A lunar surface docking pneumatic arm capable of repeated extension and retraction, device and method

Abstract

The present invention relates to a pneumatic arm, device and method that can be repeatedly extended and retracted for docking with the lunar surface, and belongs to the technical field of repeatable connection and separation of aerospace equipment. The invention solves the problem that the work is seriously affected by the special external environment. The invention comprises a rigid rod and a soft driver, the rigid rod and the soft driver are alternately arranged, the interior of the rigid rod has an air duct, the soft driver comprises a soft shell and an elastic metal sheet, the soft shell has a cavity, one side of the soft shell is corrugated, the other side of the soft shell is in contact with the elastic metal sheet in the cavity, and the air duct is connected to the cavity. The present invention can adapt to certain position and posture deviations between fixed equipment, facilitates docking, and has good adaptability; the present invention can be repeatedly extended and retracted, has a good load-bearing capacity, reduces the difficulty of operation, provides sufficient operating space for astronauts, and reduces the impact of the external environment.

Description

Technical Field

[0001] The invention relates to an extending and retracting pneumatic arm, a device and a method, and belongs to the technical field of repeatable connection and separation of aerospace equipment. Background Art

[0002] When conducting various scientific experiments and resource surveys on the moon, it is necessary to stay on the moon for a long time, so infrastructure represented by the moon base must be built. Due to the limitation of the vehicle capacity, the various equipment required for the moon base needs to be transported to the moon in batches, and the astronauts carry the scientific equipment to transfer and then assemble the various equipment. Because it needs to be operated in a special external environment, the work is seriously affected.

[0003] Therefore, it is urgent to propose a lunar docking pneumatic arm, device and method that can be repeatedly extended and retracted to solve the above-mentioned technical problems. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the work is seriously affected by the special external environment, and to provide a lunar docking pneumatic arm, device and method for repeatable deployment and retraction. A brief overview of the present invention is given below to provide a basic understanding of certain aspects of the present invention. It should be understood that this overview is not an exhaustive overview of the present invention. It is not intended to determine the key or important parts of the present invention, nor is it intended to limit the scope of the present invention.

[0005] The technical solution of the present invention:

[0006] A lunar-docked pneumatic arm that can be repeatedly extended and retracted comprises a rigid rod and a soft driver, wherein the rigid rod and the soft driver are alternately arranged, an air duct is provided inside the rigid rod, the soft driver comprises a soft shell and an elastic metal sheet, the soft shell has a cavity, one side of the soft shell is corrugated, the other side of the soft shell is fitted with the elastic metal sheet in the cavity, and the air duct is connected to the cavity.

[0007] Preferably, the elastic metal sheet is perpendicular to the horizontal plane, is arc-shaped, and is bonded to the inner wall of the soft shell.

[0008] Preferably, the corrugated soft shells of adjacent soft drives are arranged in opposite directions.

[0009] A lunar docking repeatable deployment and retraction device, a lunar docking repeatable deployment and retraction pneumatic arm as a driving arm, the lunar docking repeatable deployment and retraction device comprises a sling mechanism, a driving arm and a protective layer, the sling mechanism is connected to the top of a fixed equipment on the ground, the sling mechanism is connected to the driving arm, the driving arm is connected to the side of the fixed equipment on the ground, and the driving arm is located on the upper side of the protective layer.

[0010] Preferably: the sling mechanism includes a column, a sling rope, a pulley, a drum and a motor, the column, the drum and the motor are arranged on the fixed equipment on the ground, a pulley is arranged on the upper end of the column, one side of the sling rope is wound around the drum, the other side of the sling rope passes around the pulley and is connected to one end of the driving arm, the other end of the driving arm is connected to the side of the fixed equipment, and the output end of the motor is connected to the drum.

[0011] Preferably, the number of the driving arms is two, and one end of the driving arm is connected to the passive end.

[0012] Preferably, the protective layer is a flexible channel, and the protective layer is connected to the passive end.

[0013] Preferably: the sling mechanism also includes a motor frame and a chassis, the drum and the motor are fixed to the motor frame for winding up and releasing the sling rope, and the motor frame is connected to the fixed equipment; the bottom of the column has a chassis that can be welded or bolted to the fixed equipment.

[0014] Preferably, the column is made of aluminum alloy.

[0015] A lunar docking and repeatable deployment and collection method, comprising the following steps:

[0016] Step 1: Unfolding process:

[0017] The airway is connected to an external air source and ventilation begins. The corrugated soft actuator deforms and drives the elastic metal sheet to straighten. The drive arm unfolds and pushes the passive end.

[0018] The motor releases the length of the suspension rope, adjusts the tension of the oblique driving arm, and the protective layer extends out as the passive end moves forward;

[0019] The extension lengths of the two driving arms can be changed respectively by controlling the air pressure in the air guide tube;

[0020] Step 2: Folding process:

[0021] The gas in the air guide tube is extracted, and the elastic metal sheet of the driving arm automatically folds the driving arm and pulls it back to the passive end; the motor synchronously rolls up the suspension rope, which also plays a diagonal pulling role on the driving arm.

[0022] The present invention has the following beneficial effects:

[0023] 1. The present invention can adapt to certain position and posture deviations between fixed equipment, facilitate docking, and has good adaptability;

[0024] 2. The present invention can be repeatedly folded and unfolded, has a good carrying capacity, reduces the difficulty of operation, provides sufficient operating space for astronauts, and reduces the impact of the external environment;

[0025] 3. The present invention has a large folding and unfolding ratio and is light in weight. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of a lunar surface docking pneumatic arm that can be repeatedly extended and retracted;

[0027] Figure 2 It is a schematic diagram of the unfolded state of a lunar surface docking and retractable pneumatic arm;

[0028] Figure 3 is a schematic diagram of the initial state of the elastic metal sheet;

[0029] Figure 4 It is a schematic diagram of the elastic metal sheet in a straightened state;

[0030] Figure 5 This is a schematic diagram of the structure of a lunar surface docking repeatable deployment and retraction device;

[0031] Figure 6 It is a schematic diagram of the passive end posture adjustment;

[0032] Figure 7 It is a schematic diagram of the folded state of a lunar surface docking repeatable deployment and retraction device;

[0033] Figure 8 It is a structural diagram of the sling mechanism.

[0034] In the figure: 1-sling mechanism, 2-driving arm, 3-protective layer, 1-1-column, 1-2-sling rope, 1-3-pulley, 1-4-reel, 1-5-motor, 1-6-motor frame, 1-1-1-chassis, 2-1-rigid rod, 2-2-soft drive, 2-3-elastic metal sheet, 2-4-air guide tube, 2-5-soft shell, 2-6-hinge. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present invention clearer, the present invention is described below by the specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present invention. In addition, in the following description, the description of well-known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present invention.

[0036] Specific implementation method 1: Combination Figure 1-4The present embodiment is described. A moon-docked pneumatic arm that can be repeatedly extended and retracted comprises a rigid rod 2-1 and a soft driver 2-2. The rigid rod 2-1 and the soft driver 2-2 are alternately arranged and connected. An air duct 2-4 is provided inside the rigid rod 2-1. The soft driver 2-2 comprises a soft shell 2-5 and an elastic metal sheet 2-3. The soft shell 2-5 has a cavity. One side of the soft shell 2-5 is corrugated. The other side of the soft shell 2-5 is fitted with the elastic metal sheet 2-3 in the cavity. The air duct is connected to the cavity, which can not only be used for ventilation and control of folding and expansion, but also ensure strength. , and also reduces its own weight. The soft shell can be made of rubber; the air duct 2-4 arranged inside the driving arm 2 is used to connect each soft driver 2-2, so that they can deform synchronously, and an elastic metal sheet 2-3 is fixed on the inner side of the soft driver 2-2, which is initially in a bent state and can be pulled into a straight state by the soft driver 2-2. The range of variation of its bending angle θ determines the maximum folding and unfolding ratio of the driving arm 2 and a moon-surface-jointed repeatable unfolding and retracting device; after the driving arm 2 is blocked from ventilation, the small chambers of the soft driver 2-2 are no longer squeezed against each other, and can return to the initial bent state with the elastic metal sheet 2-3.

[0037] Specific implementation method 2: Combination Figure 1-4 The present embodiment is described. The present embodiment is a moon-docked pneumatic arm that can be repeatedly extended and retracted. The soft shell and the rigid rod 2-1 are square when fully extended. An elastic metal sheet 2-3 is arranged on one side of the square soft shell, and the other symmetrical side is corrugated. The elastic metal sheet 2-3 is perpendicular to the horizontal plane. The vertically arranged elastic metal sheet resists gravity and improves the strength of the drive arm 2. The elastic metal sheet 2-3 is arc-shaped. When the drive arm 2 is extended, it slowly approaches a straight line. The elastic metal sheet 2-3 is embedded and fixed on the thick-walled inner surface of the soft driver 2-2. Specifically, a cylindrical embedding pile is reserved on the metal sheet, and a cylindrical embedding pile is reserved on the soft driver. A hole is opened on the thick-walled inner surface of the actuator 2-2, and the hole diameter is slightly smaller than the size of the embedded pile, and glue is applied in the hole to allow the embedded pile to be inserted into the hole, thereby firmly connecting the two; the driving arm 2 is composed of a multi-section rigid rod 2-1 with a soft driver 2-2 connected in the middle, and each section of the soft driver 2-2 is driven by air pressure. A plurality of small chambers form a corrugated structure, and one side of the small chamber (the corrugated side of the soft shell) expands and deforms during inflation and then squeezes each other, while the other side (the side where the elastic metal sheet is installed) does not expand and deform during inflation due to the thicker wall thickness, thereby achieving unidirectional bending deformation of the soft driver 2-2, and then unfolding the driving arm 2.

[0038] Specific implementation method three: Combination Figure 1-4The present embodiment is described. The present embodiment is a lunar-docked pneumatic arm that can be repeatedly extended and retracted. The number of the rigid rods 2-1 is n+1, and the number of the soft actuators 2-2 is n, where n is a natural number. The corrugated soft shells of adjacent soft actuators 2-2 are arranged in opposite directions, so that the drive arm 2 is S-shaped when folded, and has the characteristics of a large folding and unfolding ratio and light weight. The number of small cavities inside the soft actuator 2-2 and its deformation ability affect the rotatable angle between two adjacent rigid rods 2-1. The air guide tube 2-3 is connected to an external air source and is placed in a cylindrical cavity reserved inside the rigid rod 2-1, and is connected to the soft actuator 2-2 at the same time.

[0039] Specific implementation method four: Combination Figure 1-8 The present embodiment is described. A lunar surface docking repeatable extension and retraction device of the present embodiment adopts the lunar surface docking repeatable extension and retraction pneumatic arm described above. A lunar surface docking repeatable extension and retraction pneumatic arm is a driving arm 2. The lunar surface docking repeatable extension and retraction device comprises a sling mechanism 1, a driving arm 2 and a protective layer 3. The sling mechanism 1 is connected to the top of a fixed equipment on the ground, the sling mechanism 1 is connected to the driving arm 2, the driving arm 2 is connected to the side of the fixed equipment on the ground, and the driving arm 2 is fitted with the upper surface of the protective layer 3. The present invention provides a lunar surface docking repeatable extension and retraction device combining an inclined sling and a pneumatic arm, adopts a soft driver that can actively drive the expansion and automatic folding, can achieve repeated expansion and folding by changing the internal air pressure of the driver, and has a locking function.

[0040] Specific implementation method five: Combination Figure 1-8 The present embodiment is described. The present embodiment is a moon-surface docking repeatable deployment and retraction device. The sling mechanism 1 includes a column 1-1, a sling rope 1-2, a pulley 1-3, a drum 1-4 and a motor 1-5. The column 1-1, the drum 1-4 and the motor 1-5 are fixedly arranged on a fixed device on the ground. The upper end of the column 1-1 is provided with a pulley 1-3. One side of the sling rope 1-2 is wound around the drum 1-4. The other side of the sling rope 1-2 passes over the pulley 1-3 and is fixedly connected to one end of a driving arm 2. The other end of the driving arm 2 is fixedly connected to the side of the fixed device. The motor 1-5 is fixedly arranged on the upper end of the column 1-1. The output end of 1-5 is connected to the reel 1-4, and the plane formed by the ropes 1-2 on both sides of the pulley 1-3 should be parallel to the XZ plane (proposed to be set as a vertical plane); the pulley 1-3 can rotate relative to the column 1-1 to play a guiding role, and is used to obliquely fix a pair of driving arms and protective layers fixed on the side wall of the equipment and its internal load, further improving the overall strength of the device and ensuring the personal safety of astronauts; the column 1-1 used needs to have good bending resistance, and aluminum alloy can be selected; the rope 1-2 can be made of a material with good flexibility, especially to adapt to the lunar environment.

[0041] Specific implementation method six: Combination Figure 1-8The present embodiment is described. The present embodiment is a repeatable deployment and retraction device for docking on the lunar surface. The number of the drive arms 2 is two. The two drive arms 2 are arranged in an array in the horizontal direction. One end of the drive arm 2 is hinged to a vertically arranged passive end. The device can adapt to certain position and posture deviations between fixed equipment. With the assistance of a sling, the device can be used to carry astronauts and scientific payloads on the lunar surface. The length of the deployment and retraction device can be adjusted by changing the degree of deployment of the drive arms 2 and the extension length of the slings 1-2. The deflection angle of the passive end around the Z-axis can be adjusted by changing the lengths of the two drive arms 2.

[0042] Specific implementation method seven: Combination Figure 1-8 The present embodiment is described. The present embodiment is a lunar-docked repeatable deployable and retractable device. The material of the protective layer 3 can be a bellows made of insulating fabric or film material, which can protect against lunar dust and radiation to a certain extent. The protective layer 3 is lightweight and wear-resistant. The protective layer 3 is connected to the passive end. The protective layer 3 is filled with air to provide a good environment and space for astronauts. The astronauts can enter the passive end through the protective layer and then enter the active end docked with the passive end, which is easy to operate and greatly improves work efficiency. The two ends of the protective layer 3 are respectively fixed to the passive end and the fixed equipment, and the drive arm is in contact with the upper surface of the protective layer 3.

[0043] Specific implementation method eight: Combination Figure 1-8 The present embodiment is described. The present embodiment is a moon-docked repeatable deployment and retraction device. The sling mechanism 1 also includes a motor frame 1-6 and a chassis 1-1-1. The drum 1-4 and the motor 1-5 are fixed to the motor frame 1-6 for rolling up and releasing the sling 1-2. The motor frame 1-6 is fixedly connected to the fixed equipment. The bottom of the column 1-1 has a chassis 1-1-1 which can be welded or bolted to the fixed equipment. The sling mechanism can provide tension along the sling 1-2. The smaller the angle between the sling 1-2 on both sides of the pulley 1-3, the more tension can be provided to help the drive arm 2 resist the influence of gravity, ensuring that the drive arm 2 only works in the XY plane (intended to be a horizontal plane). The motor 1-5 can be controlled to work according to the degree of deployment of the device to determine the release length of the sling 1-2. When the deployment and retraction device is large in size, multiple sling mechanisms can be set to connect more rigid rods 2-1. A larger load-bearing capacity can be guaranteed based on the assistance of the slings.

[0044] Specific implementation method nine: Combination Figure 1-8 The present embodiment is described as a moon-surface docking repeatable deployment and retraction device, wherein the upright column is made of aluminum alloy.

[0045] Specific implementation method ten: Combination Figure 1-8 The present embodiment is described. A lunar surface docking and repeatable unfolding and stowing method of the present embodiment is characterized in that: using the lunar surface docking and repeatable unfolding and stowing device described above, the following steps are included:

[0046] Step 1: Unfolding process:

[0047] The air guide tube 2-4 is connected to an external air source and begins to ventilate, the corrugated soft actuator 2-2 is deformed and drives the elastic metal sheet 2-3 to straighten, the driving arm 2 is unfolded, and the passive end is pushed;

[0048] During the deployment process, the deployment posture of the device is fed back to the sling mechanism 1, the motor 1-5 selects the length of the release rope 1-2, and adjusts the tension of the oblique driving arm 2 in real time, and the protective layer 3 extends as the passive end moves forward. Figure 5 As shown; after being fully deployed, the drive arm 2 can also increase the carrying capacity of the device;

[0049] By controlling the air pressure in the air guide tube 2-4, the extension lengths of the two driving arms 2 are changed respectively. Since the driving arm 2 is connected to the passive end by a hinge 2-6, the position of the passive end and the deflection angle around the Z axis can be determined. Figure 6 As shown;

[0050] Step 2: Folding process:

[0051] The gas in the air guide tube 2-4 is extracted, and the elastic metal sheet 2-3 of the driving arm 2 automatically folds the driving arm 2 and pulls it back to the passive end; in this process, according to the folding degree of the driving arm 2, the motor 1-5 synchronously rolls up the suspension rope 1-2, and also plays a role of oblique pulling on the driving arm 2; after folding, the motor 1-5 has a self-locking function to ensure that the reel 1-4 is locked, and then the suspension rope 1-2 and the protective layer 3 are locked, so that the stowage device is locked. Figure 7 As shown; it will help the construction of the lunar scientific research experimental station.

[0052] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be arranged and combined, and those skilled in the art can exhaust all possibilities based on the mathematical knowledge of arrangement and combination. Therefore, the present invention will no longer describe the technical solutions after arrangement and combination one by one, but it should be understood that the technical solutions after arrangement and combination have been disclosed by the present invention.

[0053] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A lunar surface docking and repeatable deployment and retraction device, characterized in that: A lunar surface butted pneumatic arm that can be repeatedly extended and retracted is used, and the lunar surface butted pneumatic arm that can be repeatedly extended and retracted is a driving arm (2), comprising a rigid rod (2-1) and a soft driver (2-2), the rigid rod (2-1) and the soft driver (2-2) being arranged alternately, an air guide tube (2-4) being provided inside the rigid rod (2-1), the soft driver (2-2) comprising a soft shell (2-5) and an elastic metal sheet (2-3), the soft shell (2-5) having a cavity, one side of the soft shell (2-5) being corrugated, the other side of the soft shell (2-5) being fitted with the elastic metal sheet (2-3) in the cavity, and the air guide tube being connected to the cavity; The elastic metal sheet (2-3) is perpendicular to the horizontal plane, the elastic metal sheet (2-3) is arc-shaped, and the elastic metal sheet (2-3) is bonded to the inner wall of the soft shell (2-5); The corrugated soft shells of adjacent soft drives (2-2) are arranged in opposite directions; The lunar surface docking repeatable deployment and retraction device comprises a sling mechanism (1), a driving arm (2) and a protective layer (3), wherein the sling mechanism (1) is connected to the top of a fixed device on the ground, the sling mechanism (1) is connected to the driving arm (2), the driving arm (2) is connected to the side of the fixed device on the ground, and the driving arm (2) is located on the upper side of the protective layer (3).

2. The moon-surface docking repeatable deployment and retraction device according to claim 1, characterized in that: The sling mechanism (1) comprises a column (1-1), a sling rope (1-2), a pulley (1-3), a drum (1-4) and a motor (1-5); the column (1-1), the drum (1-4) and the motor (1-5) are arranged on a fixed device on the ground; a pulley (1-3) is arranged on the upper end of the column (1-1); one side of the sling rope (1-2) is wound around the drum (1-4); the other side of the sling rope (1-2) is passed around the pulley (1-3) and connected to one end of a driving arm (2); the other end of the driving arm (2) is connected to a side of the fixed device; and the output end of the motor (1-5) is connected to the drum (1-4).

3. The moon-surface docking repeatable deployment and retraction device according to claim 2, characterized in that: The number of the driving arms (2) is two, and one end of the driving arm (2) is connected to the passive end.

4. The moon-surface docking repeatable deployment and retraction device according to claim 3, characterized in that: The protective layer (3) is a flexible channel, and the protective layer (3) is connected to the passive end.

5. The moon-surface docking repeatable deployment and retraction device according to claim 4, characterized in that: The sling mechanism (1) also comprises a motor frame (1-6) and a chassis (1-1-1); a reel (1-4) and a motor (1-5) are fixed to the motor frame (1-6) and are used to roll up and release the sling rope (1-2); the motor frame (1-6) is connected to a fixed device; the bottom of the column (1-1) has a chassis (1-1-1) which can be welded or bolted to the fixed device.

6. The moon-surface docking repeatable deployment and retraction device according to claim 5, characterized in that: The column (1-1) is made of aluminum alloy.

7. A lunar surface docking and repeatable deployment and retraction method, characterized in that: The method of using a lunar surface docking and repeatable deployment and retraction device as claimed in any one of claims 1 to 6 comprises the following steps: Step 1: Unfolding process: The air guide tube (2-4) is connected to an external air source and ventilation begins, the corrugated soft actuator (2-2) deforms and drives the elastic metal sheet (2-3) to straighten, the driving arm (2) unfolds, and pushes the passive end; The motor (1-5) releases the length of the suspension rope (1-2), adjusts the pulling force of the inclined driving arm (2), and the protective layer (3) extends out as the passive end moves forward; The extension lengths of the two driving arms (2) are changed respectively by controlling the air pressure in the air guide tubes (2-4); Step 2: Folding process: The gas in the air guide tube (2-4) is extracted, and the elastic metal sheet (2-3) of the driving arm (2) automatically folds the driving arm (2) and pulls back the passive end; the motor (1-5) synchronously rolls up the suspension rope (1-2), which also plays a diagonal pulling role on the driving arm (2).

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