Separation speed adjustable asteroid landing robot separation release mechanism

Abstract

The application discloses a small asteroid landing robot separation release mechanism with adjustable separation speed and belongs to the technical field of spacecraft mechanisms. The separation release mechanism comprises a receiving box body, a hatch device, a slide rail structure, a separation power assembly, a limiting clamping groove structure, a stop block positioning structure and a movement unlocking mechanism. When the separation release mechanism receives a separation release instruction, the hatch locking and releasing mechanism is powered on to release the locking constraint on the hatch, the hatch body is opened under the driving of a torsional spring and is locked after being opened to a predetermined angle. At this time, the movement unlocking mechanism is powered on to release the movement limitation on the push plate in the separation power assembly, the landing robot slides out of the opened hatch outlet along the slide rail structure under the elastic restoring force of the spring, and then the release is completed. The application has the advantages of adjustable separation speed of the landing robot, no rebound or shaking after the hatch is opened, no collision between the landing robot and the hatch body during separation and the like.

Description

Technical Field

[0001] This invention belongs to the field of spacecraft mechanism technology, specifically relating to a separation and release mechanism for an asteroid landing robot with adjustable separation speed. Background Technology

[0002] Asteroid exploration is one of the cutting-edge topics in deep space exploration today. It can provide clues to the formation and evolution of the solar system and has important guiding significance for studying the origin of life on Earth. There are various ways to conduct scientific exploration of exoplanets, among which the most direct and effective method is to use robots for landing and surveying. Due to the significant differences in the surface structure and relatively complex terrain of various asteroids, compared with large probes, small legged mobile exploration robots, which are cost-effective and have low mission risks, have become a widely recognized and promising asteroid landing and exploration solution internationally.

[0003] Asteroid landing robots are typically carried as payloads inside asteroid probes. After a long space journey aboard the probe to the target asteroid, they detach and are released from the probe. In other words, the asteroid landing robot can be stored inside the probe's cabin during launch and released upon arrival at the target asteroid. Therefore, it is necessary to design and develop an asteroid landing robot separation and release mechanism to achieve reliable connection, separation, and release between the landing robot and the probe.

[0004] Currently, there is relatively little research on the design of separation and release mechanisms for asteroid landing robots, both domestically and internationally. However, existing technical data on CubeSat connection and separation mechanisms and picosaurus orbital deployers can provide valuable references for the design and development of robot separation and release mechanisms.

[0005] Internationally, the California Institute of Technology (Caltech) in the United States is the originator of the CubeSat concept and the developer of CubeSat standards. CubeSats designed according to its standards require standardized release devices. Caltech developed a Poly-PicoSatellite Orbital Deployer (P-POD), which is one of the most widely used CubeSat release devices. The Polish Academy of Sciences Space Research Center (SRC PAS) and Astronika jointly developed a CubeSat release device called DRAGON, which mainly consists of a propulsion platform, a hatch, and a clamping and release mechanism. Innovative Solutions in Space (ISIS) in the Netherlands began developing CubeSat release devices after 2000. The company has currently developed three CubeSat release device products: ISIPOD (1U, 2U, 3U), DuoPack (6U), and QuadPack. NanoRacks, an American company, is primarily engaged in the deployment of CubeSats on the International Space Station and has developed the corresponding CubeSat Deployment Device (NRCSD). The NRCSD mainly consists of anodized aluminum plates, a base plate assembly, an inspection panel, and a hatch.

[0006] Some research has been conducted in China on the design of CubeSat connection and separation mechanisms. The Shanghai Aerospace System Engineering Research Institute (CN 111619830B) designed a CubeSat release device that realizes the function of intermittent CubeSat release; CN107985635B discloses a CubeSat on-orbit release device with functions such as manual CubeSat loading, electric CubeSat release, manual CubeSat release, and reusable release; Wu Changju et al. of Zhejiang University also designed a new type of cage-type picosatellite separation mechanism based on a guide rail structure, which successfully realized the normal separation of their independently developed picosatellite-1A (ZDPS-1A) from the predetermined orbit.

[0007] For asteroid landing robots, the separation speed is crucial to successful capture by the asteroid, as the gravitational acceleration on the asteroid surface is typically very small. Therefore, separation speed is a critical design parameter in the separation and release mechanism design of asteroid landing robots. However, existing aerospace separation and release mechanisms do not adequately consider the design factor of adjustable separation speed; once the mechanism is manufactured, the separation speed cannot be adjusted. Summary of the Invention

[0008] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0009] The main objective of this invention is to provide a separation and release mechanism for an asteroid landing robot with adjustable separation speed, aiming to solve the problem that existing related aerospace separation and release mechanisms cannot achieve adjustable separation speed.

[0010] To achieve the above objectives, this invention proposes a separation and release mechanism for an asteroid landing robot with adjustable separation speed, comprising:

[0011] The storage box, including the main load-bearing frame, rear cover plate, top plate, bottom plate, left side plate and right side plate, serves as a load-bearing and installation platform for each component and a storage platform for the landing robot;

[0012] The hatch device includes a hatch body, a self-locking rotary hinge, and a hatch locking and releasing mechanism, which are rotatable components. When the hatch locking and releasing mechanism receives an unlocking command, it releases the locking constraint on the hatch body, and the hatch body rotates open to a preset angle under the action of the self-locking rotary hinge and remains in the same position.

[0013] The sliding rail structure is located inside the storage box and near the four side edges of the storage box, providing a sliding groove for the sliding parts.

[0014] The separation power assembly includes a spring, a push plate, and a support block, which provides power for the landing robot to slide. The spring is disposed between the push plate and the rear cover plate to drive the landing robot to separate. The push plate is a sliding component with sliding pieces at each of its four corners and lateral protrusion blocks at the center of its left and right sidewalls. The support block is disposed on the push plate, and in the retracted state of the landing robot, the support block maintains surface contact with the force points on the top surface of the robot.

[0015] A limiting slot structure is provided on the inner surface of the left and right side plates to limit the stroke of the push plate; the lateral protrusion block of the push plate is located within the limiting slot structure.

[0016] A stop block positioning structure includes a position adjustment mechanism and a stop block; the stop block includes a body and a side extension, the body of the stop block is located on the position adjustment mechanism and can move horizontally, while the side extension of the stop block is disposed in the cavity of the limiting slot structure; the position adjustment mechanism can adjust the position of the stop block in the limiting slot structure and keep the position locked.

[0017] The motion unlocking mechanism is located on the outer surface of the left and right side plates and is used to lock and unlock the plates at their initial positions.

[0018] Optionally, the storage box adopts a closed rectangular metal box structure; the push plate adopts a square plate structure.

[0019] Optionally, the self-locking rotary hinge includes a male hinge, a female hinge, a torsion spring, a rotary pin, a compression spring, a locking pin, and a lever. The female hinge is fixedly mounted on the base plate, and the male hinge is connected to the hatch body. The male hinge can rotate around the rotary pin under the action of the torsion spring. The male hinge is also provided with a locking hole. When the hatch body rotates to a preset angle, the locking pin falls into the locking hole under the thrust provided by the compression spring, so that the self-locking rotary hinge remains locked. The lever is used to pull the locking pin out of the locking hole to unlock the self-locking rotary hinge.

[0020] Preferably, the preset angle is 120°.

[0021] Optionally, the door locking and releasing mechanism adopts an electromagnetic lock mechanism.

[0022] Optionally, the door locking and releasing mechanism adopts a shape memory separation nut mechanism.

[0023] Optionally, the position adjustment mechanism adopts a linear guide rail arranged parallel to the surface of the side plate of the storage box; the linear guide rail has equally spaced threaded holes, and the stop block has through holes. When the stop block moves to the ideal position on the linear guide rail, the stop block is positioned by bolt locking.

[0024] Optionally, the position adjustment mechanism adopts a ball screw structure; the ball screw structure includes a screw, a nut seat and a fixed seat, the nut seat is a linear moving part, the stop block is fixedly connected to the nut seat, and the horizontal position of the stop block in the limiting groove structure is adjusted by controlling the rotational movement of the screw.

[0025] Optionally, the motion unlocking mechanism employs a pin puller based on shape memory alloy.

[0026] Optionally, the slide rail structure adopts a T-shaped rib structure.

[0027] Compared with the prior art, the beneficial effects achieved by the technical solution of the present invention are mainly reflected in the following aspects:

[0028] First, this invention employs a limiting slot structure and a stop block positioning structure. By adjusting and controlling the position of the stop block structure within the limiting slot structure, the stroke of the push plate can be adjusted and controlled, thereby changing the elastic potential energy released by the spring in the separation power assembly during the separation process, and thus changing the separation speed of the asteroid landing robot. Therefore, this invention has the advantage of adjustable separation speed for the asteroid landing robot.

[0029] Secondly, since the hatch device of the present invention uses a self-locking rotary hinge, when the hatch body rotates to a preset angle, the locking pin will fall into the locking hole of the male hinge, so that the hatch body will no longer rotate. Therefore, the present invention has the function of preventing the hatch from rebounding or shaking.

[0030] Furthermore, because the present invention is equipped with a motion unlocking mechanism, it can start working only after detecting that the hatch body is open and the self-locking rotary hinge is locked. At this time, the restriction on the movement of the push plate is released, thereby effectively avoiding the landing robot from colliding with the hatch body due to the hatch body not being fully opened in time. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0032] Figure 1 This is an internal structural diagram of the separation and release mechanism of the asteroid landing robot with adjustable separation speed described in this invention;

[0033] Figure 2 yes Figure 1 An internal structure diagram viewed from another angle (side view);

[0034] Figure 3 This is a schematic diagram illustrating the separation and release principle of the mechanism described in this invention;

[0035] Figure 4 This is a schematic diagram of the external structure of the asteroid landing robot;

[0036] Figure 5 This is a structural schematic diagram of the main load-bearing frame;

[0037] Figure 6 This is a schematic diagram of a self-locking rotary hinge.

[0038] Figure 7 yes Figure 1 A view from another angle;

[0039] Figure 8 This is a schematic diagram of an electromagnetic lock mechanism;

[0040] Figure 9 This is a schematic diagram of a shape memory separation nut mechanism;

[0041] Figure 10 This is a schematic diagram of a T-shaped slide rail structure;

[0042] Figure 11 This is a schematic diagram of the installation of the sliding rail structure inside the storage box;

[0043] Figure 12 This is a schematic diagram of the structural composition of the separation power assembly;

[0044] Figure 13 This is a schematic diagram of the limiting slot structure located on the left side panel;

[0045] Figure 14 This is a schematic diagram of the stop block positioning structure;

[0046] Figure 15 This is a schematic diagram of the block's structure;

[0047] Explanation of reference numerals in the accompanying drawings of this invention:

[0048] Detailed Implementation

[0049] In the description of this application, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0050] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0051] In this application, unless otherwise expressly specified and limited, the terms "assembly," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0052] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0053] Please see Figure 1 and Figure 2 These are structural diagrams of the separation and release mechanism of an asteroid landing robot with adjustable separation speed, viewed from the side in two different directions, according to one embodiment. To show the internal structure, Figure 1 The top plate 13 is not shown. Furthermore, for ease of description, the side where the hatch body 21 is located is defined as "front," thus, after clarifying the front-rear orientation, "left," "right," "top," and "bottom" can be further determined. The separation and release mechanism of an asteroid landing robot with adjustable separation speed in this embodiment mainly includes several components such as a storage box 1, a hatch device 2, a slide rail structure 3, a separation power component 4, a limiting slot structure 5, a stop positioning structure 6, and a motion unlocking mechanism 7.

[0054] A schematic diagram of the separation and release principle of the mechanism described in this invention is shown below. Figure 3 As shown. The specific separation and release principle is as follows: The asteroid landing robot 8 is housed in a closed, rectangular storage box 1. Its top surface is connected to the push plate 42 in the separation power assembly 4 through the support block 43, maintaining a surface contact state, while its bottom surface is connected to the hatch device 2 through the foot pads of the robot's legs. At this time, the spring 41 in the separation power assembly 4 is kept in a pre-compressed state. After receiving the separation and release command, the hatch locking and release mechanism 23 installed on the top plate 13 is energized to release the locking constraint on the hatch body 21. The hatch body 21 opens clockwise under the drive of the self-locking rotating hinge 22. At this time, the motion unlocking mechanism 7 starts to work to release the position restriction on the push plate 42. The asteroid landing robot 8 moves forward along the straight slide groove formed by the slide rail structure 3 under the push of the separation power assembly 4, and disengages from the separation and release mechanism from the hatch exit to complete the release.

[0055] A schematic diagram of the external structure of the asteroid lander 8 is shown below. Figure 4 As shown, it employs a legged robot design, suitable for moving on the surface of an asteroid. Figure 4 A four-legged configuration is given, but a six-legged configuration is also common and applicable to the separation and release mechanism described in this invention. By providing sliding vanes 81 on the sides of the landing robot's legs, the landing robot can slide freely within the linear grooves formed by the slide rail structure 3.

[0056] 1) Storage box

[0057] The storage box 1 adopts a closed rectangular metal box structure, including a main load-bearing frame 11, a rear cover plate 12, a top plate 13, a bottom plate 14, a left side plate 15, and a right side plate 16, which serve as the load-bearing and mounting platform for each component and the storage platform for the landing robot. For the sake of convenience, the left side plate and the right side plate are collectively referred to as side plates.

[0058] Figure 5 A structural schematic diagram of the main load-bearing frame 11 is provided. The main load-bearing frame 11 is a frame structure composed of 12 square-section rods, which can be connected by bolts or welding. The rear cover plate 12, top plate 13, bottom plate 14, left side plate 15, and right side plate 16 are all connected to the main load-bearing frame 11 by threaded connections.

[0059] 2) Door system

[0060] The hatch assembly 2 is a movable component that can rotate about a certain axis of rotation. It includes the hatch body 21, a self-locking rotary hinge 22, and a hatch locking and releasing mechanism 23. See details below. Figure 1 and Figure 2 When the door locking and releasing mechanism 23 receives the unlocking command, the door locking and releasing mechanism 23 releases the lock on the door body 21, and the door body 21 rotates open to a certain angle under the action of the self-locking rotating hinge 22 and remains in the same position.

[0061] A schematic diagram of the self-locking rotary hinge 22 is shown below. Figure 6 and Figure 7 As shown, the self-locking rotary hinge 22 includes a male hinge 221, a female hinge 222, a torsion spring 223, a rotary pin 224, a compression spring 225, a locking pin 226, and a lever 227. The female hinge 222 is fixedly mounted on the base plate 14, while the male hinge 221 is connected to the hatch body 21. The male hinge 221 can rotate around the rotary pin 224 under the action of the torsion spring 223. A compression spring 225, a locking pin 226, and a lever 227 are provided on one side of the female hinge 222, while a locking hole 228 is provided on the side wall of the male hinge 221. When the hatch body 21 is in the closed state, the angle of the self-locking rotary hinge 22 is considered to be 0°. When the hatch locking and releasing mechanism 23 is unlocked, the hatch body 21 rotates to the right (clockwise) under the torque provided by the torsion spring 223. When it rotates to a certain angle, which is 120° in this embodiment, the locking pin 226 falls into the locking hole 228 under the thrust provided by the compression spring 225, thereby keeping the self-locking rotary hinge 22 locked. This makes the hatch body no longer rotate, thus preventing the hatch from rebounding or shaking.

[0062] When it is necessary to close the hatch body again (e.g., for ground testing), the locking pin 226 can be pulled out of the locking hole 228 by pulling the lever 227 on the locking pin 226 outward, thereby releasing the restriction on the hinge rotation, and the hatch body can be closed again.

[0063] In addition, in order to slow down the opening speed of the hatch body and thus reduce the impact of the hatch opening process on the attitude of the main aircraft, a rotary damper can be further connected to the rotary pin 224 of the self-locking rotary hinge 22.

[0064] The hatch locking and releasing mechanism 23 is a device for locking and unlocking the hatch body 21. In this embodiment, the hatch locking and releasing mechanism 23 adopts an electromagnetic lock mechanism, such as... Figure 8 As shown. Electromagnetic locks, also known as magnetic locks, are designed similarly to electromagnets, utilizing the principle of electromagnetism. When current flows through the silicon steel sheet, the electromagnetic lock generates a strong attractive force, tightly holding the iron plate installed above the hatch to achieve a locking effect. Even a small current can generate a tremendous magnetic force, and once the power is cut off, the electromagnetic lock loses its attractive force, allowing the hatch to open.

[0065] In addition, the door locking and releasing mechanism 23 can also adopt a shape memory separation nut mechanism, such as... Figure 9 As shown. The release nut based on the stretching and contraction properties of shape memory alloy wire is a type of non-pyrotechnic device that uses shape memory alloy wire as the driving source to achieve unlocking. When the shape memory release nut mechanism is energized, the release nut releases the locking bolts on the hatch body, and the hatch body opens clockwise under the drive of the torsion spring. The release nut unlocking mechanism has the advantages of short unlocking time and low energy consumption. For specific applications, please refer to the literature "Design and Experimental Research of Shape Memory Alloy Release Nut Unlocking Device" (Yang Mingbo, Du Sanhu, Wang Zhilei, et al., Editorial Department of Manned Spaceflight, 2015).

[0066] 3) Slide rail structure

[0067] Slide rail structure 3 adopts a T-shaped rib structure, such as... Figure 10 As shown, grooves are provided inside the storage box and near its four side edges, i.e., at the four corners of the internal space of the storage box, for sliding components; see details. Figure 11 The diagram shows the installation of the slide rail structure inside the storage box. Two slide rail structures work together to form one set of slide rail structures, which can form one slide groove after installation. Near the four side edges inside the storage box 1, that is, at the four corner points, one set of slide rail structures 3 is installed, thus forming four slide grooves.

[0068] By providing sliding pads 81 on the landing robot 8 body, the landing robot 8 can slide freely within the linear groove formed by the slide rail structure. In addition, the push plate 42 is provided with sliding pads 421 at each of its four corner points, and the push plate 42 can also slide freely within the linear groove formed by the slide rail structure.

[0069] 4) Separate power components

[0070] Separate power component 4, such as Figure 12 As shown, the system includes a spring 41, a push plate 42, and a support block 43, which provide the power for the landing robot to slide. The spring is disposed between the push plate 42 and the rear cover plate 12. The push plate 42 is a square plate structure with sliding pieces 421 at each of the four corners and lateral extension blocks 422 at the center of the left and right side walls. Through the sliding pieces 421, the push plate 42 can also slide freely in the straight groove formed by the slide rail structure. In addition, considering that the top surface of the landing robot is not an ideal plane due to the installation of various star table devices (i.e., extravehicular equipment), a support block 43 is also provided on the push plate 42. In this embodiment, four support blocks are designed. When the landing robot is in the stowed state, the support blocks 43 maintain surface contact with the force points on the top surface of the robot.

[0071] 5) Limiting slot structure

[0072] The limiting slot structure 5 is set on the inner surface of the left and right side panels of the storage box, and serves to limit the stroke of the push plate, such as... Figure 13 As shown. Figure 13 A schematic diagram of the limiting slot structure located on the left side plate is given. In this embodiment, the limiting slot structure 5 is implemented as follows: First, a long strip-shaped hole is opened through the left side plate, and then four L-shaped thin sheets are connected to the inner surface of the left side plate by means of threaded connection, thereby forming a slot structure with a certain depth.

[0073] The lateral extension block 422 of the push plate 42 is located within the limiting slot structure 5 and can only move horizontally within the limiting slot structure 5. The horizontal direction mentioned here is the same as the sliding direction of the landing robot 8 in the separation and release mechanism of the present invention.

[0074] 6) Stopping block positioning structure

[0075] Stopping block positioning structure 6, such as Figure 14 As shown, it includes a position adjustment mechanism 61 and a stop block 62; the stop block 62 includes a body and a side extension. The body of the stop block is located on the position adjustment mechanism 61 and can be adjusted in a horizontal position, while the side extension of the stop block is set in the cavity of the limiting slot structure 5; the position adjustment mechanism 61 can control the position of the stop block 62 and keep the position locked, thereby realizing the adjustment and positioning of the stop block 62 in the limiting slot structure. Figure 15 A schematic diagram of the stop 62 is given.

[0076] See details Figure 14In this embodiment, the position adjustment mechanism 61 is implemented using a linear guide rail parallel to the side plate surface. The body of the stop block 62 is a hollow structure, and the shape of the hollow part is the same as the cross-sectional shape of the linear guide rail. Therefore, it can fit perfectly on the linear guide rail and slide freely along the linear guide rail, so that the stop block 62 can adjust its position within the limiting slot structure. A series of equally spaced threaded holes are opened on the surface of the linear guide rail, and through holes are opened on the surface of the stop block 62. When the stop block 62 is in the desired position, the position of the stop block 62 can be fixed by bolt locking.

[0077] Furthermore, the position adjustment mechanism 61 can also be implemented using a ball screw structure. A ball screw structure, also known as a ball screw mechanism, is a common structure that converts rotary motion into linear motion. It typically consists of a screw, a nut seat, and a fixed seat. The nut seat is a linearly moving component; its linear movement is achieved by rotating the screw. In this invention, by simply fixing the stop block to the nut seat and controlling the rotation of the screw via a drive motor, the precise horizontal position of the stop block within the limiting slot structure can be achieved.

[0078] 7) Movement unlocking mechanism

[0079] After the hatch locking and release mechanism 23 is unlocked, the hatch body 21 rotates clockwise to open. At this time, the landing robot 8 will be ejected outward under the action of the spring 41 in the separation power assembly 4. If the opening speed of the hatch body 21 is not fast enough, there is a risk that the landing robot 8 may collide with the hatch body 21. To avoid this collision risk, the separation release mechanism of the present invention is also provided with a motion unlocking mechanism 7, which is installed on the outer side wall of the left and right side plates. It uses a pin locking into a round hole to limit the movement of the object, thereby locking the initial position of the push plate and unlocking the movement of the push plate.

[0080] The specific implementation method of this embodiment is as follows: See Figure 14 and Figure 13 The motion unlocking mechanism 7 employs a puller based on shape memory alloy, which is located on the side walls of the left and right side plates. The lateral extension block 422 of the push plate 42 has an arc-shaped groove on its surface (see...). Figure 12 In the initial state, the pin of the puller is in surface contact with the lateral extension block 422 of the push plate 42, so that the push plate 42 cannot move. When the puller receives the unlocking command and is energized to unlock, the pin of the puller is retracted and no longer in contact with the lateral extension block 422, thereby releasing the restriction on the movement of the push plate 42.

[0081] Based on the detailed description of each component above, the specific working process of the separation and release mechanism of the asteroid landing robot with adjustable separation speed described in this invention can be summarized as follows: After receiving the separation and release command, the door locking and release mechanism 23 installed on the top plate 13 is energized to release the locking constraint on the door body 21. The door body 21 is driven by the torsional force of the torsion spring 223 in the self-locking rotating hinge 22 to open clockwise, and remains locked after opening to a certain specified angle (120° in this embodiment). At this time, the motion unlocking mechanism 7 is energized to release the position restriction on the push plate 42. The asteroid landing robot 8 moves forward along the straight slide groove formed by the slide rail structure 3 under the elastic force of the spring 41 in the separation power assembly 4, and disengages from the separation and release mechanism from the opened door exit, thereby completing the separation and release.

[0082] Because the present invention employs a limiting slot structure 5 and a stop block positioning structure 6, it can adjust the separation speed of the asteroid landing robot. The specific speed adjustment principle is as follows:

[0083] Spring 41 is initially in a compressed state. Record its compression displacement or deformation in the initial compressed state. x 1; When the spring 41 is released from its motion restriction, the length of the spring 41 is extended. Considering that the lateral extension block 422 of the push plate 42 is located within the limiting groove structure 5, the lateral extension block 422 can only move within the limiting groove structure 5. The spring 41 cannot completely return to its original length in its natural state. Assume that the compression displacement or deformation of the spring 41 in its final state after the work is completed is... x 2. According to the law of conservation of energy, we have:

[0084]

[0085] In the above formula, k This indicates the stiffness of spring 41; m and v These represent the structural mass and separation velocity of asteroid lander 8, respectively; J mc This represents the energy consumed by friction during the sliding process. Its value is small relative to the kinetic energy of the asteroid landing robot 8 and can be ignored under ideal conditions.

[0086] Because the present invention also includes a stop block positioning structure 6, with the stop block 62 located inside the limiting slot structure 5, it can block the further movement of the lateral extension block 422 of the push plate 42, thereby limiting the stroke of the push plate 42 and thus changing the stroke of the spring 41. Therefore, by adjusting the position of the stop block 62 in the stop block positioning structure 6, the compression displacement or deformation of the spring 41 in its final working state can be achieved. x 2. Size adjustment, i.e., changingx The magnitude of 2, when used in the above formula, does not show that it can achieve the separation speed of the asteroid landing robot. v The adjustment.

[0087] In addition to the aforementioned advantage of adjustable separation speed, this invention employs a self-locking rotary hinge. When the hatch body rotates to a preset angle, the locking pin slides into the locking hole of the male hinge, causing the hatch body to stop rotating, thereby preventing the hatch from rebounding or shaking.

[0088] Furthermore, the present invention is equipped with a motion unlocking mechanism 7, which can start working only after the hatch body is detected to be open and the self-locking rotary hinge 22 is locked. At this time, the restriction on the movement of the push plate is released, thereby effectively avoiding the landing robot from colliding with the hatch body due to the hatch body not being able to open fully in time.

[0089] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention, or modify them into equivalent embodiments, without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A separation and release mechanism for an asteroid landing robot with adjustable separation speed, characterized in that, include: The storage box, including the main load-bearing frame, rear cover plate, top plate, bottom plate, left side plate and right side plate, serves as a load-bearing and installation platform for each component and a storage platform for the landing robot; The hatch device includes a hatch body, a self-locking rotary hinge, and a hatch locking and releasing mechanism, which are rotatable components. When the hatch locking and releasing mechanism receives an unlocking command, it releases the locking constraint on the hatch body, and the hatch body rotates open to a preset angle under the action of the self-locking rotary hinge and remains in the same position. The sliding rail structure is located inside the storage box and near the four side edges of the storage box, providing a sliding groove for the sliding parts. The separation power assembly includes a spring, a push plate, and a support block, which provides power for the landing robot to slide. The spring is disposed between the push plate and the rear cover plate to drive the landing robot to separate. The push plate is a sliding component with sliding pieces at each of its four corners and lateral protrusion blocks at the center of its left and right sidewalls. The support block is disposed on the push plate, and in the retracted state of the landing robot, the support block maintains surface contact with the force points on the top surface of the robot. A limiting slot structure is provided on the inner surface of the left and right side plates to limit the stroke of the push plate; the lateral protrusion block of the push plate is located within the limiting slot structure. A stop block positioning structure includes a position adjustment mechanism and a stop block; the stop block includes a body and a side extension, the body of the stop block is located on the position adjustment mechanism and can move horizontally, while the side extension of the stop block is disposed in the cavity of the limiting slot structure; the position adjustment mechanism can adjust the position of the stop block in the limiting slot structure and keep the position locked. The motion unlocking mechanism is located on the outer surface of the left and right side plates and is used to lock and unlock the plates at their initial positions. The self-locking rotary hinge includes a male hinge, a female hinge, a torsion spring, a rotary pin, a compression spring, a locking pin, and a lever. The female hinge is fixedly mounted on the base plate, and the male hinge is connected to the hatch body. The male hinge can rotate around the rotary pin under the action of the torsion spring. The male hinge is also provided with a locking hole. When the hatch body rotates to a preset angle, the locking pin falls into the locking hole under the thrust provided by the compression spring, keeping the self-locking rotary hinge locked. The lever is used to pull the locking pin out of the locking hole to unlock the self-locking rotary hinge.

2. The separation and release mechanism for the asteroid landing robot with adjustable separation speed as described in claim 1, characterized in that, The storage box adopts a closed rectangular metal box structure; the push plate adopts a square plate structure.

3. The separation and release mechanism for the asteroid landing robot with adjustable separation speed as described in claim 1, characterized in that, The preset angle is 120°.

4. The separation and release mechanism for the asteroid landing robot with adjustable separation speed as described in claim 1, characterized in that, The door locking and releasing mechanism uses an electromagnetic lock mechanism.

5. The asteroid landing robot separation and release mechanism with adjustable separation speed as described in claim 1, characterized in that, The door locking and releasing mechanism adopts a shape memory separation nut mechanism.

6. The separation and release mechanism for an asteroid landing robot with adjustable separation speed as described in claim 1, characterized in that, The position adjustment mechanism adopts a linear guide rail arranged parallel to the surface of the side plate of the storage box; the linear guide rail has equally spaced threaded holes, and the stop block has through holes. When the stop block moves to the ideal position on the linear guide rail, the stop block is positioned by bolt locking.

7. The separation and release mechanism for the asteroid landing robot with adjustable separation speed as described in claim 1, characterized in that, The position adjustment mechanism adopts a ball screw structure; the ball screw structure includes a screw, a nut seat and a fixed seat, the nut seat is a linear moving part, and the stop block is fixedly connected to the nut seat. By controlling the rotational movement of the screw, the horizontal position of the stop block in the limiting groove structure can be adjusted.

8. The separation and release mechanism for an asteroid landing robot with adjustable separation speed as described in claim 4, characterized in that, The motion unlocking mechanism employs a pin puller based on shape memory alloy.

9. The separation and release mechanism for an asteroid landing robot with adjustable separation speed as described in claim 1, characterized in that, The slide rail structure adopts a T-shaped rib structure.

Images