A lander

Abstract

The application provides a lander, which comprises a lander cabin body and a landing moving mechanism fixedly arranged outside the lander cabin body; the landing moving mechanism comprises a seesaw support and a seesaw main plate, one end of the seesaw support is fixedly connected with the lander cabin body, the other end is movably connected with the seesaw main plate through a rotating shaft, and wheels are arranged on the seesaw main plate close to one end of the seesaw support; when the seesaw main plate is folded and lifted, the wheels fall to the ground. The conventional landing buffer mechanism and the moving mechanism are integrally designed by using the seesaw principle, the repeated switching of the landing buffer function and the moving function is realized, the function of the lander is enriched, the weight reduction and the space layout optimization design of the lander are beneficial, a new design idea is provided for the design of the lander with the moving function, and beneficial effects are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of space probe, in particular to a lander with landing buffer and moving function. BACKGROUND

[0002] In the current extraterrestrial exploration task, in addition to the requirement that the probe can land stably, the demand for multi-region exploration in one landing is increasingly evident, that is, the lander is required to have moving or walking function after landing is completed, and can implement exploration task on other regions outside the landing region. Saving cost and developing movable lander have become an inevitable trend.

[0003] The robot configuration of the prior art and the walking control ability of the system are high, and are not suitable for complex extraterrestrial operation. SUMMARY

[0004] In view of the defects in the prior art, the present application provides a lander, which comprises a lander cabin body and a landing moving mechanism fixedly arranged outside the lander cabin body.

[0005] The landing moving mechanism comprises a seesaw support and a seesaw main plate, one end of the seesaw support is fixedly connected with the lander cabin body, the other end is movably connected with the seesaw main plate through a rotating shaft, and a wheel is arranged on the seesaw main plate close to one end of the seesaw support, and the wheel falls to the ground when the seesaw main plate is folded and raised.

[0006] In one possible implementation, the lander cabin body is further provided with a locking and releasing mechanism, the seesaw main plate is provided with a foot pad and a hook at the end away from the seesaw support, and the hook cooperates with the locking and releasing mechanism to keep the seesaw main plate in a folded state.

[0007] In one possible implementation, the lander further comprises a deployment and folding driving mechanism, and the deployment and folding driving mechanism comprises a motor and a transmission pair.

[0008] The foot pad and the wheel are connected with the seesaw main plate through a rotating pair, and the seesaw main plate is connected with the seesaw support through a rotating pair.

[0009] In one possible implementation, the lander further comprises a deployment and folding linkage assembly, and the deployment and folding linkage assembly comprises an upper support, a driving rod and a rocker arm, the upper support is fixedly connected with the lander cabin body, the driving rod is fixedly connected with the output shaft of the motor, the rocker arm is connected with the driving rod through a hinge, one end of the seesaw main plate is connected with the rocker arm through a hinge, and the other end is connected with the seesaw support through a hinge.

[0010] In a possible implementation, the landing device comprises a traveling driving mechanism, an output shaft of the traveling driving mechanism is fixedly connected with a wheel rotating shaft, and the traveling driving mechanism is connected with the seesaw main plate through a hinge via an outer flange shell.

[0011] In a possible implementation, by controlling the movement posture of the unfolding / folding linkage assembly, the landing device cabin body can be lifted, and the surrounding landing moving mechanism can serve as a launching support to create launching conditions for the landing device to take off again.

[0012] In a possible implementation, the pyrotechnics of the locking release mechanism is initiated to release the seesaw main plate, and under the action of the unfolding / folding driving mechanism and the unfolding / folding linkage assembly, the wheels are folded, the foot pads reach the landing preparation state, and the preparation of the landing buffer mode is completed.

[0013] Compared with the prior art, the present application at least has the following beneficial effects:

[0014] The landing-moving integrated landing device provided can realize the landing buffer function required by a general landing device, has the moving function without additional landing legs, has stable wheeled movement, and has high reliability. Meanwhile, the two working modes can be repeatedly switched according to detection requirements, and the needs of the landing device for multiple-point landing multiple times are met. BRIEF DESCRIPTION OF DRAWINGS

[0015] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the following drawings:

[0016] Figure 1 is a landing device landing buffer mode perspective 1 schematic view provided by an exemplary embodiment of the present application;

[0017] Figure 2 is a landing device landing buffer mode perspective 2 schematic view provided by an exemplary embodiment of the present application;

[0018] Figure 3 is a landing device moving mode perspective 1 schematic view provided by an exemplary embodiment of the present application;

[0019] Figure 4 is a landing device moving mode perspective 2 schematic view provided by an exemplary embodiment of the present application;

[0020] Figure 5 is a single landing moving mechanism launching state and moving state schematic view provided by an exemplary embodiment of the present application;

[0021] Figure 6 is a single landing moving mechanism landing buffer state schematic view provided by an exemplary embodiment of the present application;

[0022] Figure 7 is a schematic view of a landing-mobile integrated launcher mode.

[0023] Figure 8 is a schematic view of a landing-mobile integrated launcher mode. DETAILED DESCRIPTION

[0024] The application will be described in greater detail with reference to the specific embodiments illustrated in the drawings. The following examples are helpful for those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the application. These are within the scope of the application.

[0025] The present application will be further described in detail with reference to the accompanying drawings and specific examples. Please refer to Figure 1 As shown in Figure 1 , the lander is composed of a front landing-mobile mechanism 1, a lander cabin 2, a left landing-mobile mechanism 3, and a right landing-mobile mechanism 4. The left landing-mobile mechanism 3 and the right landing-mobile mechanism 4 are symmetrical to each other relative to the central axis plane of the front landing-mobile mechanism 1. The difference between the left landing-mobile mechanism 3 and the right landing-mobile mechanism 4 and the front landing-mobile mechanism 1 is that the layout direction of the wheels relative to the seesaw main plate 164 is different. The purpose of this layout is to ensure that the initial attitude of each wheel in the mobile mode is consistent.

[0026] As shown in Figure 1 , the foot pad 11 and the wheel 12 are connected to the seesaw main plate 164 through a revolute pair, the seesaw main plate 164 is connected to the seesaw bracket 13 through a revolute pair 1641, and the seesaw bracket 13 is fixed to the lander cabin body 2.

[0027] As shown in Figure 5 , the rocket launch section, the locking and releasing mechanism 14 keeps the lander in the mobile state by locking the seesaw main plate 164, reduces the launch envelope, and improves the overall anti-mechanical environment capability.

[0028] As shown in Figure 6 , the landing preparation section, the pyrotechnics of the locking and releasing mechanism 14 is detonated to release the seesaw main plate 164; under the action of the deployment and retraction driving mechanism 15 and the deployment and retraction linkage assembly 16, the wheel 12 is retracted, the foot pad 11 reaches the landing preparation state, and the preparation for the landing cushion mode is completed. The reverse process is the switching process from the landing cushion mode to the mobile mode.

[0029] As shown in Figure 7As shown, the deployment and recovery driving mechanism 15 is fixedly connected with the lander body through the shell 155, the motor 151 provides a power source for the deployment and recovery driving mechanism, and the worm gear reducer 152 and the spur gear box 154 are used for deceleration and provision of sufficient driving torque; the friction brake 153 is used for consumption of energy in the landing buffer process.

[0030] As shown in the figure, Figure 8 Before the secondary take-off of the lander, the three sets of deployment and recovery linkage assemblies 16 can lift the lander cabin body by adjusting the attitude, and the landing moving mechanism serves as a launch support to provide a basis for the take-off of the lander star table.

[0031] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. In the case of no conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A lander, characterized by, The landing mobile mechanism is fixedly arranged outside the landing cabin body and comprises a seesaw support and a seesaw main plate. The seesaw support is fixedly connected with the landing cabin body at one end and rotatably connected with the seesaw main plate at the other end through a rotating shaft. The seesaw main plate is provided with a wheel near one end of the seesaw support. The landing cabin body is further provided with a locking release mechanism. The seesaw main plate is provided with a foot pad and a hook at the other end. The locking release mechanism is matched with the hook to keep the seesaw main plate in a folded state.

2. A lander according to claim 1, wherein, The landing vehicle further comprises a deployment and folding driving mechanism.

3. The lander of claim 1, wherein, The foot pad and the wheel are connected with the seesaw main plate through rotating shafts.

4. The lander of claim 1, wherein, The seesaw main plate is connected with the seesaw support through rotating shafts. The landing vehicle further comprises a deployment and folding linkage assembly. The deployment and folding linkage assembly comprises an upper support, a driving rod and a rocker arm. The upper support is fixedly connected with the landing cabin body. The driving rod is fixedly connected with an output shaft of the motor. The rocker arm is connected with the driving rod through a hinge. One end of the seesaw main plate is connected with the rocker arm through a hinge. The other end of the seesaw main plate is connected with the seesaw support through a hinge. The landing vehicle comprises a traveling driving mechanism. The output shaft of the traveling driving mechanism is fixedly connected with a rotating shaft of the wheel. The traveling driving mechanism is connected with the seesaw main plate through a hinge. The movement posture of the deployment and folding linkage assembly is controlled to lift the landing cabin body. The surrounding landing mobile mechanism serves as a launching support to create launching conditions for the landing vehicle. The pyrotechnics of the locking release mechanism is initiated to release the seesaw main plate for landing preparation. Under the action of the deployment and folding driving mechanism and the deployment and folding linkage assembly, the wheel is folded and the foot pad reaches a landing preparation state to complete the preparation of the landing buffer mode.

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