with the rope release; (4) Landing on the moon: The motor continues to rotate forward and the rope continues to be released, so that the planet rover (3) lands on the moon; (5) Unlock: After the planet rover (3) lands, the pyrotechnics are separated and unlocked.

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