A rope-controlled double-arm probe vehicle transfer and release device

Abstract

A rope-controlled double-arm rover transfer slow-release device, which relates to a rover transfer slow-release device. The present invention is to solve the problem that the existing transfer slow-release device cannot meet the needs of the lunar rover to safely reach the lunar surface. In the present invention, the deployment assembly and the swing assembly are installed on the lander, the rear end of the primary arm is connected to the swing assembly, the front end of the primary arm is rotationally connected to the rear end of the secondary arm through the rotating connection assembly, the slow-release assembly is installed at the front of the secondary arm, the slow-release assembly is connected to the pulley assembly through the slow-release rope, the pulley assembly is installed on the lunar rover, the first cam is installed at the connection between the primary arm and the secondary arm, the second cam is installed at the connection between the primary arm and the deployment assembly, one end of the attitude control rope is connected to the deployment assembly, and the other end of the attitude control rope is connected to the secondary arm. The present invention belongs to the field of aerospace technology.

Description

Technical Field

[0001] The invention relates to a transfer and slow-release device for a probe vehicle, belonging to the technical field of aerospace. Background Art

[0002] After launching the lunar probe to the lunar surface, the lunar rover carried by the probe needs to be transferred from the main device to the lunar surface; during the transfer process, the transfer arm needs to extend outward a distance of no less than 1.3m and be able to select three different landing points that are more than 0.5m apart. During the release process, the lunar rover needs to be released slowly and steadily to the lunar surface, but the existing transfer slow-release device cannot complete the above functions, resulting in the lunar rover being unable to safely reach the lunar surface. Summary of the invention

[0003] The present invention aims to solve the problem that the existing transfer and release device cannot meet the requirement of the lunar rover to safely reach the lunar surface, and further proposes a rope-controlled double-arm rover transfer and release device.

[0004] The technical solution adopted by the present invention to solve the above problems is: the present invention comprises a first cam, a posture control rope, a secondary arm, a primary arm, a slow-release assembly, an unfolding assembly, a pulley assembly, a second cam, a swing assembly, a rotating connection assembly and a slow-release rope;

[0005] The deployment assembly and the swing assembly are installed on the lander, the rear end of the first-stage arm is connected to the swing assembly, the front end of the first-stage arm is rotationally connected to the rear end of the second-stage arm through the rotating connection assembly, the slow-release assembly is installed at the front of the second-stage arm, the slow-release assembly is connected to the pulley assembly through a slow-release rope, the pulley assembly is installed on the lunar rover, the first cam is installed at the connection between the first-stage arm and the second-stage arm, the second cam is installed at the connection between the first-stage arm and the deployment assembly, one end of the attitude control rope is connected to the deployment assembly, and the other end of the attitude control rope is connected to the second-stage arm.

[0006] Further, the deployment assembly includes a bracket, a worm housing, a first turbine cover, a first winding wheel, a first turbine, a first worm, a deployment motor and a first transmission shaft;

[0007] The bracket and the worm housing are arranged side by side, one end of the first transmission shaft is rotatably connected to the bracket, the other end of the first transmission shaft is rotatably connected to the worm housing, the first turbine is coaxially fixedly sleeved on the other end of the first transmission shaft, the first winding wheel is coaxially fixedly sleeved on the middle part of the first transmission shaft, the first worm is rotatably installed in the worm housing, and the first worm is meshed with the first turbine, one end of the first worm is coaxially fixedly connected to the motor shaft of the unfolding motor, one end of the attitude control rope is connected to the first winding wheel, the first turbine cover is buckled on the top of the worm housing, and the first turbine is located in the first turbine cover.

[0008] Further, the swing assembly includes a swing motor, a turbine shaft, an outer casing, a mounting base, a second turbine and a second worm;

[0009] The mounting base is fixed on the lander, the outer shell is fixed on the mounting base, the turbine shaft is rotatably mounted in the outer shell, the second turbine is coaxially fixedly sleeved on the turbine shaft, the second worm is meshed with the second turbine, one end of the second worm is coaxially fixedly connected to the motor shaft of the swing motor, and the second cam is mounted on one end of the turbine shaft.

[0010] Further, the slow-release assembly includes a slow-release motor, a coupling, a slow-release housing, a protective cover, a third turbine, a third worm, a second winding wheel and a fixed shaft;

[0011] The protective cover is fixedly installed on the secondary arm, the fixed shaft is rotatably installed on the secondary arm, and the fixed shaft is located in the protective cover, the third turbine and the second winding wheel are coaxially fixedly sleeved on the fixed shaft, and the second winding wheel is fixedly connected to the third turbine, one end of the slow-release rope is connected to the second winding wheel, and the other end of the slow-release rope is connected to the pulley assembly, the third worm is rotatably installed in the slow-release housing, the third worm is meshed with the third turbine, and the motor shaft of the slow-release motor is coaxially fixedly connected to one end of the third worm through a coupling.

[0012] Further, the pulley assembly includes an adapter plate, a guide wheel and a connecting frame;

[0013] The connecting frame is fixedly connected to the lunar rover, the guide wheel is rotatably installed on the secondary arm through a connecting plate, and the other end of the slow-release rope passes around the guide wheel and is connected to the connecting frame.

[0014] Further, the rotating connection assembly includes a pressing sheet, a screw and a first rotating shaft;

[0015] The front end of the primary arm and the rear end of the secondary arm are both mounted on the first rotating shaft, the pressing sheet is fixed to the end of the first rotating shaft by screws, and the first cam is installed at the rear end of the secondary arm.

[0016] The beneficial effects of the present invention are:

[0017] 1. The present invention can complete the work of landing site selection and slow release of the lunar exploration vehicle, and can achieve multi-point site selection with an interval of more than 0.5m to avoid impact when the vehicle body is released to land on the moon;

[0018] 2. In the present invention, as the unfolding motor works, the secondary arm is automatically unfolded under the cooperation of the control rope and the second cam;

[0019] 3. The double arm lever of the present invention has an extension distance greater than 1.3m after being fully unfolded;

[0020] 4. After the double arm lever of the present invention is fully unfolded, the two arm levers can be swung by the swing assembly to realize the selection of different landing points of the lunar exploration rover;

[0021] 5. The present invention has a simple structure, and the unfolding angles of the two arms are fixed and automatically controlled during the unfolding process;

[0022] 6. The various structural components of the present invention have clear division of labor and low failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the unfolding process of the present invention;

[0025] Figure 3 This is a schematic diagram of the fully expanded state of the present invention;

[0026] Figure 4 This is a schematic diagram of the process of the attitude control rope fitting on the second cam;

[0027] Figure 5 It is a schematic diagram of the first-stage boom and the second-stage boom in fully extended state;

[0028] Figure 6 is a front view of the unfolded assembly;

[0029] Figure 7 is a top view of the unfolded component;

[0030] Figure 8 yes Figure 1 Middle AA section view;

[0031] Fig. 9 yes Figure 2 Middle BB section view;

[0032] Fig.10 is a side view of the swing assembly;

[0033] Fig.11 yes Fig.10 Middle CC section view;

[0034] Fig.12 yes Fig.10 Middle DD section view;

[0035] Fig.13 is a front view of the sustained-release component;

[0036] Fig.14 yes Fig.13 Middle EE section view;

[0037] Fig.15 yes Fig.13Middle FF section view;

[0038] Fig.16 is a schematic diagram of the structure of the pulley assembly;

[0039] Fig.17 It is a structural schematic diagram of the primary arm and the secondary arm;

[0040] Fig.18 yes Fig.17 Middle HH section view;

[0041] Fig.19 yes Fig.17 Sectional view along II direction. DETAILED DESCRIPTION

[0042] Specific implementation method 1: Combination Figures 1 to 5 The present embodiment is described. The rope-controlled double-arm probe vehicle transfer slow-release device described in the present embodiment comprises a first cam 1, an attitude control rope 2, a secondary arm 3, a primary arm 4, a slow-release assembly 5, an unfolding assembly 6, a pulley assembly 7, a second cam 9, a swing assembly 10, a rotating connection assembly and a slow-release rope 13;

[0043] The deployment assembly 6 and the swing assembly 10 are installed on the lander 11, the rear end of the first-stage arm 4 is connected to the swing assembly 10, the front end of the first-stage arm 4 is rotationally connected to the rear end of the second-stage arm 3 through the rotating connection assembly, the slow-release assembly 5 is installed at the front of the second-stage arm 3, the slow-release assembly 5 is connected to the pulley assembly 7 through the slow-release rope 13, the pulley assembly 7 is installed on the lunar rover 12, the first cam 1 is installed at the connection between the first-stage arm 4 and the second-stage arm 3, the second cam 9 is installed at the connection between the first-stage arm 4 and the deployment assembly 6, one end of the attitude control rope 2 is connected to the deployment assembly 6, and the other end of the attitude control rope 2 is connected to the second-stage arm 3.

[0044] Specific implementation method 2: Combination Figures 6 to 9 To illustrate this embodiment, the deployment assembly 6 of a rope-controlled double-arm probe vehicle transfer and release device described in this embodiment includes a bracket 601, a worm housing 602, a first turbine cover 603, a first winding wheel 604, a first turbine 605, a first worm 606, a deployment motor 607 and a first transmission shaft 608;

[0045] The bracket 601 and the worm housing 602 are arranged side by side, one end of the first transmission shaft 608 is rotatably connected to the bracket 601, the other end of the first transmission shaft 608 is rotatably connected to the worm housing 602, the first turbine 605 is coaxially fixedly sleeved on the other end of the first transmission shaft 608, the first winding wheel 604 is coaxially fixedly sleeved on the middle part of the first transmission shaft 608, the first worm 606 is rotatably installed in the worm housing 602, and the first worm 606 is meshed with the first turbine 605, one end of the first worm 606 is coaxially fixedly connected to the motor shaft of the unfolding motor 607, one end of the attitude control rope 2 is connected to the first winding wheel 604, the first turbine cover 603 is buckled on the top of the worm housing 602, and the first turbine 605 is located in the first turbine cover 603.

[0046] The first worm is installed on the unfolding worm housing through bearing 2, and both ends are fixed by worm covers. The unfolding motor shaft is directly inserted into the axial hole of the first worm, and the motor shaft and the axial hole of the worm are matched by keys; the first turbine and the first worm are frictionally matched to transmit the torque of the unfolding motor to the first winding wheel.

[0047] Other components and connection relationships are the same as those in the first specific implementation mode.

[0048] Specific implementation method three: Combination Figures 10 to 12 To explain this embodiment, a swing assembly 10 of a rope-controlled double-arm probe vehicle transfer and release device described in this embodiment includes a swing motor 1001, a turbine shaft 1002, an outer shell 1003, a mounting base 1004, a second turbine 1005 and a second worm 1006;

[0049] The mounting base 1004 is fixed on the lander 11, the outer shell 1003 is fixed on the mounting base 1004, the turbine shaft 1002 is rotatably mounted in the outer shell 1003, the second turbine 1005 is coaxially fixedly sleeved on the turbine shaft 1002, the second worm 1006 is meshed with the second turbine 1005, one end of the second worm 1006 is coaxially fixedly connected to the motor shaft of the swing motor 1001, and the second cam 9 is mounted on one end of the turbine shaft 1002.

[0050] The second cam is connected to the second turbine through a key connection, and the second worm cooperates with the second worm. Both ends of the second worm are installed on the mounting base through bearings 4, and the swing motor is fixed to the mounting base through bolts. At the same time, the motor shaft is directly inserted into the hollow shaft hole of the second worm. The motor shaft transmits the torque to the second worm through a key connection, and the torque is further transmitted to the second cam through the cooperation between the second worm and the second turbine.

[0051] Other components and connection relationships are the same as those in the first specific implementation mode.

[0052] Specific implementation method four: Combination Figures 13 to 15 To explain this embodiment, a slow-release assembly 5 of a rope-controlled double-arm probe vehicle transfer slow-release device described in this embodiment includes a slow-release motor 501, a coupling 502, a slow-release housing 503, a protective cover 504, a third turbine 505, a third worm 506, a second winding wheel 507 and a fixed shaft 508;

[0053] The protective cover 504 is fixedly installed on the secondary arm 3, the fixed shaft 508 is rotatably installed on the secondary arm 3, and the fixed shaft 508 is located inside the protective cover 504, the third turbine 505 and the second winding wheel 507 are coaxially fixedly sleeved on the fixed shaft 508, and the second winding wheel 507 is fixedly connected to the third turbine 505, one end of the slow-release rope 13 is connected to the second winding wheel 507, and the other end of the slow-release rope 13 is connected to the pulley assembly 7, the third worm 506 is rotatably installed in the slow-release housing 503, the third worm 506 is meshed with the third turbine 505, and the motor shaft of the slow-release motor 501 is coaxially fixedly connected to one end of the third worm 506 through the coupling 502.

[0054] In the slow-release assembly, both ends of the third worm are installed on the slow-release housing and the support column 1 through two bearings 5, one end of the third worm is connected to the coupling, and the coupling is connected to the motor shaft of the slow-release motor. When the motor rotates, the torque is transmitted to the third turbine through the coupling and the third worm; the third turbine and the second winding wheel are connected by screws, and the third worm wheel and the second winding wheel are installed on the fixed shaft through two bearings 6, and both ends of the fixed shaft are fixed on two end plates, and the whole is installed on the secondary arm, and the slow-release motor is fixed to the secondary arm through the motor mounting plate.

[0055] Other components and connection relationships are the same as those in the first specific implementation mode.

[0056] Specific implementation method five: Combination Fig.16 To explain this embodiment, the pulley assembly 7 of a rope-controlled double-arm probe vehicle transfer and release device described in this embodiment includes an adapter plate 701, a guide wheel 702 and a connecting frame 703;

[0057] The connecting frame 703 is fixedly connected to the lunar rover 12 , the guide wheel 702 is rotatably mounted on the secondary arm 3 through the connecting plate 701 , and the other end of the slow-release rope 13 passes around the guide wheel 702 and is connected to the connecting frame 703 .

[0058] The pulley assembly is installed at the end of the secondary arm 3 through the adapter plate, the wire wheel 702 is installed on the adapter plate 701, and the slow-release rope 13 passes through the wire wheel 702 and is connected to the connecting frame 703 installed on the vehicle body. When the slow-release rope 13 is released, the connecting frame 703 is separated from the adapter plate and falls with the vehicle body, thereby realizing the slow-release work of the lunar rover.

[0059] Other components and connection relationships are the same as those in the first specific implementation mode.

[0060] Specific implementation method six: Combination Figures 17 to 19 To explain this embodiment, the rotating connection assembly of the rope-controlled double-arm probe vehicle transfer and release device described in this embodiment includes a pressing piece 14, a screw 15 and a first rotating shaft 16;

[0061] The front end of the primary arm 4 and the rear end of the secondary arm 3 are both mounted on the first rotating shaft 16 , the pressing plate 14 is fixed to the end of the first rotating shaft 16 by a screw 15 , and the first cam 1 is installed at the rear end of the secondary arm 3 .

[0062] The rotating shaft passes through the secondary arm 3 and is connected to the primary arm 4 through two bearings 7. The outer rings of the two bearings 7 are fixed to the primary arm through two holes with a retaining ring 1. One side of the inner ring of the bearing 7 fits with the shoulder of the first rotating shaft 16, and the other side is fixed to the rotating shaft 1 through a pressing sheet and a screw. The attitude control rope 2 is embedded and fitted in the wire groove of the first cam 1.

[0063] The connection relationship between the primary arm 4 and the second cam 9 is as follows: Fig.19 As shown, the rotating shaft 2 passes through the inner holes of the primary arm 4 and the cam 2, and is connected to the primary arm through two symmetrically arranged bearings 8. On the outer ring of the bearing 8, it is fixed to the primary arm 4 through a retaining ring 2 through a hole, and the inner ring of the bearing 8 is connected to the rotating shaft 2 through a retaining ring 1. Coil springs are respectively installed at both ends of the rotating shaft 2 to increase the initial power of the primary arm 4.

[0064] Other components and connection relationships are the same as those in the first specific implementation mode.

[0065] How it works

[0066] After the lunar rover 12 is unlocked, the unfolding motor 607 is activated, and the primary arm 4 and the secondary arm 3 are continuously unfolded under the gravity of the lunar surface. At this time, the attitude control rope 2 coincides with the cam profiles on the first cam 1 and the second cam 9, and the primary arm 4 and the secondary arm 3 are unfolded at a predetermined angle under the tension of the attitude control rope 2;

[0067] After the primary arm 4 and the secondary arm 3 are fully extended, the swing motor 1001 starts to work, so that the arm can swing in the horizontal plane to select the landing point;

[0068] After the landing point is selected, the slow-release motor 501 starts to work. The rotation of the motor drives the drum to rotate and slowly release the slow-release rope 13. As the slow-release rope 13 is released, the lunar rover 12 falls to the designated position under the action of its own gravity.

[0069] The above is only a preferred embodiment of the present invention and does not limit the present invention in any form. Although the present invention has been disclosed as a preferred embodiment as above, it is not used to limit the present invention. Any technician familiar with this profession can make some changes or modify the technical contents disclosed above into equivalent embodiments without departing from the scope of the technical solution of the present invention. However, any simple modification, equivalent replacement and improvement made to the above embodiments without departing from the content of the technical solution of the present invention, based on the technical essence of the present invention, within the spirit and principles of the present invention, still fall within the protection scope of the technical solution of the present invention.

Claims

1. A rope-controlled double-arm probe vehicle transfer and release device, characterized in that: The rope-controlled double-arm probe vehicle transfer and release device comprises a first cam (1), an attitude control rope (2), a secondary arm (3), a primary arm (4), a release assembly (5), an unfolding assembly (6), a pulley assembly (7), a second cam (9), a swing assembly (10), a rotating connection assembly and a release rope (13); The deployment assembly (6) and the swing assembly (10) are mounted on the lander (11); the rear end of the primary arm (4) is connected to the swing assembly (10); the front end of the primary arm (4) is rotationally connected to the rear end of the secondary arm (3) via the rotation connection assembly; the slow release assembly (5) is mounted on the front part of the secondary arm (3); the slow release assembly (5) is connected to the pulley assembly (7) via a slow release rope (13); the pulley assembly (7) is mounted on the lunar rover (12); the first cam (1) is mounted at the connection between the primary arm (4) and the secondary arm (3); the second cam (9) is mounted at the connection between the primary arm (4) and the deployment assembly (6); one end of the attitude control rope (2) is connected to the deployment assembly (6); and the other end of the attitude control rope (2) is connected to the secondary arm (3).

2. The rope-controlled double-arm probe vehicle transfer and release device according to claim 1 is characterized in that: The unfolding assembly (6) comprises a bracket (601), a worm housing (602), a first turbine cover (603), a first winding wheel (604), a first turbine (605), a first worm (606), an unfolding motor (607) and a first transmission shaft (608); The bracket (601) and the worm housing (602) are arranged side by side, one end of the first transmission shaft (608) is rotatably connected to the bracket (601), the other end of the first transmission shaft (608) is rotatably connected to the worm housing (602), the first turbine (605) is coaxially fixedly sleeved on the other end of the first transmission shaft (608), the first winding wheel (604) is coaxially fixedly sleeved on the middle part of the first transmission shaft (608), the first worm (606) is rotatably installed in the worm housing (602), and the first worm (606) is meshed with the first turbine (605), one end of the first worm (606) is coaxially fixedly connected to the motor shaft of the unfolding motor (607), one end of the attitude control rope (2) is connected to the first winding wheel (604), the first turbine cover (603) is buckled on the top of the worm housing (602), and the first turbine (605) is located in the first turbine cover (603).

3. The rope-controlled double-arm probe vehicle transfer and release device according to claim 1, characterized in that: The swing assembly (10) comprises a swing motor (1001), a turbine shaft (1002), an outer shell (1003), a mounting base (1004), a second turbine (1005) and a second worm (1006); The mounting base (1004) is fixed on the lander (11), the outer shell (1003) is fixed on the mounting base (1004), the turbine shaft (1002) is rotatably mounted in the outer shell (1003), the second turbine (1005) is coaxially fixedly sleeved on the turbine shaft (1002), the second worm (1006) is meshed with the second turbine (1005), one end of the second worm (1006) is coaxially fixedly connected to the motor shaft of the swing motor (1001), and the second cam (9) is mounted on one end of the turbine shaft (1002).

4. The rope-controlled double-arm probe vehicle transfer and release device according to claim 1, characterized in that: The slow-release assembly (5) comprises a slow-release motor (501), a coupling (502), a slow-release housing (503), a protective cover (504), a third turbine (505), a third worm (506), a second winding wheel (507) and a fixed shaft (508); The protective cover (504) is fixedly mounted on the secondary arm (3), the fixed shaft (508) is rotatably mounted on the secondary arm (3), and the fixed shaft (508) is located inside the protective cover (504); the third turbine (505) and the second winding wheel (507) are coaxially fixedly sleeved on the fixed shaft (508), and the second winding wheel (507) is fixedly connected to the third turbine (505); one end of the slow-release rope (13) is connected to the second winding wheel (507), and the other end of the slow-release rope (13) is connected to the pulley assembly (7); the third worm (506) is rotatably mounted in the slow-release housing (503), and the third worm (506) is meshed with the third turbine (505); and the motor shaft of the slow-release motor (501) is coaxially fixedly connected to one end of the third worm (506) via a coupling (502).

5. The rope-controlled double-arm probe vehicle transfer and release device according to claim 1, characterized in that: The pulley assembly (7) comprises an adapter plate (701), a guide wheel (702) and a connecting frame (703); The connecting frame (703) is fixedly connected to the lunar rover (12), the guide wheel (702) is rotatably mounted on the secondary arm (3) via an adapter plate (701), and the other end of the slow-release rope (13) passes around the guide wheel (702) and is connected to the connecting frame (703).

6. The rope-controlled double-arm probe vehicle transfer and release device according to claim 1, characterized in that: The rotating connection assembly comprises a pressing sheet (14), a screw (15) and a first rotating shaft (16); The front end of the primary arm (4) and the rear end of the secondary arm (3) are both mounted on the first rotating shaft (16), the pressing plate (14) is fixed to the end of the first rotating shaft (16) by means of a screw (15), and the first cam (1) is mounted on the rear end of the secondary arm (3).

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