Ejection type separation release mechanism applied to extraterrestrial detection

Abstract

The invention relates to an ejection type separating and releasing mechanism applied to extraterrestrial detection. The separating and releasing mechanism comprises a connecting mechanism and three separating mechanisms. One end of the connecting mechanism is connected to the detector mounting plate, and the other end is connected with the extraterrestrial detection equipment; the three separating mechanisms are located around the connecting mechanism, one end of each separating mechanism is connected to the detector mounting plate, and the other end of each separating mechanism has pre-tightening elastic force, abuts against the extra-ground detection equipment and plays an auxiliary supporting role on the extra-ground detection equipment; and during separation, the connecting mechanism is unlocked and released, and the extraterrestrial detection equipment is ejected and separated under the elastic force action of the three separation mechanisms.

Description

Technical Field

[0001] The invention belongs to the technical field of extraterrestrial exploration and relates to an ejection-type separation and release mechanism used for extraterrestrial exploration. Background Art

[0002] Extraterrestrial exploration is an important direction of human space activities, an inevitable way for humans to explore the mysteries of the universe and seek long-term development, and an important indicator of a country's comprehensive national strength and scientific and technological development level. Various forms of exploration robots have been developed for extraterrestrial bodies such as Mars, the Moon, and asteroids to obtain information such as the atmosphere, star catalog, and profile of celestial bodies.

[0003] Extraterrestrial intelligent exploration robots are a type of robot that is carried by a probe or lander and can autonomously detect the surrounding environment and send back detection information. Due to the advantages of micro robots such as light weight, small size, and full autonomy, they have been rapidly developed in recent years.

[0004] In extraterrestrial missions, the role of intelligent robots is becoming increasingly critical. Intelligent robots can be deployed to the surface of extraterrestrial bodies through separation and release mechanisms to complete functions such as terrain and geomorphic surveys and resource exploration, providing rich geomorphic and geological information for further deep space exploration. Traditional separation and release mechanisms are mostly folding and unfolding mechanisms, which land on extraterrestrial bodies through landers, and then separate and release mechanisms to unfold and release intelligent robots and other detectors to explore extraterrestrial bodies. This will lead to problems such as large mass, complex structure, and low reliability of the separation and release mechanism. Summary of the invention

[0005] The technical problem solved by the present invention is: to overcome the shortcomings of the prior art, to propose a catapult-type separation and release mechanism applied to extraterrestrial exploration, to achieve a lightweight design of the separation and release mechanism for extraterrestrial exploration, to reduce the complexity of the mechanism, to improve the reliability of connection and separation, and to facilitate the separation and release of mass-produced micro-robots for extraterrestrial exploration.

[0006] The solution to the technical problem of the present invention is: an ejection-type separation and release mechanism used in extraterrestrial exploration, the separation and release mechanism comprising a connection mechanism and three separation mechanisms;

[0007] One end of the connection mechanism is connected to the detector mounting plate, and the other end is connected to the extraterrestrial detection equipment;

[0008] The three separation mechanisms are located around the connecting mechanism. One end of the separation mechanism is connected to the detector mounting plate, and the other end has a pre-tightened elastic force, which presses against the extraterrestrial detection equipment and provides auxiliary support for the extraterrestrial detection equipment. When separating, the connecting mechanism is unlocked and released, and the extraterrestrial detection equipment is ejected and separated under the elastic force of the three separation mechanisms.

[0009] Preferably, the connecting mechanism comprises a connecting seat, an unlocker, a connecting screw, and a pressing seat;

[0010] The connecting seat is a hollow cylindrical structure, one end of which is installed on the detector mounting plate and the other end has a through hole. The through hole end faces the center and is closed. The unlocker is installed in the hollow structure of the connecting seat and is limited by the closing end of the connecting seat. A threaded hole is provided in the center of the unlocker. When the unlocker is locked, the connecting screw passes through the clamping seat and is inserted into the threaded hole to connect with the unlocker. The mounting plate of the extraterrestrial detection equipment is connected to the clamping seat. When the unlocker is unlocked, the connecting screw comes out of the threaded hole of the unlocker, and the extraterrestrial detection equipment is separated from the connecting seat together with the clamping seat.

[0011] Preferably, the ejection-type separation and release mechanism used for extraterrestrial exploration further includes a protective cover, an anti-hooking spring, a spring washer, and a guide washer;

[0012] The protective cover is a U-shaped cover with an outward flange. The flange is fixedly installed on the mounting plate of the extraterrestrial detection equipment to cover the connecting screw heads. The connecting screws pass through the guide washers, spring washers and anti-hooking springs in sequence and then pass through the clamping seat to connect with the unlocker.

[0013] Preferably, the separation mechanism comprises a separation support, a separation spring, a telescopic sleeve, and a locking screw;

[0014] One end of the separation support is fixedly mounted on the detector mounting plate, and the other end is a cylindrical tube structure. The telescopic sleeve is a cylindrical tube structure with one end open. The separation spring enters the telescopic sleeve from the open end of the telescopic sleeve, and the open end of the telescopic sleeve is inserted into the cylindrical tube structure of the separation support; the end cover is connected to the separation support by loosening the nut; when the separation mechanism is in the retracted state, the telescopic sleeve retracts, and the locking screw passes through the side through hole of the separation support and is connected to the telescopic sleeve to lock the telescopic sleeve, and the closed end of the telescopic sleeve compresses the separation spring in the separation support; in the expanded state, the locking screw releases the restriction, and the telescopic sleeve extends out under the action of the separation spring, thereby realizing the ejection separation of the external detection equipment.

[0015] Preferably, the ejection-type separation and release mechanism used for extraterrestrial exploration further includes an adjustment end cap and a locking nut;

[0016] The adjusting end cover is an annular structure, which is threadedly connected to the end of the separation support. The inner diameter is larger than the outer diameter of the telescopic sleeve, and the telescopic sleeve can pass through it. The adjusting end cover is tightened, and the separation mechanism is pressed against the external detection equipment mounting plate by applying a pre-tightening force. The anti-loosening nut is used to prevent the adjusting end cover from loosening.

[0017] Preferably, the local external detection device mounting plate is parallel to the landing surface, and the sum of the elastic potential energies of the three separation springs passes through the center of mass of the local external detection device mounting plate and is perpendicular to the local external detection device mounting plate, ensuring that the local external detection device is separated and released parallel to the landing surface.

[0018] Preferably, when the mounting plate of the extraterrestrial detection device is perpendicular to the landing surface, the sum of the elastic potential energies of the three separation springs is located directly above the center of mass of the extraterrestrial detection device, ensuring that the extraterrestrial detection device flips forward and lands smoothly.

[0019] The beneficial effects of the present invention compared with the prior art are:

[0020] (1) The ejection-type separation and release mechanism disclosed in the present invention is applied to extraterrestrial exploration, which has a simple structure, light weight, and reliable connection and separation. Through a one-point connection and a three-point preload support method, it can realize a reliable connection of intelligent devices such as small robots and ensure sufficient connection stiffness;

[0021] (2) For the first time, a separation and release mechanism that can achieve reliable connection, effective separation, attitude adjustment, and smooth landing in a lightweight manner was proposed;

[0022] (3) During separation, the preload force of the separation spring can be adjusted according to the installation location and the terrain of the extraterrestrial body. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] FIG. 1( a ) is a schematic diagram showing the connection between a separation and release mechanism and an extraterrestrial detection device according to an embodiment of the present invention;

[0024] FIG1( b ) is a schematic diagram of the composition of the separation and release mechanism system according to an embodiment of the present invention;

[0025] FIG2( a ) is a cross-sectional view of a connection state of an unlocker connection mechanism according to an embodiment of the present invention;

[0026] FIG2( b ) is a cross-sectional view of the unlocking state of the unlocking device connecting mechanism according to an embodiment of the present invention;

[0027] FIG3( a ) is a contraction cross-sectional view of a separation mechanism according to an embodiment of the present invention;

[0028] FIG3( b ) is a cross-sectional view of the release mechanism according to an embodiment of the present invention;

[0029] FIG4( a ) is a schematic diagram of the installation process 1 of an embodiment of the present invention;

[0030] FIG4( b ) is a schematic diagram of installation process 2 of an embodiment of the present invention;

[0031] Figure 5 This is a schematic diagram of the separation process-compression state of an embodiment of the present invention;

[0032] Figure 6 This is a schematic diagram of the separation process - unlocking of the unlocker according to an embodiment of the present invention;

[0033] Figure 7 This is a schematic diagram of the separation process - ejection separation in an embodiment of the present invention;

[0034] Figure 8 This is a schematic diagram of the separation process - adjusting posture according to an embodiment of the present invention;

[0035] FIG9( a ) is a layout of a separation mechanism according to an embodiment of the present invention;

[0036] FIG9( b ) is a horizontal connection state of an embodiment of the present invention;

[0037] FIG9( c ) is a horizontal separation process according to an embodiment of the present invention;

[0038] FIG9( d ) shows the horizontal separation state of the embodiment of the present invention;

[0039] Fig.10 This is a schematic diagram of the layout of the separation mechanism when the embodiment of the present invention is installed horizontally;

[0040] FIG. 11( a ) shows the vertical connection state of an embodiment of the present invention.

[0041] FIG. 11( b ) is a diagram showing the vertical separation process 1 according to an embodiment of the present invention.

[0042] FIG. 11( c ) is a vertical separation process 2 according to an embodiment of the present invention.

[0043] FIG. 11( d ) shows the landing state of the embodiment of the present invention. DETAILED DESCRIPTION

[0044] The present invention will be further described below in conjunction with the embodiments and drawings.

[0045] The present invention proposes an ejection-type separation and release mechanism for extraterrestrial exploration, which has the advantages of simple structure, light weight, and reliable connection and separation. The connection stiffness and reliability are ensured by a one-point connection and a three-point preload support; by adjusting the preload force of the separation spring, smooth ejection separation and landing can be achieved in different installation positions and different terrains. It can be lightweight to achieve reliable connection, effective separation, posture adjustment, and reliable landing, which is convenient for the separation and release of mass-produced micro-robots and other intelligent devices for extraterrestrial exploration.

[0046] As shown in Figures 1(a), 1(b), 2(a), 2(b), 3(a), and 3(b), a catapult-type separation and release mechanism used for extraterrestrial exploration is mainly composed of a connecting mechanism and a separating mechanism. The connecting mechanism connects intelligent extraterrestrial exploration equipment such as a small robot to the detector mounting plate, one end of which is connected to the detector mounting plate, and the other end is connected to the extraterrestrial exploration equipment. One end of the separating mechanism is connected to the detector mounting plate, and the other end is pressed against the extraterrestrial exploration equipment through a pre-tightened elastic force, thereby providing auxiliary support for the extraterrestrial exploration equipment. Three separating mechanisms are located around the connecting mechanism, which are recorded as separating mechanism 1, separating mechanism 2, and separating mechanism 3. When separating, the connecting mechanism is unlocked and released, and the extraterrestrial exploration equipment is ejected and separated under the elastic force of the three separating mechanisms, and adjusts its posture during the falling process to land smoothly.

[0047] As shown in Figure 2(a) and Figure 2(b). The connection mechanism is mainly composed of a connection seat, an unlocker, an anti-hooking spring, a spring washer, a guide washer, a connection screw, a clamping seat, a protective cover, etc. The clamping seat and the protective cover are installed on small robots and other ground detection equipment. The connection seat is a hollow cylindrical structure, one end of which is installed on the detector mounting plate, and the other end has a through hole, and the through hole end faces the center closing. The unlocker is installed in the hollow structure of the connection seat and is limited by the connection seat closing. A threaded hole is provided in the center of the unlocker. The protective cover is a U-shaped cover with an external flange, which is fixedly installed on the mounting plate of the ground detection equipment and covers the head of the connection screw. The connection screw passes through the guide washer, spring washer and anti-hooking spring in sequence, and then passes through the clamping seat to connect with the unlocker.

[0048] When the unlocker is locked, the connecting screw passes through the clamping seat and is inserted into the threaded hole to connect with the unlocker, and the mounting plate of the extraterrestrial detection equipment is connected to the clamping seat. When the unlocker is unlocked, the connecting screw comes out of the threaded hole of the unlocker, and the extraterrestrial detection equipment is separated from the clamping seat and the connecting seat.

[0049] As shown in Figure 3(a) and Figure 3(b), the separation mechanism is mainly composed of a separation support, a separation spring, a telescopic sleeve, a locking screw, an adjustment end cover, a locking nut, etc., as shown in Figure 3. One end of the separation support is fixedly mounted on the detector mounting plate, and the other end is a cylindrical tube structure. The telescopic sleeve is a cylindrical tube structure with one end open. The separation spring enters the telescopic sleeve from the open end of the telescopic sleeve, and the open end of the telescopic sleeve is inserted into the cylindrical tube structure of the separation support; the end cover is connected to the separation support by a loose nut.

[0050] When the separation mechanism is in the folded state, the telescopic sleeve retracts, the locking screw passes through the side through hole of the separation support and connects with the telescopic sleeve to lock the telescopic sleeve, and the closed end of the telescopic sleeve compresses the separation spring in the separation support; in the expanded state, the locking screw releases the restriction, and the telescopic sleeve extends out under the action of the separation spring, thereby realizing the ejection separation of the external detection equipment.

[0051] The adjusting end cover is an annular structure, which is threadedly connected to the end of the separation support. The inner diameter is larger than the outer diameter of the telescopic sleeve, and the telescopic sleeve can pass through it. The adjusting end cover is tightened, and the separation mechanism is pressed against the external detection equipment mounting plate by applying a pre-tightening force. The anti-loosening nut is used to prevent the adjusting end cover from loosening.

[0052] As shown in Figure 4(a) and Figure 4(b), during installation, first install the three separation mechanisms in the retracted and locked state to the detector mounting plate, and then connect the small robot and other off-site detection equipment to the detector mounting plate through the connecting mechanism. Next, release the locking screws of the three separation mechanisms so that the telescopic sleeve is pressed on the small robot and other intelligent equipment under the action of the separation spring. Further tighten the adjustment end cover, and apply a pre-tightening force to make the separation mechanism press the small robot and other intelligent equipment. Finally, tighten the anti-loosening nut to prevent the adjustment end cover from loosening.

[0053] Before unlocking separation, Figure 5 As shown, small robots and other intelligent devices are connected to the detector mounting plate through a connection and separation mechanism. At this time, the center is fixedly connected and the three-point support is pre-tightened in a stable state.

[0054] When unlocking, Figure 6 As shown, the unlocker is unlocked, and the connecting screw is disengaged from the unlocker under the action of the anti-hooking spring and the guide washer, thereby releasing the fixed connection of the small robot and other intelligent devices.

[0055] When further separated, Figure 7 As shown, the three telescopic cylinders are extended under the action of the separation springs, and the small robots and other intelligent devices are released and separated under the ejection action of the three telescopic sleeves.

[0056] like Figure 8 As shown, the three-point ejection of the three separation mechanisms can form a stable ejection separation. At the same time, the separation spring force of the three separation mechanisms can be adjusted. According to different installation positions, the arrangement of the spring force is adjusted, so that under the combined action of the three separation mechanisms, small robots and other intelligent devices can adjust their posture in the air and complete landing.

[0057] The local external detection device installation plate is parallel to the landing surface, and the sum of the elastic potential energies of the three separation springs passes through the center of mass of the local external detection device installation plate and is perpendicular to the local external detection device installation plate, ensuring that the local external detection device is separated and released in parallel with the landing surface. For example, as shown in Figures 9(a) to (d), when a small robot or other intelligent device is installed horizontally on the landing surface, the layout of the three separation mechanisms is as shown in Figure 9(a), and the elastic potential energy of the spring of separation mechanism 1 must be equal to the elastic potential energy of the spring of separation mechanism 2, which can prevent the small robot or other intelligent device from flipping sideways during the separation process. At the same time, it is necessary to ensure that the sum of the elastic potential energy of the springs of separation mechanism 1 and separation mechanism 2 is equal to the elastic potential energy of the spring of separation mechanism 3, which can ensure that the small robot or other intelligent device is always separated and released in parallel with the landing surface. If the three separation mechanisms are evenly distributed along the circumference of the connecting mechanism, such as Fig.10 As shown, the elastic potential energies of the springs of the three separation mechanisms are respectively equal, which can ensure that small robots and other intelligent devices are always separated and released parallel to the landing surface.

[0058] When the mounting plate of the local external detection device is perpendicular to the landing surface, the sum of the elastic potential energies of the three separation springs is located directly above the center of mass of the local external detection device, ensuring that the local external detection device flips forward and lands smoothly. As shown in Figure 11, the elastic potential energies of the springs of the separation mechanism 1 and the separation mechanism 2 can be equal, which can prevent the small robot and other intelligent devices from flipping sideways during the separation process. At the same time, it is ensured that the sum of the elastic potential energies of the springs of the separation mechanism 1 and the separation mechanism 2 is greater than the elastic potential energy of the spring of the separation mechanism 3. In this way, it can be ensured that after the small robot and other intelligent devices are separated and released, due to the large elastic potential energy of the separation mechanisms 1 and 2, the small robot and other intelligent devices can flip forward during the separation process, adjust their posture in the air, make the angle with the landing surface gradually smaller, and land smoothly. The layout of the three separation mechanisms and the ratio of the elastic potential energy of the springs can be adjusted according to actual applications.

[0059] To sum up, the present invention adopts a one-point fixed connection, three-point support and ejection release method. According to the gravity of the extraterrestrial body, by adjusting the ejection separation force of the ejection spring, the landing posture of the small robot can be accurately controlled to achieve reliable release and smooth landing, and reliable connection, effective separation, posture adjustment and smooth landing can be achieved in a lightweight manner.

[0060] Although the present invention has been disclosed as above in the form of a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art may make possible changes and modifications to the technical solution of the present invention by using the methods and technical contents disclosed above without departing from the spirit and 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 content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

Claims

1. An ejection-type separation and release mechanism for extraterrestrial exploration, characterized in that It includes a connecting mechanism and three separating mechanisms; One end of the connection mechanism is connected to the detector mounting plate, and the other end is connected to the extraterrestrial detection equipment; The three separation mechanisms are located around the connecting mechanism. One end of the separation mechanism is connected to the detector mounting plate, and the other end has a pre-tightened elastic force, which presses against the extraterrestrial detection equipment and provides auxiliary support for the extraterrestrial detection equipment. When separating, the connecting mechanism is unlocked and released, and the extraterrestrial detection equipment is ejected and separated under the elastic force of the three separation mechanisms.

2. The ejection-type separation and release mechanism for extraterrestrial exploration according to claim 1, characterized in that: The connecting mechanism includes a connecting seat, an unlocker, a connecting screw, and a pressing seat; The connecting seat is a hollow cylindrical structure, one end of which is installed on the detector mounting plate and the other end has a through hole. The through hole end faces the center and is closed. The unlocker is installed in the hollow structure of the connecting seat and is limited by the closing end of the connecting seat. A threaded hole is provided in the center of the unlocker. When the unlocker is locked, the connecting screw passes through the clamping seat and is inserted into the threaded hole to connect with the unlocker. The mounting plate of the extraterrestrial detection equipment is connected to the clamping seat. When the unlocker is unlocked, the connecting screw comes out of the threaded hole of the unlocker, and the extraterrestrial detection equipment is separated from the connecting seat together with the clamping seat.

3. The ejection-type separation and release mechanism for extraterrestrial exploration according to claim 2 is characterized in that It also includes a protective cover, an anti-hooking spring, a spring washer, and a guide washer; The protective cover is a U-shaped cover with an outward flange. The flange is fixedly installed on the mounting plate of the extraterrestrial detection equipment to cover the connecting screw heads. The connecting screws pass through the guide washers, spring washers and anti-hooking springs in sequence and then pass through the clamping seat to connect with the unlocker.

4. The ejection-type separation and release mechanism for extraterrestrial exploration according to claim 2 is characterized in that The separation mechanism includes a separation support, a separation spring, a telescopic sleeve, and a locking screw; One end of the separation support is fixedly mounted on the detector mounting plate, and the other end is a cylindrical tube structure. The telescopic sleeve is a cylindrical tube structure with one end open. The separation spring enters the telescopic sleeve from the open end of the telescopic sleeve, and the open end of the telescopic sleeve is inserted into the cylindrical tube structure of the separation support; the end cover is connected to the separation support by loosening the nut; when the separation mechanism is in the retracted state, the telescopic sleeve is retracted, and the locking screw passes through the side through hole of the separation support and is connected to the telescopic sleeve to lock the telescopic sleeve, and the closed end of the telescopic sleeve compresses the separation spring in the separation support; In the unfolded state, the locking screw releases the restriction, and the telescopic sleeve extends out under the action of the separation spring, realizing the ejection separation of the external detection equipment.

5. The ejection-type separation and release mechanism for extraterrestrial exploration according to claim 2 is characterized in that Also includes adjustment end caps and lock nuts; The adjusting end cover is an annular structure, which is threadedly connected to the end of the separation support. The inner diameter is larger than the outer diameter of the telescopic sleeve, and the telescopic sleeve can pass through it. The adjusting end cover is tightened, and the separation mechanism is pressed against the external detection equipment mounting plate by applying a pre-tightening force. The anti-loosening nut is used to prevent the adjusting end cover from loosening.

6. The ejection-type separation and release mechanism for extraterrestrial exploration according to claim 2 is characterized in that The local external detection device mounting plate is parallel to the landing surface, and the sum of the elastic potential energies of the three separation springs passes through the center of mass of the local external detection device mounting plate and is perpendicular to the local external detection device mounting plate, ensuring that the local external detection device is separated and released parallel to the landing surface.

7. The ejection-type separation and release mechanism for extraterrestrial exploration according to claim 2 is characterized in that When the mounting plate of the extraterrestrial detection device is perpendicular to the landing surface, the sum of the elastic potential energies of the three separation springs is located directly above the center of mass of the extraterrestrial detection device, ensuring that the extraterrestrial detection device flips forward and lands smoothly.

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