Lunar rover transfer mechanism

Abstract

This patent discloses a lunar rover transfer mechanism, specifically related to the technical field of fixed separation devices. It comprises a horizontal rotation assembly and a vertical traction assembly mounted on the lander. The horizontal rotation assembly drives the vertical traction assembly, which is used to slowly lower the lunar rover. The connection between the vertical traction assembly and the lunar rover is equipped with an explosive device. This technical solution solves the problem of safe and smooth lunar rover transfer, enabling the safe and stable release of the lunar rover in various environments on the lunar surface.

Description

Technical Field

[0001] The present invention relates to the technical field of fixed separation devices, and in particular to a lunar rover transfer mechanism. Background Art

[0002] With the development of science and technology, people have begun to explore space and the moon. The lunar rover is a space vehicle used to travel on the moon. After the lunar rover enters space with the spacecraft, how to safely and stably release it to the moon is the basis for subsequent work. Therefore, a transfer mechanism that can safely release the lunar rover is urgently needed. Summary of the Invention

[0003] The present invention aims to provide a lunar rover transfer mechanism, which solves the problem of safe and smooth transfer of the lunar rover.

[0004] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: the lunar rover transfer mechanism includes a horizontal rotation assembly and a vertical traction assembly arranged on the lander, the horizontal rotation assembly is used to drive the vertical traction assembly to rotate, the vertical traction assembly is used to slowly descend the lunar rover, and an pyrotechnic device is provided at the connection between the vertical traction assembly and the lunar rover.

[0005] Furthermore, the horizontal rotation assembly includes a first support, a first motor and a first connecting rod, the first support is fixedly arranged on the lower side of the lander, the first motor is fixedly connected to the first support through a first reducer, and the output end of the reducer is fixedly connected to the first connecting rod; the vertical traction assembly includes a second support, a second motor and a second connecting rod, the second support is fixedly connected to the upper side of the lander, the second motor is fixedly connected to the second support through a second reducer, a winch is fixedly connected to the output end of the second reducer, a steel wire rope is wound in the winch, and the steel wire rope is fixedly connected to the second connecting rod through a connector, one end of the second connecting rod is hinged to the first connecting rod, and the other end of the second connecting rod is connected to the lunar rover ball.

[0006] Furthermore, the horizontal rotation assembly includes a first support, a first motor, and a first connecting rod. The first support is fixedly mounted on the upper side of the lander. The first motor is fixedly connected to the first support via a first reducer, and the output end of the reducer is fixedly connected to the first connecting rod. The vertical traction assembly includes four third supports, a second motor, and a second connecting rod. The four third supports are symmetrically fixedly mounted on the lander. A third connecting rod is rotatably connected between two longitudinal third supports. Each third connecting rod is slidably connected to a slider. Each slider is rotatably connected to a strut. A support plate is provided on the side of each third connecting rod away from the slider. The second motor is fixedly connected to a support plate on either side via a second reducer. A scissor-type telescopic member is rotatably connected between the two support plates and the corresponding struts. One end of the scissor-type telescopic member is connected to the output end of the second reducer. The second connecting rod is rotatably connected between the two scissor-type telescopic members. The second connecting rod is connected to the lunar rover ball joint.

[0007] Compared with the existing technology, this solution has the following beneficial effects:

[0008] 1. This solution can stably fix the lunar rover on the surface of the lander when it is not released. When it needs to be released, the horizontal position of the lunar rover can be adjusted by the horizontal rotation component, and the vertical traction component can be used to maintain the smooth descent of the lunar rover, and finally land safely on the surface of the moon.

[0009] 2. This solution ensures the rover is stably fixed to the lander's surface before release. During release, the horizontal rotation assembly allows for a certain range of horizontal rotation, enabling the rover to select a more suitable lunar landing terrain. A vertical traction assembly ensures the rover's smooth descent, adapting to landing terrain of varying heights or depths. The ball-joint connection ensures the rover remains horizontal under the influence of gravity during release, allowing it to adapt to landing terrain with a certain slope. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic structural diagram of the lunar rover transfer mechanism in Example 1;

[0011] Figure 2 yes Figure 1 A partial enlarged view of point A in the middle;

[0012] Figure 3 yes Figure 1 A partial enlarged view of point B in the middle;

[0013] Figure 4 yes Figure 1 A partial enlarged view of point C in the middle;

[0014] Figure 5This is a schematic structural diagram of the lunar rover transfer mechanism in the deployed state in Example 2;

[0015] Figure 6 It is a structural diagram of the lunar rover transfer mechanism in the retracted state in Example 2. DETAILED DESCRIPTION

[0016] The present invention will be further described in detail below through specific embodiments:

[0017] The figure marks in the drawings of the specification include: first support 1, first motor 2, first connecting rod 3, first reducer 4, second support 5, second motor 6, second connecting rod 7, second reducer 8, winch 9, wire rope 10, connector 11, lunar rover 12, pyrotechnics 13, third support 14, third connecting rod 15, rocker 16, connecting rod 17, slider 18, upper connecting rod 19, lower connecting rod 20, scissors-type telescopic member 21, and guide wheel 22.

[0018] Example 1

[0019] As attached Figure 1-4 As shown, the lunar rover transfer mechanism includes a horizontal rotation assembly and a vertical traction assembly arranged on the lander. The horizontal rotation assembly is used to drive the vertical traction assembly to rotate, and the vertical traction assembly is used to slowly descend the lunar rover 12. A pyrotechnic device 13 is provided at the connection between the vertical traction assembly and the lunar rover 12, and the pyrotechnic device 13 adopts a piston-type pyrotechnic nut.

[0020] The horizontal rotation assembly includes a first support 1, a first motor 2, and a first connecting rod 3. The first support 1 consists of a square frame and support plates symmetrically arranged on the upper and lower sides of the frame. The first support 1 is bolted to the lower side of the lander. The first motor 2 is bolted to the upper support plate via a first reducer 4. The output end of the first reducer 4 passes through the support plate and is located between the two support plates. The output end of the first reducer 4 is fixedly connected to the first connecting rod 3. The cross-section of the first connecting rod 3 is T-shaped, and the bottom of the first connecting rod 3 is rotatably connected to the lower support plate. The vertical traction assembly includes a second support 5, a second motor 6, and a second connecting rod 7. The second support 5 is bolted to the upper side of the lander. The second motor 6 is fixedly connected to the lower side of the second support 5 through a second reducer 8. A winch 9 is fixedly connected to the output end of the second reducer 8. The winch 9 is rotatably connected to the second support 5. A steel wire rope 10 is wound inside the winch 9. The steel wire rope 10 is fixedly connected to the second connecting rod 7 through a connector 11. The connector 11 consists of a fixed block and a ring welded to the fixed block. The fixed block is passed through the second connecting rod 7. An L-shaped first support plate is welded to the top of the second support 5, which is rotatably connected to the top of the winch 9. An L-shaped second support plate is connected to the first support plate. A guide wheel 22 is rotatably connected to the second support plate. The guide wheel 22 has a groove in the middle. The guide wheel 22 is used to guide the trajectory of releasing or tightening the steel wire rope. The lower end of the second connecting rod 7 is hinged to the first connecting rod 3 , and the upper end of the second connecting rod 7 is spherically connected to the lunar rover 12 . A pyrotechnic device 13 installed on the lunar rover 12 is also provided at the connection between the second connecting rod 7 and the lunar rover 12 .

[0021] The working process of this program:

[0022] When the lunar rover 12 is not released, the lunar rover 12 is against the lander. At this time, the wire rope 10 is in a tightened state, and the first connecting rod 3 and the second connecting rod 7 are perpendicular to each other.

[0023] When it is time to release the rover 12, the second motor 6 and the second reducer 8 drive the wire rope 10 to slowly unwind. At this point, the second connecting rod 7 begins to rotate downward in the vertical direction relative to the first connecting rod 3. The rover 12 on the second connecting rod 7 gradually moves away from the lander and, under the action of gravity, rotates to a horizontal position. The horizontal position of the rover 12 is then adjusted based on the specific conditions of landing on the lunar surface. At this point, only the first motor 2 needs to be turned on. The first motor 2 and the first reducer 4 rotate the first connecting rod 3 horizontally, thereby connecting the first connecting rod 3 to drive the second connecting rod 7 and the rover 12 to achieve horizontal rotation. Ultimately, the rover 12 is safely and smoothly transferred to the lunar surface. Finally, the pyrotechnic device 13 is used to separate the rover 12 from the second connecting rod 7.

[0024] Example 2

[0025] like Figure 5 and Figure 6 As shown, the lunar rover transfer mechanism includes a horizontal rotation assembly and a vertical traction assembly arranged on the lander. The horizontal rotation assembly is used to drive the vertical traction assembly to rotate, and the vertical traction assembly is used to slowly descend the lunar rover 12. A pyrotechnic device 13 is provided at the connection between the vertical traction assembly and the lunar rover 12, and the pyrotechnic device 13 adopts a piston-type pyrotechnic nut.

[0026] The horizontal rotation assembly includes a first support 1, a first motor 2, and a first connecting rod 3. The first support 1 is bolted to the upper side of the lander. The first motor 2 is fixedly connected to the first support 1 via a first reducer 4. The output end of the first reducer 4 is coaxially connected to the first connecting rod 3. The vertical traction assembly includes four third supports 14, a second motor 6, and a second connecting rod 7. The four third supports 14 are symmetrically fixed to the lander and arranged in a rectangular shape. A third connecting rod 15 is rotatably connected between two corresponding third supports 14 located in the same longitudinal direction. The upper end of each third connecting rod 15 and the first connecting rod 3 are provided with a rocker 16 located above the third support 14 and the first support 1. The free ends of the three rocker arms 16 are commonly connected to a connecting rod 17 located outside the third support. Each third link 15 is slidably connected to a slider 18. The left slider 18 is rotatably connected to a support rod. The support rod consists of an upper link 19 and a lower link 20 rotatably connected to the upper link 19. Rings are connected to both ends of the upper link 19. The upper end of the upper link 19 is connected to a fixed plate via a ring and a pin. The pin is inserted into the fixed plate and rotatably connected to the fixed plate. The lower end of the upper link 19 is connected to the lower link 20 via a ring and a pin. A rotating shaft is inserted into the lower end of the lower link 20 and connected to the output of the second reducer. A fixed bracket is also provided outside the rotating shaft and is fixedly connected to the corresponding third support. The rotating shaft passes through both sides of the fixed bracket. A support plate is provided on the lower side of each third link 15, which is located on the third support 3. The second motor 6 is bolted to the fixed bracket via the second reducer 8. A scissor-type telescopic member 21 is rotatably connected between the two support plates and their corresponding struts. This member 21 is comprised of multiple pairs of crossbars, each consisting of two crossbars pivotally connected at their centers. The free ends of adjacent crossbars in adjacent crossbar groups are pivotally connected together. A fixed rod is connected between the free end of the crossbar in the left crossbar group near the second reducer 8 and the lower connecting rod. A second connecting rod 7 is rotatably connected between the free ends of the two scissor-type telescopic members 21. The second connecting rod 7 is ball-jointed to the lunar rover 12. A pyrotechnic device 13, mounted on the lunar rover 12, is also located at the connection between the second connecting rod 7 and the lunar rover 12.

[0027] The working process of this program:

[0028] When the lunar rover 12 is not released, the lunar rover 12 abuts against the lander. At this time, the slider 18 is located on the upper side of the third connecting rod 15, and the scissor-type telescopic member 21 is in a tightened state.

[0029] When the lunar rover 12 needs to be released, the lower connecting rod 20 is driven to rotate by the second motor 6, the second reducer 8 and the rotating shaft. After the lower connecting rod 20 rotates, it drives the scissor-type telescopic member 21 on the left to rotate. At this time, the scissor-type telescopic member 21 moves to the side away from the lander under the drive of the lower connecting rod 20 and the fixed rod. The lunar rover 12 on the second connecting rod 7 will gradually move away from the lander and rotate to a horizontal direction under the action of gravity. At the same time, the scissor-type telescopic member 21 drives the slider 18 at its end to slide downward on the third connecting rod 15 under the action of the gravity of the lunar rover 12, thereby realizing the vertical descent of the lunar rover 12. Then, the horizontal position of the lunar rover 12 is adjusted according to the specific conditions of landing on the lunar surface. At this time, it is only necessary to turn on the first motor 2, and rotate the connecting rod 17 in the horizontal direction through the first motor 2 and the first reducer 4. The connecting rod 17 drives the two third connecting rods 15 and the lunar rover 12 to achieve horizontal rotation. Finally, the lunar rover 12 is safely and smoothly transferred to the lunar surface. Finally, the pyrotechnic device 13 is used to separate the lunar rover 12 from the second connecting rod 7.

[0030] The above are only embodiments of the present invention, and common knowledge such as the specific structure and / or characteristics of the scheme are not described in detail here. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several variations and improvements can be made, which should also be regarded as the scope of protection of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. Lunar rover transfer mechanism, characterized by: It includes a horizontal rotation assembly and a vertical traction assembly provided on the lander. The horizontal rotation assembly is used to drive the vertical traction assembly to rotate. The vertical traction assembly is used to slowly descend the lunar rover. The connection between the vertical traction assembly and the lunar rover is provided with an explosive device. The horizontal rotation assembly includes a first support, a first motor and a first connecting rod, the first support is fixedly arranged on the lower side of the lander, the first motor is fixedly connected to the first support through a first reducer, and the output end of the reducer is fixedly connected to the first connecting rod; the vertical traction assembly includes a second support, a second motor and a second connecting rod, the second support is fixedly connected to the upper side of the lander, the second motor is fixedly connected to the second support through a second reducer, a winch is fixedly connected to the output end of the second reducer, a steel wire rope is wound in the winch, and the steel wire rope is fixedly connected to the second connecting rod through a connector, one end of the second connecting rod is hinged to the first connecting rod, and the other end of the second connecting rod is hinged to the lunar rover ball; When the lunar rover needs to be released, the steel wire rope is slowly released by the second motor and the second reducer, and the second connecting rod begins to rotate downward in the vertical direction relative to the first connecting rod. The lunar rover on the second connecting rod gradually moves away from the lander and rotates to the horizontal direction under the action of gravity. The horizontal position of the lunar rover is then adjusted, and the first motor is turned on. The first motor and the first reducer drive the first connecting rod to rotate in the horizontal direction. The first connecting rod drives the second connecting rod and the lunar rover to achieve horizontal rotation. The lunar rover is safely and smoothly transferred to the lunar surface, and the lunar rover is separated from the second connecting rod by the pyrotechnic device. Or the horizontal rotation assembly includes a first support, a first motor and a first connecting rod, the first support is fixedly arranged on the upper side of the lander, the first motor is fixedly connected to the first support through a first reducer, and the output end of the reducer is fixedly connected to the first connecting rod; the vertical traction assembly includes four third supports, a second motor and a second connecting rod, the four third supports are symmetrically fixedly connected to the lander, and a third connecting rod is rotatably connected between two of the third supports located in the longitudinal direction, each of the third connecting rods is slidably connected to a slider, and each of the sliders is rotatably connected to a support rod, and the support rod is composed of an upper connecting rod and a lower connecting rod rotatably connected to the upper connecting rod; the upper end of each of the third connecting rods and the first connecting rod are provided with a support rod located above the third support and the first support. The rocker, the free ends of the three rockers are commonly connected to a connecting rod located outside the third support, a support plate is provided on each of the third connecting rods on the side away from the slider, and the second motor is fixedly connected to the support plate on either side through the second reducer; a scissor-type telescopic member is rotatably connected between the two support plates and the corresponding struts, and the scissor-type telescopic member is composed of a plurality of pairs of cross rod groups, each pair of the cross rod groups is composed of two cross rods rotatably connected at the center, a fixed rod is connected between the free end of the cross rod close to the second reducer in the cross rod group on the left and the lower connecting rod, one end of the scissor-type telescopic member is connected to the output end of the second reducer, the second connecting rod is rotatably connected between the two scissor-type telescopic members, and the second connecting rod is hinged to the lunar rover ball; When the lunar rover needs to be released, the lower connecting rod is driven to rotate by the second motor, the second reducer and the rotating shaft. After the lower connecting rod rotates, the scissor-type telescopic part on the left is driven to rotate. The scissor-type telescopic part moves to the side away from the lander under the drive of the lower connecting rod and the fixed rod. The lunar rover on the second connecting rod will gradually move away from the lander and rotate to a horizontal direction under the action of gravity. The scissor-type telescopic part drives the slider at its end to slide downward on the third connecting rod under the action of the gravity of the lunar rover; then the horizontal position of the lunar rover is adjusted, the first motor is turned on, and the connecting rod is driven to rotate in the horizontal direction by the first motor and the first reducer. The two third connecting rods and the lunar rover are driven to rotate in the horizontal direction by the connecting rod, and the lunar rover is separated from the second connecting rod by pyrotechnics.

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