L-shaped folding swing arm suspension transfer mechanism and transfer method thereof

Abstract

The present invention discloses an L-shaped folding rocker suspension transfer mechanism and a transfer method thereof, which relates to the technical field of planetary rover landing equipment and solves the problem of needing to select a landing point due to the small size and limited obstacle-crossing capability of the planetary rover. The L-shaped folding rocker suspension transfer mechanism includes a transfer rocker mechanism and a rocker action mechanism. The rocker action mechanism is arranged on the lander and connected to the transfer rocker mechanism. The transfer rocker mechanism is L-shaped and includes a front rocker and a rear rocker. One end of the front rocker is connected to the planetary rover and the other end is connected to the rear rocker. The other end of the rear rocker is connected to the lander. The rocker action mechanism includes a vertical swing mechanism and a lateral swing mechanism. The lateral swing mechanism is connected to the front rocker and the vertical swing mechanism is connected to the rear rocker. The present invention can transfer the planetary rover to a relatively flat planetary surface according to the actual landing conditions of the lander, avoiding bumps and pits on the ground.

Description

Technical Field

[0001] The present invention relates to the technical field of planetary rover transfer, and in particular to an L-shaped folding and unfolding swing arm suspension transfer mechanism 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 exploration. Deep space exploration reflects not only a country's scientific and technological prowess but also its overall national strength. The transfer mechanism, a component that transfers and releases rovers from a lander to a planetary surface, has crucial applications in deep space exploration. The transfer and release technology represented by the transfer mechanism is a key component within the technical architecture required for deep space exploration missions and a crucial factor in determining their success.

[0003] The transfer mechanism takes various forms, depending on the landing method and the rover's mass. For example, the transfer of a lunar 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 rover is reliably transferred to the lunar surface and then reliably detached, thanks to the transfer mechanism. This also puts higher requirements on the transfer mechanism. During the flight phase and before the lunar transfer, the lunar 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 lunar rover are separated and unlocked from the lander, and the transfer mechanism reliably transfers the lunar 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 lunar rover to the lunar surface under various landing conditions. The landing location of the lunar rover should have a certain optional range to avoid pits and protrusions on the lunar surface. After the lunar rover lands smoothly on the moon, the lunar rover separates from the transfer mechanism, allowing the lunar rover to walk freely on the lunar surface. The requirements for other rovers are basically the same as those for the lunar rover.

[0004] At present, my country has achieved the landing of lunar rovers and Mars rovers. However, the surface conditions of alien planets are complex and difficult to predict, which requires planetary rovers and other mission rovers to select landing sites when landing. This allows them to avoid bumps and pits on the surface when landing. Therefore, it is necessary to improve the existing rover landing mechanism so that the rover can land safely and smoothly. Therefore, it is necessary to provide a solution that can meet the current needs of planetary rover transfers. Summary of the Invention

[0005] To better address complex surface conditions at landing sites and enable mission rovers such as planetary rovers to land safely and smoothly on flat ground, this invention proposes an L-shaped folding rocker suspension transfer mechanism and transfer method. This mechanism can select a suitable flat surface location for a smooth and safe landing of the rover based on the actual landing conditions. Its overall simple and sophisticated structure addresses the difficulty of landing rovers on complex landing surfaces.

[0006] The present invention proposes an L-shaped folding rocker suspension transfer mechanism, which specifically includes a transfer rocker mechanism and a rocker action mechanism. The rocker action mechanism is arranged on the lander and connected to the transfer rocker mechanism; the transfer rocker mechanism is L-shaped, including a front rocker and a rear rocker, one end of the front rocker is connected to the planetary rover, and the other end is connected to the rear rocker, and the other end of the rear rocker is connected to the lander; the rocker action mechanism includes a vertical swing mechanism and a lateral swing mechanism, the lateral swing mechanism is connected to the front rocker, and the vertical swing mechanism is connected to the rear rocker.

[0007] Furthermore, the vertical swing mechanism includes a first swing arm motor and a first release rope. The first swing arm motor is arranged on the lander and connected to the first release rope. The other end of the first release rope is connected to the rear swing arm.

[0008] Furthermore, the lateral swing mechanism includes a second swing arm motor and a second release rope, the second swing arm motor is arranged on the rear swing arm and connected to the second release rope, and the other end of the second release rope is connected to the front swing arm.

[0009] Furthermore, the transfer rocker mechanism also includes a spherical hinge, one end of the spherical hinge is connected to the front rocker, and the other end is connected to the planetary rover.

[0010] Furthermore, the transfer rocker arm mechanism also includes a hinge support, which is arranged on the lander, and the rear rocker arm is connected to the lander through the hinge support.

[0011] Furthermore, the transfer rocker mechanism and the planetary rover are pressed onto the lander through a pressing mechanism.

[0012] Furthermore, the clamping mechanism includes a clamping support, which is arranged on the lander.

[0013] Furthermore, a stopper is provided on the rear swing arm, and the stopper is provided at the rotating shaft of the front swing arm and the rear swing arm.

[0014] Furthermore, a spiral spring is provided at the rotating shafts of the front swing arm and the rear swing arm.

[0015] A transfer method using the above-mentioned L-shaped folding swing arm suspension transfer mechanism specifically includes the following steps:

[0016] a. Before the lander touches down, the rover and transfer rocker mechanism are pressed and fixed to one side of the lander;

[0017] b. After the lander touches down, the clamping point is released, the first pendulum motor releases the rope, and the rear pendulum swings down around the hinge support. Under the action of gravity, the planetary rover swings down around the spherical hinge to a horizontal position.

[0018] c. After the rear sway arm swings to the horizontal position, the second sway arm motor retracts the rope and the front sway arm swings outward to select a suitable landing position;

[0019] d. After the landing location is selected, the planetary rover is placed at the designated landing location and the planetary rover is separated from the transfer mechanism.

[0020] The beneficial effects of the L-shaped folding and unfolding swing arm suspension transfer mechanism and the transfer method thereof described in the present invention are:

[0021] (1) The L-shaped folding rocker suspension transfer mechanism and transfer method described in the present invention can support and fix the planetary rover and the transfer rocker mechanism before the mechanism starts to operate by providing a clamping support;

[0022] (2) The L-shaped folding rocker suspension transfer mechanism and transfer method described in the present invention, which, through the provided transfer rocker mechanism, enables the planetary rover to have more landing positions to choose from during the landing process;

[0023] (3) The L-shaped folding and unfolding rocker suspension transfer mechanism and its transfer method described in the present invention can make the landing process of the planetary rover more stable and controllable through the rocker action mechanism provided;

[0024] (4) The L-shaped folding rocker suspension transfer mechanism and transfer method described in the present invention can select a suitable landing position for the planetary rover on the planetary surface through the cooperation of the transfer rocker mechanism and the rocker action mechanism according to the surface conditions of the actual landing position of the lander, so as to avoid the protrusions and pits on the planetary surface and ensure that the planetary rover arrives at the ground smoothly. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0026] In the attached figure:

[0027] Figure 1 This is an overall structural diagram of an L-shaped folding and unfolding swing arm suspension transfer mechanism according to the present invention;

[0028] Figure 2This is a schematic diagram of a transfer process of a transfer rocker mechanism of an L-shaped folding and unfolding rocker suspension transfer mechanism according to the present invention;

[0029] Figure 3 This is a schematic diagram of the main structure of the swing arm of the L-shaped folding swing arm suspension transfer mechanism described in the present invention;

[0030] Figure 4 This is a schematic diagram of the left side structure of the swing arm of the L-shaped folding swing arm suspension transfer mechanism described in the present invention;

[0031] Figure 5 This is a schematic diagram of the partial structure of the swing arm of the L-shaped folding swing arm suspension transfer mechanism described in the present invention;

[0032] Figure 6 This is a schematic diagram of the swing of the front swing arm of an L-shaped folding swing arm suspension transfer mechanism described in the present invention;

[0033] Figure 7 This is a schematic diagram of the spherical hinge structure of an L-shaped folding and unfolding swing arm suspension transfer mechanism described in the present invention;

[0034] Figure 8 This is a schematic diagram of the initial state of an L-shaped folding and unfolding swing arm suspension transfer mechanism according to the present invention;

[0035] Figure 9 This is a schematic diagram of a release state of a pressing point of an L-shaped folding swing arm suspension transfer mechanism according to the present invention;

[0036] Figure 10 This is a schematic diagram of the rear swing arm of the L-shaped folding swing arm suspension transfer mechanism of the present invention in a downward swinging state;

[0037] Figure 11 This is a schematic diagram of the front swing arm of the L-shaped folding swing arm suspension transfer mechanism of the present invention in an outward swing state;

[0038] Figure 12 This is a schematic diagram of a planetary rover touching the ground using an L-shaped folding and unfolding rocker suspension transfer mechanism according to the present invention;

[0039] Figure 13 This is a schematic diagram of the L-shaped folding and unfolding swing arm suspension transfer mechanism of the present invention in a backward -14° posture;

[0040] Figure 14 This is a schematic diagram of the L-shaped folding and unfolding rocker suspension transfer mechanism of the present invention in a left-leaning -14° posture;

[0041] Figure 15 This is a schematic diagram of the L-shaped folding and unfolding rocker suspension transfer mechanism of the present invention in a right-leaning -14° posture;

[0042] Figure 16 This is a schematic diagram of the L-shaped folding and unfolding rocker arm suspension transfer mechanism of the present invention in a sideways tilting and landing state;

[0043] Among them: 1-lander, 2-planetary rover, 3-spherical hinge, 4-front swing arm, 5-tensioning support, 6-first swing arm motor, 7-rear swing arm, 8-second swing arm motor, 9-hinge support, 10-first release rope, 11-third fixing mechanism, 12-first fixing mechanism, 13-second fixing mechanism, 14-second release rope, 15-stop block. DETAILED DESCRIPTION

[0044] The specific embodiments of the present invention are further described in detail below with reference to the accompanying drawings:

[0045] Specific implementation method 1: See Figure 1-16 The present embodiment is described. The L-shaped folding and unfolding rocker suspension transfer mechanism described in the present embodiment includes a transfer rocker mechanism and a rocker action mechanism. The rocker action mechanism is arranged on the lander (1) and connected to the transfer rocker mechanism. The transfer rocker mechanism is arranged on the lander 1 and is L-shaped as a whole, including a front rocker 4 and a rear rocker 7. One end of the front rocker 4 is connected to the planetary rover 2, and the other end is connected to the rear rocker 7 in a plane rotation pair. The front rocker 4 is 1242 mm long and the rear rocker 7 is 1287 mm long. The total length after full deployment is 2529 mm. The rocker action mechanism includes a vertical swing mechanism and a lateral swing mechanism. The lateral swing mechanism is connected to the front rocker 4, and the vertical swing mechanism is connected to the rear rocker 7.

[0046] The vertical swing mechanism includes a first swing arm motor 6 and a first release rope 10. The first swing arm motor 6 is arranged on the lander 1 and connected to the first release rope 10. The other end of the first release rope 10 is connected to the rear swing arm 7.

[0047] The lateral swing mechanism includes a second swing arm motor 8 and a second release rope 14 . The second swing arm motor 8 is arranged on the rear swing arm 7 and connected to the second release rope 14 . The other end of the second release rope 14 is connected to the front swing arm 4 .

[0048] The front swing bar 4 is provided with a first fixing mechanism 12, and the rear swing bar 7 is provided with a second fixing mechanism 13 and a third fixing mechanism 11. The other end of the first release rope 10 is connected to the third fixing mechanism 11 on the rear swing bar 7 to control the rear swing bar 7 to swing downward; the other end of the second release rope 14 passes through the second fixing mechanism 13 and is connected to the first fixing mechanism 12 on the front swing bar 4 to control the front swing bar 4 to swing outward.

[0049] The transfer rocker mechanism also includes a spherical hinge 3, one end of which is connected to the front rocker 4 through a slewing pair, and the other end of the spherical hinge 3 is provided with a mounting plane, and a separation nut is used to connect and fix the mounting plane to the planetary rover 2. After the pressing point is released, the planetary rover 2 always remains horizontal.

[0050] The transfer rocker mechanism also includes a hinge support 9, which is arranged on the lander 1. The rear rocker 7 is connected to the lander 1 through the hinge support 9, and the hinge support 9 provides a rotation axis for the rear rocker 7.

[0051] The transfer rocker mechanism and the planetary rover 2 are pressed onto the lander 1 through a clamping mechanism, ensuring that the planetary rover 2 and the transfer rocker mechanism are reliably fixed on the side wall of the lander during the flight process of the Earth-to-planet transfer segment, the planet-to-planet segment, and the powered descent segment, and can withstand lateral and longitudinal acceleration loads to ensure safety and stability.

[0052] The clamping mechanism includes a clamping support 5 , which is arranged on the lander and located above the hinge support 9 .

[0053] The rear swing link 7 is provided with a stopper 15 , which is arranged at the rotation axis of the front swing link 4 and the rear swing link 7 , and limits the swing of the front swing link 4 so that the front swing link 4 can only swing outward.

[0054] A volute spring is provided at the rotating shaft of the front swing arm 4 and the rear swing arm 7 to ensure that the swinging process of the front swing arm 4 is controlled by the mechanism.

[0055] A transfer method using the above-mentioned L-shaped folding swing arm suspension transfer mechanism specifically includes the following steps:

[0056] a. Before landing, the rover 2 and the transfer rocker mechanism are pressed and fixed to one side of the lander 1.

[0057] b. After the lander 1 touches down, the clamping point is released, the first swing arm motor 6 releases the rope, and the rear swing arm 7 swings down around the hinge support 9. Under the action of gravity, the planetary rover 2 swings down around the spherical hinge 3 to a horizontal position;

[0058] c. After the rear swing arm 7 swings to the horizontal position, the second swing arm motor 8 retracts the rope, and the front swing arm 4 swings outward to select a suitable landing position;

[0059] d. After the landing location is selected, the planetary rover 2 is placed at the designated landing location and the planetary rover 2 is separated from the transfer mechanism.

[0060] The specific working principle of the L-shaped folding swing arm suspension transfer mechanism of the present invention is explained as follows:

[0061] Before the lander 1 arrives at the predetermined landing site, the pressing support 5 supports the planetary rover 2 and the transfer rocker mechanism and fixes them to the surface of the lander 1 to ensure that the planetary rover 2 and the transfer rocker mechanism will not shake before the lander 1 lands, causing safety problems. Figure 8 shown.

[0062] When the lander 1 arrives at the landing site, the pressing point of the pressing support 5 begins to release. After the pressing point is released, the first swing arm motor 6 starts to release the first release rope 10, and the rear swing arm 7 swings downward around the hinge support 9. Under the action of gravity, the planetary rover 2 swings downward around the spherical hinge 3 to a horizontal position. Figure 9 shown.

[0063] By relying on the gravity of the rover 2, the front swing bar 4 and the rear swing bar 7, the rear swing bar 7 continues to swing downward around the hinge support 9 until the rear swing bar 7 reaches the horizontal position. Figure 10 shown.

[0064] When the rear swing arm 7 is turned to the horizontal position, the second swing arm motor 8 starts to tighten the second release rope 14. The front end of the second release rope 14 passes through the second fixing mechanism 13 and is connected to the first fixing mechanism 12 on the front swing arm 4, pulling the front swing arm 4 to swing outward and start to select a position suitable for the landing of the planet rover 2, such as Figure 6 and Figure 11 shown.

[0065] When the appropriate landing position of the planetary rover 2 is selected, the first rocker motor 6 continues to release the first release rope 10, and the second rocker motor 8 continues to tighten the second release rope 14, placing the planetary rover 2 at the designated landing position. Then, the separation nut on the mounting plane of the spherical hinge 3 is unlocked, so that the planetary rover 2 is separated from the transfer rocker mechanism. Figure 12 shown.

[0066] like Figure 13-16 The figure shows the transfer of a planetary rover 2 under extreme working conditions using an L-shaped folding and unfolding rocker arm suspension transfer mechanism according to the present invention. The initial installation angle of the rear rocker arm 7 of the L-shaped folding and unfolding rocker arm suspension transfer mechanism according to the present invention is α, sinα=0.313>sin14°=0.242, so α>14°, so the lander 1 can be normally deployed when it is tilted back by -14°, as shown in FIG. Figure 13 As shown. Since the installation angle between the rear swing bar 7 and the side of the lander 1 is greater than 14 degrees, the tilt state will not affect the downward flipping action of the transfer swing bar mechanism, as shown. Figure 14 、 Figure 15 As shown in the figure, since the planetary rover 2 is connected to the transfer rocker mechanism by a spherical hinge 3, even if the landing planes of the lander 1 and the planetary rover 2 do not have the same roll angle, the planetary rover 2 can still land smoothly. Figure 16 shown.

[0067] To summarize the above-mentioned implementation examples, the L-shaped folding rocker suspension transfer mechanism and transfer method described herein can support and secure the rover 2 and the transfer rocker mechanism via a hold-down support 5 before the mechanism begins operation. This ensures that the rover 2 and the transfer rocker mechanism are securely secured to the sidewalls of the lander during the Earth-to-planet transfer phase, the planet-circling phase, and the powered descent phase, and can withstand lateral and longitudinal acceleration loads, ensuring safety and stability. The transfer rocker mechanism provided by the present invention allows the rover 2 to select a wider range of landing positions during landing. The rocker action mechanism provided by the present invention can also ensure a smoother and more controllable landing process for the rover 2. Based on the surface conditions of the actual landing location of the lander 1, the transfer rocker mechanism and the rocker action mechanism can be used to select a suitable landing position on the planetary surface for the rover 2, thereby avoiding protrusions and depressions on the planetary surface and ensuring a smooth landing of the rover 2.

[0068] The specific embodiments described above further illustrate the objectives, technical solutions, and beneficial effects of the present invention. It should be understood that the above description is merely a specific embodiment of the present invention and is not intended to limit the invention. Reasonable combinations of the features described in the above embodiments are also possible. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included in the scope of protection of the present invention.

Claims

1. An L-shaped folding swing arm suspension transfer mechanism, characterized by: The invention comprises a transfer rocker mechanism and a rocker action mechanism, wherein the rocker action mechanism is arranged on a lander (1) and connected to the transfer rocker mechanism; the transfer rocker mechanism is L-shaped and comprises a front rocker (4) and a rear rocker (7); one end of the front rocker (4) is connected to a planetary rover (2), and the other end is connected to the rear rocker (7); the other end of the rear rocker (7) is connected to the lander (1); the rocker action mechanism comprises a vertical swing mechanism and a horizontal swing mechanism, wherein the horizontal swing mechanism is connected to the front rocker (4), and the vertical swing mechanism is connected to the rear rocker (7).

2. The L-shaped folding swing arm suspension transfer mechanism according to claim 1, characterized in that: The vertical swing mechanism comprises a first swing arm motor (6) and a first release rope (10), wherein the first swing arm motor (6) is arranged on the lander (1) and connected to the first release rope (10), and the other end of the first release rope (10) is connected to the rear swing arm (7).

3. The L-shaped folding swing arm suspension transfer mechanism according to claim 1, characterized in that: The lateral swing mechanism comprises a second swing arm motor (8) and a second release rope (14); the second swing arm motor (8) is arranged on the rear swing arm (7) and connected to the second release rope (14); the other end of the second release rope (14) is connected to the front swing arm (4).

4. The L-shaped folding swing arm suspension transfer mechanism according to claim 1, 2 or 3, characterized in that: The transfer rocker mechanism further comprises a spherical hinge (3), one end of the spherical hinge (3) being connected to the front rocker (4), and the other end being connected to the planet rover (2).

5. The L-shaped folding swing arm suspension transfer mechanism according to claim 1, 2 or 3, characterized in that: The transfer rocker mechanism further includes a hinge support (9), the hinge support (9) is arranged on the lander (1), and the rear rocker (7) is connected to the lander (1) via the hinge support (9).

6. The L-shaped folding swing arm suspension transfer mechanism according to claim 1, characterized in that: The transfer rocker mechanism and the planet rover (2) are pressed onto the lander (1) via a pressing mechanism.

7. The L-shaped folding swing arm suspension transfer mechanism according to claim 6, characterized in that: The clamping mechanism comprises a clamping support (5), and the clamping support (5) is arranged on the lander (1).

8. The L-shaped folding and unfolding rocker suspension transfer mechanism according to claim 1, 2, 3, 6 or 7, characterized in that: The rear swing link (7) is provided with a stopper (15), and the stopper (15) is provided at the rotation axis of the front swing link (4) and the rear swing link (7).

9. The L-shaped folding and unfolding rocker suspension transfer mechanism according to claim 1, 2, 3, 6 or 7, characterized in that: A volute spring is provided at the rotating shafts of the front swing arm (4) and the rear swing arm (7).

10. A transfer method for the L-shaped folding swing arm suspension transfer mechanism according to claim 1, characterized in that: The specific steps include: a. Before the lander (1) lands, the planet rover (2) and the transfer rocker mechanism are pressed and fixed to one side of the lander (1); b. After the lander (1) lands, the pressing point is released, the first swing arm motor (6) releases the rope, the rear swing arm (7) swings down around the hinge support (9), and the planet rover (2) swings down around the spherical hinge (3) to a horizontal position under the action of gravity; c. After the rear swing arm (7) is swung to a horizontal position, the second swing arm motor (8) retracts the rope, and the front swing arm (4) swings outward to select a suitable landing position; d. After the landing location is selected, the planetary rover (2) is placed at the designated landing location, and the planetary rover (2) is separated from the transfer mechanism.

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