Object lowering device and object lifting device

Abstract

The present invention relates to an object lowering device and an object lifting device. The object lowering device is provided with a pedestal and a swing. The swing includes a seat plate on which an object is placed, and is arranged on the pedestal. The pedestal is laid down with a lower corner on a side of the swing swing direction of the pedestal as a pivot, and the seat plate of the swing is lowered to the ground, thereby lowering the object to the ground.

Description

Technical Field

[0001] This invention relates to an object lowering device and an object lifting device. Background Technology

[0002] In people's daily lives, we perform actions such as lifting objects onto pedestals or lowering them from pedestals. Previously, research has focused on inventions to prevent damage to objects during lifting and lowering, and devices to reduce the burden on people during these processes. Additionally, research is being conducted on transporting objects to planets, the moon, or other satellites, and on how to lower objects from transport platforms (rockets) to the ground.

[0003] A lunar rover that travels on the lunar surface and conducts lunar exploration activities was disclosed in Japanese Patent Application Publication No. 9-272473. Summary of the Invention

[0004] The goal is to make the object on the pedestal fall from the pedestal in a horizontal or similar state.

[0005] The purpose of this invention is to prevent an object on a pedestal from falling off the pedestal at an angle.

[0006] The object-dropping device according to the first aspect of the present invention comprises:

[0007] pedestal; and

[0008] A swing, including a seat for placing an object, the swing being disposed on the pedestal.

[0009] The pedestal is laid down with its lower corner on one side of the swing direction as an axis, and the seat of the swing descends to the ground, thereby causing the object to fall to the ground.

[0010] In the object landing device according to the first aspect of the present invention, it may also be that...

[0011] The platform in question is a rocket that lands on the lunar surface.

[0012] The rocket is laid down on the lunar surface and the seat of the swing descends to the lunar surface, thereby causing the object to land on the lunar surface.

[0013] In the object landing device according to the first aspect of the present invention, the object may also be a vehicle traveling on the lunar surface.

[0014] In the object landing device according to the first aspect of the present invention, it may also be that...

[0015] The vehicle is equipped with downward-expanding airbags.

[0016] The swing's seat has holes that allow the airbag to protrude from the lower surface of the seat when the vehicle's airbag inflates.

[0017] The vehicle's airbags are inflated before the rocket is laid down toward the lunar surface and the swing's seat plate descends to the lunar surface.

[0018] In the object landing device according to the first aspect of the present invention, it may also be that...

[0019] The swing's seat has a downward-expanding airbag.

[0020] Before the rocket is laid down toward the lunar surface and the seat plate of the swing descends to the lunar surface, the airbag of the seat plate is inflated.

[0021] The object-dropping device according to the first aspect of the present invention can also include:

[0022] A beam supports the seat plate of the swing on the upper side via a suspension section; and

[0023] The beam lifting mechanism raises the beam relative to the upper surface of the platform before the platform is lowered, thereby increasing the distance between the upper surface of the platform and the seat plate of the swing.

[0024] The object-dropping device according to the first aspect of the present invention may also include a locking mechanism for fixing the seat plate of the swing to the upper surface of the pedestal.

[0025] Alternatively, the fixing based on the locking mechanism may be released before the pedestal is laid down.

[0026] The object-dropping device according to the first aspect of the present invention may also include an angle adjustment mechanism that applies a force to the seat plate in the swing direction during the period when the pedestal is being lowered, thereby adjusting the swing angle of the seat plate.

[0027] The second aspect of the present invention relates to an object lifting device, which includes the object lowering device described above.

[0028] The object lowering device functions as an object lifting device.

[0029] With the pedestal in a reclining state, the swing's seat is positioned on the ground. After the object is placed on the pedestal, the pedestal is erected with its lower corner on the side of the swing's swing direction as an axis, thereby lifting the object onto the pedestal.

[0030] According to the present invention, an object on a pedestal can be lowered from the pedestal in a horizontal or similar state. Attached Figure Description

[0031] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and wherein:

[0032] Figure 1 This is a schematic side view showing the vicinity of the top of the multi-stage rocket 1;

[0033] Figure 2 This is a perspective view showing the object landing device 10;

[0034] Figure 3 It is a perspective view showing the state in which the vehicle 20 is placed on the swing 18 of the object landing device 10;

[0035] Figure 4A This diagram illustrates the process of bringing vehicle 20 down to the lunar surface.

[0036] Figure 4B It shows the next step. Figure 4A A diagram illustrating the process of the vehicle 20 descending to the lunar surface;

[0037] Figure 4C It shows the next step. Figure 4B A diagram illustrating the process of the vehicle 20 descending to the lunar surface;

[0038] Figure 4D It shows the next step. Figure 4C A diagram illustrating the process of the vehicle 20 descending to the lunar surface;

[0039] Figure 5 This is a side view of the object landing device 10A according to the second embodiment;

[0040] Figure 6 This is a perspective view of the object landing device 10A according to the second embodiment;

[0041] Figure 7 This is a side view of the object landing device 10B according to the third embodiment;

[0042] Figure 8 This is a side view of the object landing device 10C according to the fourth embodiment;

[0043] Figure 9 This is an explanatory diagram of the object landing device 10D according to the fifth embodiment. Detailed Implementation

[0044] Hereinafter, embodiments of the present invention will be described based on the accompanying drawings. It should be noted that the present invention is not limited to the embodiments described herein. The number, shape, material, etc., of each component can be appropriately varied. From the outset, it was envisioned that the characteristic features of the various embodiments described below be appropriately combined and used. Throughout the drawings, the same reference numerals are used to label the same elements, and repeated descriptions are omitted.

[0045] Unless otherwise specified, the swing direction of Swing 18 will be defined as the forward-backward direction, the direction perpendicular to the forward-backward direction as the left-right direction, and the direction perpendicular to the plane formed by the forward-backward and left-right directions as the up-down direction. In the diagrams, arrow FR points forward, arrow UP points upward, and arrow RH points to the right.

[0046] Figure 1 This is a schematic side view showing the vicinity of the top of the multi-stage rocket 1. The multi-stage rocket 1 is an unmanned rocket launched from Earth toward the Moon. The multi-stage rocket 1 is launched by automatic control, remote control, or both and continues until the process described below, which involves landing vehicle 20 on the lunar surface.

[0047] like Figure 1 As shown, the multi-stage rocket 1 includes a lower rocket 16, a lunar lander 15 positioned above the lower rocket 16, and a fairing 14 positioned above the lunar lander 15. A vehicle 20 is mounted on the lunar lander 15 and inside the fairing 14. The vehicle 20 is a lunar rover that travels on the lunar surface.

[0048] The lower rocket 16 and fairing 14 are detached after launch, either in Earth's atmosphere or in space, leaving only the lunar lander 15 and the structures inside the fairing 14 (vehicle 20, etc.) to travel to the Moon. The lunar lander 15 is a rocket that ejects gas from its lower part. Within the Moon's gravity, the lunar lander 15, while upright and ejecting gas towards the lunar surface, lands on the Moon. Figure 4A (S1) shows the lunar lander 15 landing on the lunar surface. It should be noted that the lunar lander 15 is depicted in a simplified manner in each figure. It should also be noted that the lunar lander 15 may also include a fixing member for securing the vehicle 20 to the swing 18 until landing on the lunar surface, a cover for covering the vehicle 20, etc.

[0049] like Figures 4A-4D As shown, this embodiment is a device (hereinafter referred to as object landing device 10) that lowers the vehicle 20 from the lunar landing machine 15 that has landed on the lunar surface. The lunar landing machine 15 is an example of a platform, and the vehicle 20 is an example of an object. Figure 2 This is a perspective view showing the object lowering device 10 (with the seat 42 of the swing 18 fixed) without the vehicle 20. Figure 3This is a perspective view showing an object lowering device 10 equipped with a vehicle 20 (with the seat 42 of the swing 18 in an elevated state).

[0050] like Figure 2 As shown, the lunar landing machine 15 is a generally cylindrical shape with a top plate. The object landing device 10 includes a swing 18 mounted on the lunar landing machine 15, a beam 37 of the swing 18, and two supports for the swing 18 (two fixed supports 30 and two movable supports 34). The beam 37 is a rod with a circular cross-section and is mounted between the two movable supports 34. The swing 18 includes two cylindrical rotating parts 39 through which the beam 37 passes, a seat plate 42 for carrying the vehicle 20, and four suspension parts 40 suspending the seat plate 42 relative to the two rotating parts 39. The swing 18 is capable of swinging relative to the beam 37.

[0051] The object landing device 10 includes a beam lifting mechanism 21 for raising the beam 37 and a locking mechanism 22 for fixing the seat plate 42 of the swing 18 to the upper surface 50 of the lunar landing machine 15.

[0052] The beam lifting mechanism 21 includes two fixed supports 30, two movable supports 34, and two helical springs 36. The two fixed supports 30 are spaced apart in the left-right direction. The fixed supports 30 are rods with a circular cross-section. Each fixed support 30 has a lower rod-shaped portion 31 fixed to the upper surface 50 of the moon landing machine 15 and an upper rod-shaped portion 32 connected to the upper end of the lower portion 31 and having a smaller diameter than the lower portion 31. An upward-facing end face 33 is formed between the lower portion 31 and the upper portion 32 of the fixed support 30.

[0053] The movable support 34 is cylindrical, with the upper part 32 of the fixed support 30 passing through its inner side. The movable support 34 has a downward-facing end face 35. The coil spring 36 passes through the upper part 32 of the fixed support 30 on its inner side and is located on the end face 33 of the fixed support 30. The coil spring 36 is capable of extending and retracting between the end face 33 of the fixed support 30 and the end face 35 of the movable support 34.

[0054] like Figure 2 As shown, with the seat plate 42 of the swing 18 fixed to the upper surface 50 of the moon landing machine 15 by the locking mechanism 22, the beam 37 of the swing 18 is pulled downwards via the four suspension parts 40. In this state, the two movable supports 34 are pulled downwards via the beam 37, so the two coil springs 36 are compressed by the end faces 35 of the movable supports 34.

[0055] If the fixation of the seat plate 42 of the swing 18 relative to the upper surface 50 of the moon mechanism 15, based on the locking mechanism 22, is released, then each movable support 34 becomes free, therefore... Figure 3As shown, each helical spring 36 lifts and extends the end face 35 of the movable support 34. This causes the beam 37 of the swing 18 to rise, thus creating a gap between the upper surface 50 of the lunar landing machine 15 and the seat plate 42 of the swing 18. The reason for creating this gap between the upper surface 50 of the lunar landing machine 15 and the seat plate 42 of the swing 18 is that when the lunar landing machine 15 is lowered, if... Figure 4B As shown in (S5) (refer to interval D), contact is avoided between the upper surface 50 of the lunar landing machine 15 and the lower surface of the seat plate 42 of the swing 18.

[0056] like Figure 2 , 3 As shown, the two rotating parts 39 of the swing 18 are arranged spaced apart in the left-right direction and are capable of rotating relative to the beam 37. Two suspension parts 40 are fixed to one end of their respective ends on the outer periphery of the left rotating part 39. The two suspension parts 40 are arranged to extend towards the seat plate 42 at intervals, and the other ends of the two suspension parts 40 are fixed to the left end of the seat plate 42. Similarly, two suspension parts 40 are fixed to one end of their respective ends on the outer periphery of the right rotating part 39. The two suspension parts 40 are arranged to extend towards the seat plate 42 at intervals, and the other ends of the two suspension parts 40 are fixed to the right end of the seat plate 42. Stoppers 38 are installed on the beam 37 on both sides of the two rotating parts 39 to restrict their movement along the left-right direction.

[0057] The four suspension sections 40 are rod-shaped with high rigidity, such as... Figure 4D As shown in (S7)(S8)(S9), it has the strength to support the loads of the lunar landing machine 15, the swing 18 support column, etc., which are pressurized from above when the lunar landing machine 15 is laid down and the seat plate 42 of the swing 12 touches the lunar surface.

[0058] like Figure 2 As shown, the seat plate 42 of the swing 18 is rectangular in shape when viewed from above. The seat plate 42 has an upward-curving wheel stop 46 at the front. Additionally, the seat plate 42 has a plurality of holes 43 arranged in the front-back direction near the center in the left-right direction. Figure 4A As shown in (S3), the vehicle 20 has a plurality of airbags 60 that expand downward. When each airbag 60 of the vehicle 20 expands, each airbag 60 can protrude from the lower surface of the seat plate 42 through each hole 43 of the seat plate 42.

[0059] like Figure 2 As shown, locking mechanisms 22 (a total of four locking mechanisms 22) are respectively provided on the upper surface 50 of the lunar landing machine 15, on the front, back, left, and right sides of the base plate 42. Each locking mechanism 22 has a base 51 that is rotatably fixed to the upper surface 50 (top plate) of the lunar landing machine 15, and an extension 52 extending from the upper end of the base 51 toward the base plate 42. Figure 2In the figure, only the base 51 and the protrusion 52 of the front locking mechanism 22 are labeled (in the attached figures).

[0060] like Figure 2 As shown, the rising of the seat plate 42, based on the two coil springs 36, is restricted by the upper surface of the seat plate 42 abutting against the protrusions 52 of the four locking mechanisms 22. Additionally, the base 51 of each locking mechanism 22... Figure 2 As the dotted arrow points in the direction of rotation, the protrusions 52 of each locking mechanism 22 move away from the upper side of the base plate 42, as... Figure 3 As shown, the seat plate 42 rises via two helical springs 36.

[0061] like Figure 1 , Figure 4B As shown, a thruster 28 is mounted on the upper front side of the lunar landing vehicle 15. Figure 4B As shown in (S4), by ejecting gas forward from the thruster 28, the lunar landing machine 15 can be tilted backward by its reaction.

[0062] Next, the process of bringing vehicle 20 down from lunar lander 15 to the lunar surface will be described. Figures 4A to 4D The process of bringing vehicle 20 down from lunar landing machine 15 to the lunar surface is shown in the order of (S1) to (S9).

[0063] In (S1), lunar lander 15 lands on the lunar surface.

[0064] In (S2), each locking mechanism 22 (refer to) Figure 2 When the action is performed, the extension 52 of each locking mechanism 22 moves away from the upper side of the seat plate 42 of the swing 18, thereby raising the seat plate 42 of the swing 18.

[0065] In (S3), the airbag 60 of vehicle 20 inflates and protrudes from the lower surface of the seat plate 42 of swing 18.

[0066] In step (S4), gas is ejected from the thrusters 28 of the lunar lander 15. As a result, with the lower corner BC of the side (rear side) of the lunar lander 15's swing direction as the axis, the lunar lander 15 begins to tilt backward. It should be noted that the Moon's gravitational acceleration is approximately 1 / 6 of Earth's gravitational acceleration (G).

[0067] In steps (S5), (S6), and (S7), the lunar landing vehicle 15 gradually tilts towards the lunar surface. At this time, the seat plate 42 of the swing 18 is kept horizontal or nearly horizontal. Thus, the vehicle 20 can descend towards the lunar surface in a horizontal or nearly horizontal state. This prevents objects inside the vehicle 20 from rolling off due to tilting.

[0068] In (S8), the seat plate 42 of the swing 18 lands on the lunar surface. At this time, the airbag 60 of the vehicle 20 can absorb the impact of the seat plate 42 landing.

[0069] In step (S9), the airbag 60 of vehicle 20 is deflated, and the airbag 60 is retracted into vehicle 20. Then, vehicle 20 moves backward and dismounts from the seat 42 of swing 18.

[0070] According to the embodiments described above, since the vehicle 20 can land on the lunar surface in a horizontal or similar state, it is possible to suppress the application of forces from the moon to a portion of the vehicle 20 when it lands on the lunar surface. This reduces the risk of damage to the vehicle 20 and prevents the requirement for exceptional strength from being placed on the vehicle 20.

[0071] It should be noted that the object landing device 10 can function as an object lifting device. The object landing device 10 can be referred to as an object lifting device. That is, by performing (S1) to (S9) as described above in reverse order, the vehicle 20 can be lifted onto the lunar landing machine 15 while maintaining it in a horizontal or near-horizontal state. It should be noted that, at this time, the inflation of the airbag 60 of the vehicle 20 is not required.

[0072] For example, on Earth, in preparation for the launch of a multi-stage rocket 1, it is necessary to lift vehicle 20 onto lunar lander 15. At this time, with lunar lander 15 in a downed position, the seat plate 42 of swing 18 is positioned on the ground, and vehicle 20 is placed on it. Then, with the lower corner BC on the side of the swing direction of lunar lander 15 as the axis, lunar lander 15 is erected by a crane or the like. Thus, vehicle 20 is lifted onto lunar lander 15.

[0073] It should be noted that the object being lifted or lowered relative to the lunar landing machine 15 can be anything other than the vehicle 20. Furthermore, this embodiment can be applied to various methods of lifting or lowering objects relative to a platform on Earth. The lunar landing machine 15 described above is an example of a platform, but the platform can be of various types. The vehicle 20 described above is an example of an object, but the object can be of various types.

[0074] Next, the second embodiment will be described. For example... Figure 5 , 6 As shown, the object landing device 10A of the second embodiment lowers the lunar landing machine 15 while the swing 18A is at an initial angle (slightly tilted). The inventors conducted computer-based simulations and practical verification using a small, simplified model simulating the object landing device 10, discovering that when the lunar landing machine 15 falls, the seat plate 42 of the swing 18 can land on the lunar surface in a slightly tilted state. This is... Figure 4DIn (S7): the seat plate 42 lands with the rear part of the seat plate 42 slightly lower than the front part.

[0075] Therefore, as Figure 5 , 6 As shown, the object landing device 10A of the second embodiment applies force to tilt the lunar landing machine 15 so that the rear of the seat plate 42 is slightly raised relative to the front, thereby counteracting the force and keeping the seat plate 42 in a horizontal or near-horizontal state at the moment of landing on the lunar surface. In other words, while the lunar landing machine 15 is being tilted, a force is applied to the seat plate 42 toward the swing direction (rear side), and by counteracting this force, the seat plate 42 is kept in a horizontal or near-horizontal state.

[0076] like Figure 6 As shown, the object lowering device 10A includes an angle adjustment mechanism 26 that applies a force to the seat plate 42 in the direction of swing (rear side) to adjust the swing angle of the seat plate 42. The angle adjustment mechanism 26 includes a stop plate 56 and multiple torsion springs 54. The stop plate 56 is mounted between the upper parts of the two suspension parts 40 on the rear side of the swing 18. The multiple torsion springs 54 have a beam 37 passing through their inner sides, one end of which is fixed to the outer peripheral surface of the beam 37, and the other end abuts against the stop plate 56. The multiple torsion springs 54 apply a force to the seat plate 42 rearward via the stop plate 56 and the two suspension parts 40.

[0077] According to the object landing device 10A of the second embodiment, while the lunar landing vehicle 15 is being lowered, the seat plate 42 of the swing 18A can be kept in a horizontal or similar state, enabling the vehicle 20 to land on the lunar surface in a horizontal or similar state. It should be noted that in this embodiment, a torsion spring 54 is used, but other force-applying components such as a torsion bar can also be used.

[0078] Next, the third embodiment will be described. For example... Figure 7 As shown, the object landing device 10B of the third embodiment is equipped with an angle adjustment mechanism 26A, which differs from that of the second embodiment. The angle adjustment mechanism 26A is a thruster 62 mounted on the front of the seat plate 42 of the swing 18B. The thruster 62 sprays gas forward, and through its reaction, applies a force to the seat plate 42 toward the swing direction (rear side) to adjust the swing angle of the seat plate 42. While the lunar landing vehicle 15 is being lowered, the gas sprayed by the thruster 62 can keep the seat plate 42 of the swing 18A in a horizontal or nearly horizontal state, enabling the vehicle 20 to land on the lunar surface in a horizontal or nearly horizontal state.

[0079] It should be noted that, in the third embodiment, the angle adjustment mechanism 26A may also include a sensor 63 for detecting the posture of the seat plate 42. The sensor 63 is mounted on the seat plate 42. During the lowering of the lunar lander 15, the sensor 63 detects the posture (tilt) of the seat plate 42, and based on the detection result, the thruster 62 ejects gas in a manner that maintains the horizontal state of the seat plate 42. In this way, the vehicle 20 can also land on the lunar surface in a horizontal or similar state.

[0080] Next, the fourth embodiment will be described. For example... Figure 8 As shown, the object landing device 10C of the fourth embodiment replaces the airbag of the vehicle described above by using an airbag 65 provided on the seat plate 42A of the swing 18C to absorb the impact when the seat plate 42A of the swing 18C lands on the lunar surface. The swing 18C of the object landing device 10C has a seat plate 42A on its lower surface with an airbag device 64 disposed thereon. The airbag device 64 of the seat plate 42A has a downwardly inflating airbag 65. The airbag 65 is inflated before the lunar landing machine 15 is laid down toward the lunar surface and the seat plate 42A of the swing 18C descends to the lunar surface.

[0081] It should be noted that the object landing device 10C can also replace the airbag device 64 and have a thruster (not shown) disposed on the lower surface of the seat plate 42A of the swing 18C. In this case, before the lunar landing machine 15 is laid down towards the lunar surface and the seat plate 42A of the swing 18C descends to the lunar surface, the thruster of the seat plate 42A sprays gas downwards. Thus, the impact of the seat plate 42A of the swing 18C landing on the lunar surface is absorbed. It should also be noted that the vehicle 20 may have a thruster disposed on the lower surface of the vehicle, which passes through the holes 43 of the seat plate 42 (see reference). Figure 2 The gas is sprayed downwards to absorb the impact of the swing 18's seat plate 42 when it lands on the lunar surface. As long as the object landing device can absorb and decelerate the impact of the seat plate and the object (vehicle 20) when they land, various types of devices can be used.

[0082] Next, the fifth embodiment will be described. For example... Figure 9 As shown, the object lowering device 10D of the fifth embodiment is equipped with a beam lifting mechanism 21A, which is different from the beam lifting mechanism using the aforementioned helical spring. Figure 9 The left side of the figure shows the state of the beam of swing 18 after it has been lowered, and the right side of the figure shows the state of the beam of swing 18 after it has been raised.

[0083] The beam lifting mechanism 21A is equipped with a hydraulic device 66 and two fixed supports 30A (in... Figure 9 Only one piston rod is shown in the image, and two piston rods 67 (in the image). Figure 9 Only one is shown in the image) and two movable supports 34A (in Figure 9Only one is shown in the image. Each fixed support 30A has only one... Figure 3 The lower part 31 of each fixed support 30 is shown in the diagram. Each movable support 34A has a shape similar to... Figure 3 Each movable support 34 shown has the same shape (however, it can be cylindrical).

[0084] A hydraulic device 66 is disposed inside the lunar landing machine 15A and the two fixed supports 30A. Two piston rods 67 are circular rods that can extend upwards from the upper ends of the two fixed supports 30A via the hydraulic device 66 and can be pulled into the two fixed supports 30A respectively. The upper ends of the two piston rods 67 are fixed to the two movable supports 34A. According to this embodiment, by controlling the hydraulic device 66, the beam of the swing 18 can be raised or lowered.

[0085] It should be noted that in the embodiments described above, the lunar lander, swing, and vehicle may also each be equipped with a computer (also called a controller) for controlling the actions of their respective parts and mechanisms. The computer includes a processor including a CPU and storage devices such as RAM, ROM, flash memory, and hard disk. The processor operates according to the programs and control data stored in the storage devices. Furthermore, the lunar lander, swing, and vehicle may also be equipped with a communication device for exchanging information to enable the coordinated operation of their respective parts and mechanisms. Additionally, the lunar lander, swing, and vehicle (e.g., their computers) can also use the communication device to receive instructions from operators on the lunar surface, Earth, etc., and operate their respective parts and mechanisms according to those instructions.

Claims

1. An object-landing device, comprising: pedestal; and A swing, including a seat for placing an object, the swing being disposed on the pedestal. in, The pedestal is lowered with its lower corner on one side of the swing's swing direction as an axis, causing the swing's seat to descend to the ground, thereby allowing the object to fall to the ground. The pedestal is a rocket that lands on the lunar surface, and the rocket is laid down on the lunar surface while the seat of the swing descends to the lunar surface, thereby causing the object to land on the lunar surface.

2. The object landing device according to claim 1, wherein, The object is a vehicle traveling on the lunar surface.

3. The object landing device according to claim 2, wherein, The vehicle is equipped with downward-expanding airbags; The swing's seat has a hole that allows the airbag to protrude from the lower surface of the seat when the vehicle's airbag inflates. and The vehicle's airbags are inflated before the rocket is laid down toward the lunar surface and the swing's seat plate descends to the lunar surface.

4. The object landing device according to claim 2, wherein, The swing's seat has a downward-expanding airbag; and Before the rocket is laid down toward the lunar surface and the seat plate of the swing descends to the lunar surface, the airbag of the seat plate is inflated.

5. The object lowering device according to any one of claims 1 to 4, further comprising: A beam supports the seat plate of the swing on the upper side via a suspension section; and The beam lifting mechanism raises the beam relative to the upper surface of the platform before the platform is lowered, thereby increasing the distance between the upper surface of the platform and the seat plate of the swing.

6. The object lowering device according to any one of claims 1 to 4, It also includes a locking mechanism for fixing the seat plate of the swing to the upper surface of the pedestal. in, Before the pedestal is laid down, the fixation based on the locking mechanism is released.

7. The object lowering device according to any one of claims 1 to 4, It also includes an angle adjustment mechanism that applies a force to the seat plate in the swing direction while the pedestal is being lowered, thereby adjusting the swing angle of the seat plate.

8. A device for lifting objects, Equipped with an object lowering device according to any one of claims 1 to 4 in, The object lowering device functions as an object lifting device; and With the pedestal in a reclining state, the swing's seat is positioned on the ground. After the object is placed on the pedestal, the pedestal is erected with its lower corner on the side of the swing's swing direction as an axis, thereby lifting the object onto the pedestal.

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