A planetary rover transfer release device and transfer release method

Abstract

The application provides a planet rover transfer release device and a transfer release method, and belongs to the technical field of planet rover transfer. The transfer release device comprises a slow-release rope, a boom, a swing rod and an attitude control rope. One end of the swing rod is rotationally connected to a side wall of a lander. The other end of the swing rod is provided with an attitude control hinge. One end of the boom is connected to the attitude control hinge, and the other end of the boom is connected to a rover. One end of the attitude control rope is connected to the lander, and the other end of the attitude control rope passes through the attitude control hinge. The slow-release rope is wound on a slow-release rope wheel. The slow-release rope wheel is arranged on the side wall of the lander. The slow-release rope is connected to the boom. The device is mainly used for the transfer release of the planet rover.

Description

Technical Field

[0001] This invention belongs to the field of planetary rover transfer technology, and in particular relates to a planetary rover transfer and release device and transfer and release method. Background Technology

[0002] The transfer mechanism is a component used to transfer and release the rover carried by the lander to the surface of a planet, and it has important applications in the field of extraterrestrial object exploration. The transfer and release technology represented by the transfer mechanism is one of the key technologies in the entire technical system required for extraterrestrial object exploration missions, and it is a crucial link that determines the success or failure of the exploration mission.

[0003] Depending on the landing method and the mass of the rover, the transfer mechanism takes various forms. Taking the transfer of a lunar rover as an example, it requires that during the Earth-Moon transfer phase, the lunar orbit phase, and the powered descent phase, the lunar rover and the transfer mechanism be reliably pressed against the sidewall of the lander and be able to withstand lateral and longitudinal acceleration loads; after the lander safely lands on the lunar surface, the lunar rover is reliably transferred to the lunar surface and reliably detached under the action of the transfer mechanism. This places higher demands on the transfer mechanism. During the flight phase and before the lunar landing transfer, the lunar rover and the transfer mechanism need to be securely and reliably mounted on the lander. After the lander lands on the moon, the transfer mechanism and the lunar rover must be separated and unlocked from the lander. The transfer mechanism will then reliably transfer the lunar rover to the lunar surface. Meanwhile, the lander will experience various landing conditions such as tilting and pitching. Therefore, the transfer mechanism should be able to reliably transfer the lunar rover to the lunar surface under various landing conditions. The landing site of the lunar rover should have a certain range of options to avoid lunar craters and protrusions. After the lunar rover lands smoothly on the moon, it will detach from the transfer mechanism and be able to move freely on the lunar surface.

[0004] The requirements for other rovers are basically the same as those for lunar rovers, so a solution that can meet the current needs of planetary rover transfer is required. Summary of the Invention

[0005] In view of this, the present invention aims to provide a planetary rover transfer and release device and method to meet the needs of existing rover transfer.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a planetary rover transfer and release device, comprising a release rope, a boom, a pendulum, and an attitude control rope. One end of the pendulum is rotatably connected to the side wall of the lander, and the other end of the pendulum is provided with an attitude control hinge. One end of the boom is connected to the attitude control hinge, and the other end is connected to the rover. One end of the attitude control rope is connected to the lander, and the other end passes around the attitude control hinge. The release rope is wound on a release rope wheel, which is provided on the side wall of the lander. The release rope is connected to the boom.

[0007] Furthermore, the rover is connected to the side wall of the lander via a first locking mechanism.

[0008] Furthermore, there are multiple first locking mechanisms, each located at a different corner of the patrol device.

[0009] Furthermore, the first locking mechanism is an electromagnetic locking mechanism.

[0010] Furthermore, the patrol device is connected to the boom via a second locking mechanism.

[0011] Furthermore, the second locking mechanism is a mechanical locking mechanism.

[0012] Furthermore, the mechanical locking mechanism is a C-shaped structure that encloses each other.

[0013] Furthermore, the boom is connected to the inspection device via a damping hinge, and the boom has an L-shaped structure, with the inspection device located inside the L-shaped structure.

[0014] Furthermore, the attitude control hinge is provided with a grooved cam structure, and the bottom of the slow-release rope wheel is provided with an elastic gripper.

[0015] This invention also provides a method for transferring and releasing a planetary rover. In the initial state of the transfer, the rover and the pendulum are locked to the side wall of the lander. When the transfer begins, the pendulum is released through a release rope, and the pendulum carries the rover to rotate. Due to the mechanical locking between the rover and the pendulum, the rover does not rotate around its center of mass in the initial stage of the transfer. When the rover and the pendulum are unlocked, the rover rotates around the damped hinge under the action of the gravitational torque of the center of mass. Under the action of damping and limiting, the rover and the pendulum are in a relatively stationary position after the rotation. The pendulum continues to rotate, transferring the rover to the planetary surface.

[0016] Compared with existing technologies, the advantages of this invention are: it can adapt to a pitch and roll angle of 15° on a planetary surface. The rover's wheels are locked in the initial state and unlock and deploy when it approaches the planetary surface. Both the transfer and release devices feature low system mass and low power consumption.

[0017] The attitude control hinge is a composite structure, featuring not only rotation but also a grooved cam structure for rotational limiting. The attitude control rope-swing arm assembly forms a parallel four-bar linkage, enabling force and attitude control. During the transfer process, the grooved cam profile of the attitude control hinge can be designed according to actual transfer requirements, adjusting the length of the attitude control rope to control the boom rotation angle during swing, thereby adjusting the rover's landing attitude and transfer distance.

[0018] The damping hinge is a composite structure with functions such as limiting the rotation of gravity torque and restricting the swing oscillation of the probe. The slow-release sheave has active traction and passive release functions. When the transfer and release device is at a negative landing angle and the gravity torque is insufficient to drive it, the active traction function of the slow-release sheave can drive the transfer and release device, increasing the adaptability of the invention. During swinging, when the gravity torque actively does work, the slow-release sheave is in a passive release state, controlling the swing arm's rotation speed. The bottom of the slow-release sheave has an elastic gripper, which can prevent the impact on the transfer and release device caused by the sudden release of the swing arm after unlocking when landing at a positive landing angle. Attached Figure Description

[0019] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings:

[0020] Figure 1 This is a schematic diagram of the structure of a planetary rover transfer and release device according to the present invention;

[0021] Figure 2 This is a schematic diagram of the transfer state of a planetary rover transfer and release device according to the present invention;

[0022] Figure 3 This is a schematic diagram of the initial locking state of a planetary rover transfer and release method according to the present invention;

[0023] Figure 4 This is a schematic diagram of the swing state A of the planetary rover transfer and release method according to the present invention;

[0024] Figure 5 This is a schematic diagram of the swing state B of a planetary rover transfer and release method according to the present invention;

[0025] Figure 6 This is a schematic diagram of the final state of a planetary rover transfer and release method according to the present invention;

[0026] Figure 7 This is a schematic diagram of the active traction state of the slow-release rope pulley described in this invention;

[0027] Figure 8 This is a schematic diagram of the passive slow-release state of the slow-release rope wheel described in this invention.

[0028] 1-First locking mechanism, 2-Release pulley, 3-Release rope, 4-Attitude control hinge, 5-Second locking mechanism, 6-Hole, 7-Damping hinge, 8-Rover, 9-Swing arm, 10-Attitude control rope, 11-Lander. Detailed Implementation

[0029] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0030] This embodiment takes the lunar landing and transfer process as an example, and the rover 8 is a lunar rover.

[0031] See Figure 1-8 This embodiment describes a planetary rover transfer and release device, which includes a release rope 3, a boom 6, a pendulum 9, and an attitude control rope 10. One end of the boom 9 is rotatably connected to the side wall of the lander 11, and the other end of the boom 9 is provided with an attitude control hinge 4. One end of the boom 6 is connected to the attitude control hinge 4, and the other end is connected to the lunar rover. One end of the attitude control rope 10 is connected to the lander 11, and the other end passes around the attitude control hinge 4. The release rope 3 is wound on a release rope wheel 2, which is located on the side wall of the lander 11. The release rope 3 is connected to the boom 6.

[0032] This embodiment adopts a "double-rod, double-rod" structure, where the "double rods" are the pendulum rod 9 and the boom 6, and the "double ropes" are the release rope 3 and the attitude control rope 10. The pendulum rod 9 is a rigid structure capable of rotating around its connection point with the side wall of the lander 11. The boom 6 is welded to the attitude control hinge 4; the rotation of the attitude control hinge 4 controls the rotation of the boom 6, causing the lunar rover to rotate and reducing the potential energy of the lunar rover when it disengages from the boom 6 via the mechanical locking mechanism. The release rope 3 is released through the release rope pulley 2 and is connected to the pendulum rod 9. The release rope 3 is elastic, reducing the descent speed of the pendulum rod 9. The attitude control rope 10 controls the attitude of the boom 6 and the lunar rover by bypassing the attitude control hinge 4.

[0033] The slow-release sheave 2 is used to release the slow-release rope 3 to reduce the descent speed of the pendulum 9. The slow-release sheave 2 has both active traction and passive release functions. It allows the transfer release device to operate by utilizing the active traction function of the slow-release rope 3 when the gravitational torque is insufficient to drive the pendulum mechanism in a negative landing angle.

[0034] The lunar rover is connected to the side wall of the lander 11 via a first locking mechanism 1. In the initial state, the lunar rover and the pendulum 9 are locked to the side wall of the lander 11 by the first locking mechanism 1. Preferably, there are multiple first locking mechanisms 1, located at multiple corners of the lunar rover. The lunar rover wheels are folded closer to the lander 11. During the transfer process, the wheel suspension can be actively deployed, and the lunar rover wheels reach the working state. The first locking mechanism 1 is preferably an electromagnetic locking mechanism, which uses electromagnetic locking. When energized, the magnetism disappears, releasing the pendulum 9.

[0035] The lunar rover is connected to the boom 6 via a second locking mechanism 5. Because of this second locking mechanism 5, the lunar rover does not rotate around its center of mass during the initial transfer phase, preventing a collision with the lander 11. When the lunar rover and boom 6 are unlocked, the second locking mechanism 5 is also unlocked. Preferably, the second locking mechanism 5 is a mechanical locking mechanism, consisting of two mutually enclosing C-shaped structures that control the fixation of the lunar rover and boom 6. At a suitable angle, they disengage, releasing the lunar rover from the boom 6.

[0036] The boom 6 is connected to the lunar rover via a damping hinge 7. The boom 6 has an L-shaped structure, and the lunar rover is positioned inside the L-shaped structure. The damping hinge 7 is a composite structure with functions such as limiting the rotational movement under gravity and restricting the lunar rover's oscillations. When the lunar rover is unlocked from the boom 6, the mechanical locking mechanism unlocks, and the lunar rover rotates around the damping hinge 7 under the action of the gravitational torque at its center of mass. Under the action of damping and limiting, the lunar rover and the boom 6 are in a relatively stationary position after rotation.

[0037] The attitude control hinge 4 is a composite structure. In addition to its rotation function, it also features a grooved cam structure for rotational limiting. The attitude control rope-swing arm assembly forms a parallel four-bar linkage, enabling force and attitude control. During the transfer process, the grooved cam profile of the attitude control hinge 4 can be designed according to actual needs, and the length of the attitude control rope 10 can be adjusted to control the rotation angle of the boom 6 during the swing, thereby adjusting the lunar rover's landing attitude and transfer distance. The bottom of the slow-release rope wheel 2 is equipped with an elastic gripper, which can prevent the sudden release of the boom 9 after unlocking from impacting the transfer release device when the landing is at a positive tilt angle.

[0038] This invention also provides a method for transferring and releasing a planetary rover transfer and release device. In the initial state of the transfer, the lunar rover and the pendulum 9 are locked to the side wall of the lander 11. When the transfer begins, the pendulum 9 is released through the release rope 3. The pendulum 9 carries the lunar rover and swings. Due to the mechanical locking between the lunar rover and the boom 6, the lunar rover does not rotate around the center of mass in the initial stage of the transfer. When the lunar rover and the boom 6 are unlocked, the lunar rover rotates around the damped hinge 7 under the action of the gravitational torque of the center of mass. Under the action of damping and limiting, the lunar rover and the boom 6 are in a relatively stationary position after the rotation. The pendulum 9 continues to rotate, transferring the lunar rover to the planetary surface.

[0039] The lunar rover is connected to the lander's sidewall (Y0Z plane) via multiple locking points, located at various corners of the rover's compartment. The rover's wheels are folded down towards the lander, and during transfer, the wheel suspension can be actively deployed, bringing the rover's wheels into operational mode.

[0040] The attitude control hinge 4 is a composite structure. In addition to its rotation function, it also features a grooved cam structure for rotational limiting. The attitude control rope-swing arm assembly forms a parallel four-bar linkage, enabling force and attitude control. During the transfer process, the grooved cam profile of the attitude control hinge 4 can be designed according to actual needs, and the length of the attitude control rope 10 can be adjusted to control the rotation angle of the boom 6 during the swing, thereby adjusting the lunar rover's landing attitude and transfer distance.

[0041] The damping hinge 7 is a composite structure with functions such as limiting the rotation of the gravitational torque and restricting the oscillation of the lunar rover. The slow-release sheave 2 has both active traction and passive release functions. When the gravitational torque is insufficient to drive the oscillation mechanism at a negative landing angle, the transfer and release device can be driven by the active traction function of the slow-release rope 3, increasing the adaptability of this design. During oscillation, when the gravitational torque actively performs work, the slow-release sheave 2 is in a passive release state, controlling the rotation speed of the pendulum 9. The bottom of the slow-release sheave 2 is equipped with an elastic gripper, which can prevent the impact on the transfer and release device caused by the sudden release of the pendulum 9 after unlocking at a positive landing angle.

[0042] The process of transferring and releasing the lunar rover, such as Figure 3-6 As shown. In the initial transfer and release state, the lunar rover and pendulum 9 are locked together on the side of the lander 11. At the start of the transfer, pendulum 9 carries the lunar rover in a swinging motion. Due to the mechanical locking between the lunar rover and boom 6, in the initial stage of the transfer, i.e., swinging state A, the lunar rover does not rotate around its center of mass, thus avoiding a collision between the lunar rover and the lander 11. When the lunar rover and boom 6 are unlocked, the mechanical locking mechanism unlocks, and the lunar rover rotates around the damped hinge 7 under the action of the gravitational torque of its center of mass, and the system enters the swinging state B. Under the action of damping and limiting, the lunar rover and boom 6 are in a relatively stationary position after the rotation. Pendulum 9 continues to rotate, transferring the lunar rover to the lunar surface. The entire lunar rover transfer process is complete.

[0043] The transfer plan for other planets is the same as the lunar landing transfer process; Rover 8 can be the rover for the corresponding planet.

[0044] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A planetary rover transfer and release device, characterized in that: It includes a release rope (3), a boom (6), a swing arm (9), and an attitude control rope (10). One end of the swing arm (9) is rotatably connected to the side wall of the lander (11), and the other end of the swing arm (9) is provided with an attitude control hinge (4). One end of the boom (6) is connected to the attitude control hinge (4), and the other end is connected to the rover (8). One end of the attitude control rope (10) is connected to the lander (11), and the other end passes around the attitude control hinge (4). The release rope (3) is wound on the release rope wheel (2), which is located on the side wall of the lander (11). The release rope (3) is connected to the boom (6). The rover (8) is connected to the boom (6) through a second locking mechanism (5). The boom (6) has an L-shaped structure, and the rover (8) is located inside the L-shaped structure.

2. The planetary rover transfer and release device according to claim 1, characterized in that: The rover (8) is connected to the side wall of the lander (11) via the first locking mechanism (1).

3. The planetary rover transfer and release device according to claim 2, characterized in that: There are multiple first locking mechanisms (1), and the multiple first locking mechanisms (1) are located at multiple corner points of the patrol device (8).

4. A planetary rover transfer and release device according to claim 2 or 3, characterized in that: The first locking mechanism (1) is an electromagnetic locking mechanism.

5. A planetary rover transfer and release device according to claim 1, characterized in that: The second locking mechanism (5) is a mechanical locking mechanism.

6. A planetary rover transfer and release device according to claim 5, characterized in that: The mechanical locking mechanism is a C-shaped structure that encloses each other.

7. A planetary rover transfer and release device according to claim 5, characterized in that: The boom (6) is connected to the patrol device (8) via a damping hinge (7).

8. A planetary rover transfer and release device according to claim 1, characterized in that: The attitude control hinge (4) is provided with a grooved cam structure, and the bottom of the slow-release rope wheel (2) is provided with an elastic gripper.

9. A method for transferring and releasing a planetary rover transfer and release device as described in claim 7, characterized in that: In the initial state of the transfer, the rover (8) and the pendulum (9) are locked to the side wall of the lander (11). When the transfer begins, the pendulum (9) is released by the release rope (3). The pendulum (9) carries the rover (8) and swings. Since the rover (8) and the boom (6) are mechanically locked, the rover (8) does not rotate around the center of mass in the initial stage of the transfer. When the rover (8) and the boom (6) are unlocked, the rover (8) rotates around the damped hinge (7) under the action of the gravitational torque of the center of mass. Under the action of damping and limiting, the rover (8) and the boom (6) are in a relatively stationary position after the rotation. The pendulum (9) continues to rotate, transferring the rover (8) to the planetary surface.

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