A celestial application payload fully passive transfer release device and method

Abstract

The application relates to a planet application load full-passive transfer release device and method, which comprises a first horizontal swing arm, a second horizontal swing arm, a vertical cantilever, a first joint, a second joint and a third joint. One end of the first horizontal swing arm is provided with the first joint for rotationally connecting a lander body, the other end of the first horizontal swing arm is rotationally connected with one end of the second horizontal swing arm through the second joint, the other end of the second horizontal swing arm is rotationally connected with one end of the vertical cantilever through the third joint, and the other end of the vertical cantilever is used for mounting a planet application load. The first joint, the second joint and the third joint are all provided with rotation acting force through a coil spring, and the coil spring at the first joint, the second joint and the third joint is all in an energy storage state when the first horizontal swing arm, the second horizontal swing arm and the vertical cantilever are in a folded state. The entire release device uses a pure mechanical structure for control, and the stability, safety and reliability of the entire device are improved.

Description

Technical Field

[0001] This invention relates to the field of space payload release technology, specifically to a device and method for the fully passive transfer and release of planetary application payloads. Background Technology

[0002] With the development of aerospace technology, the number of planetary application payloads is increasing. As a key device for the extraterrestrial deployment of payloads, the transfer and release mechanism directly determines the success of planetary exploration missions. In existing technologies, traditional ramp-type transfer mechanisms are highly specific, mainly suitable for wheeled rovers and similar equipment, and cannot meet the needs of diverse planetary application payloads. Actively driven transfer mechanisms rely on motor drives, resulting in complex structures and low reliability. Furthermore, active drive systems face reliability risks in extreme environments (such as the extreme temperatures and lack of atmosphere on the moon). In addition, planetary exploration missions have stringent requirements for lightweight mechanisms. Therefore, a fully passive, highly reliable transfer scheme is of great significance to the development of planetary application payloads.

[0003] Chinese patent application CN115848657A discloses a lateral telescopic pole side-swing transfer device and its transfer method. The lateral telescopic pole side-swing transfer device includes a release mechanism, a telescopic rope, a telescopic swing arm, a hinge support, and a power assembly. One end of the telescopic swing arm is fixed to the top of the lander via the hinge support, and the other end is connected to the telescopic rope. The release mechanism is connected to the lower part of the telescopic rope and is connected to the planetary rover. The power assembly drives the swing and extension of the telescopic swing arm and the extension and retraction of the telescopic rope. This transfer device and method rely on the power assembly to provide tension for the transfer.

[0004] Chinese patent application CN116119027A discloses a folding-rod side-swing transfer device and method for transporting a planetary rover. The folding-rod side-swing transfer device includes a swing rod, a boom, a release rope, an attitude control rope, and a fixed-length rope. One end of the swing rod is connected to one end of the boom via an attitude control hinge, and the other end is hinged to a first cam. The other end of the boom is connected to the planetary rover via a release mechanism. The first cam is connected to a swing motor, which controls the swing rod to swing horizontally. One end of the release rope is wound around a release rope wheel, and the other end is connected to the release mechanism. The release rope wheel is connected to a release motor. One end of the attitude control rope is mounted on the first cam, and the other end is connected to the boom. One end of the fixed-length rope is wound around a fixed-length rope wheel, and the other end is connected to the swing rod. The release rope wheel, fixed-length rope wheel, release motor, swing motor, and first cam are all mounted on the lander. This transfer device and method rely on a motor to provide tension for the transfer. Summary of the Invention

[0005] In order to solve one or more technical problems existing in the prior art, the present invention provides a device and method for the fully passive transfer and release of planetary application payloads.

[0006] The technical solution of this invention to solve the above-mentioned technical problems is as follows: This invention provides a fully passive transfer and release device for planetary application payloads, including a first horizontal swing arm, a second horizontal swing arm, a vertical cantilever, a first joint, a second joint, and a third joint. One end of the first horizontal swing arm is provided with a first joint for rotatably connecting to the lander body. The other end of the first horizontal swing arm is rotatably connected to one end of the second horizontal swing arm through a second joint. The other end of the second horizontal swing arm is rotatably connected to one end of the vertical cantilever through a third joint. The other end of the vertical cantilever is used to install the planetary application payload. The first joint, the second joint, and the third joint all provide rotational force through coil springs. When the first horizontal swing arm, the second horizontal swing arm, and the vertical cantilever are in a folded state, the coil springs at the first joint, the second joint, and the third joint are all in an energy storage state.

[0007] The beneficial effects of this invention are as follows: This invention provides a fully passive transfer and release device for planetary application payloads. By setting up two horizontal swing arms and one vertical cantilever, with the three arms connected by joints and utilizing coil springs to provide rotational force, the entire device achieves passive transfer and release of planetary application payloads without any external continuous driving force input during operation, thus having the advantage of low resource consumption. The entire release device uses a purely mechanical structure control, improving the stability, safety, and reliability of the entire device.

[0008] Based on the above technical solution, the present invention can be further improved as follows.

[0009] Furthermore, both the first joint and the second joint include a first connector, a first bearing, a first rotating shaft, and a first coil spring. A first connecting channel is formed in the first connector. The first rotating shaft is rotatably connected to the first connecting channel through the first bearing. The first coil spring is sleeved on the first rotating shaft, with its inner end connected to the first rotating shaft and its outer end connected to the first connector.

[0010] The first connector of the first joint is fixedly connected to one end of the first horizontal swing arm, and the two ends of the first pivot of the first joint are respectively used to fix the lander body. The first horizontal swing arm is arranged perpendicularly to the first pivot of the first joint. The first pivot of the second joint is fixedly connected perpendicularly to the other end of the first horizontal swing arm, and the first connector of the second joint is fixedly connected to one end of the second horizontal swing arm.

[0011] The beneficial effects of adopting the above-mentioned further solution are: by setting the structure of the first joint and the second joint, it is convenient to rotate between the two horizontal swing arms, and also convenient to rotate with the platform frame.

[0012] Furthermore, the third joint includes a second connecting member, a second bearing, a second rotating shaft, and a second coil spring. The second connecting member has an L-shaped structure. One end of the second connecting member is fixedly connected to the other end of the second horizontal swing arm. The second rotating shaft is vertically fixedly connected to the other end of the second connecting member. The upper end of the vertical cantilever is sleeved on the second rotating shaft and rotatably connected to the second rotating shaft through the second bearing. The second coil spring is sleeved on the second rotating shaft, with its inner end connected to the second rotating shaft and its outer end connected to the upper end of the vertical cantilever.

[0013] The beneficial effect of adopting the above-mentioned further solution is that by setting the structure of the third joint, it is convenient to rotate between the horizontal swing arm and the vertical cantilever.

[0014] Furthermore, the third joint also includes a second coil spring shell, which is fixed to the upper end of the vertical cantilever. The second coil spring is disposed inside the second coil spring shell and its outer end is fixedly connected to the second coil spring shell. The second rotating shaft moves through the second coil spring shell.

[0015] Furthermore, it also includes a rope, a rope release mechanism, and a rope triggering mechanism. The rope is mounted on the rope release mechanism and extends along the vertical cantilever after passing through the third joint and is used to connect the planetary application payload. The rope release mechanism and the rope triggering mechanism are both mounted on one end of the second horizontal swing arm near the second joint or directly mounted on the first connector of the second joint. The other end of the first horizontal swing arm is provided with a first limiting block.

[0016] When the second horizontal swing arm opens to a preset angle relative to the first horizontal swing arm, the first limiting block abuts against and drives the rope triggering mechanism to release the locking limit on the rope release mechanism, so that the rope release mechanism releases the rope.

[0017] The beneficial effects of adopting the above-mentioned further scheme are: by setting up a rope release mechanism and a rope triggering mechanism, it is convenient to reel in and release the rope, and it is convenient to smoothly lower the planetary application payload to the planetary surface after the entire release device is opened.

[0018] Furthermore, the rope release mechanism includes a rope bearing, a rope coil spring, a rope coil spring assembly housing, a rope shaft, and a wheel. The rope shaft is vertically rotatably connected to the first connecting member of the second joint or the second horizontal swing arm via the rope bearing. The rope coil spring assembly housing is fixed to the first connecting member of the second joint or the second horizontal swing arm. The rope coil spring is sleeved on the rope shaft, with its inner end fixedly connected to the rope shaft and its outer end fixedly connected to the rope coil spring assembly housing. The wheel is sleeved on and fixed to the rope shaft, and one end of the rope is connected to and wound on the wheel.

[0019] The beneficial effect of adopting the above-mentioned further solution is that by setting a rope coil spring, tension can be provided for the release of the rope.

[0020] Furthermore, a rope limiting member is provided on the side wall of the other end of the vertical cantilever, and the other end of the rope is used to connect the planetary application payload after passing through the rope limiting member.

[0021] The beneficial effect of adopting the above-mentioned further solution is that by setting a rope limiting member, the rope can be passed through the rope limiting member, so that the rope can be extended along the extension direction of the vertical cantilever.

[0022] Furthermore, the rope triggering mechanism includes a locking lever, a lever shaft, and a torsion spring. The middle part of the locking lever is rotatably connected to the first connecting piece of the second joint or the second horizontal swing arm via the lever shaft. The lever shaft is connected to the middle part of the locking lever via the torsion spring. One end of the locking lever is locked and limited on the rope release mechanism under the action of the torsion spring.

[0023] When the second horizontal swing arm opens to a preset angle relative to the first horizontal swing arm, the first limiting block abuts against and drives the other end of the locking lever to rotate, causing one end of the locking lever to release the locking limit on the rope release mechanism, thereby releasing the rope from the rope release mechanism.

[0024] The beneficial effects of adopting the above-mentioned further solution are as follows: By setting a locking lever, when the entire release device is retracted, the locking lever can be used to engage the rope release mechanism to wind up the rope; when the entire release device is opened, the limiting block can be used to drive the locking lever to release the engagement limit on the rope release mechanism, allowing the rope release mechanism to release the rope. The locking lever has a self-locking characteristic, ensuring the stable release of the planetary application payload even if the vertical cantilever disconnects prematurely.

[0025] Once the entire release device is fully deployed, the first limiting block can collide with the locking lever, using the lever principle to release the rope through the rope release mechanism, allowing the planetary application payload to be smoothly released to the planetary surface. After the planetary application payload successfully lands on the planetary surface, other mechanisms can be used to automatically detach the planetary application payload from the rope.

[0026] Furthermore, the third joint is provided with a U-shaped rope through hole for threading a rope.

[0027] This invention also provides a method for the fully passive transfer and release of planetary application payloads, implemented using the fully passive transfer and release device for planetary application payloads as described above, comprising the following steps:

[0028] Ascent Phase: The planetary application payload is fixed to the platform frame of the lander body by a locking mechanism. The first joint is installed on the front side of the platform frame. The first and second horizontal swing arms are folded and placed on the front side of the platform frame and are limited and fixed by a pyrotechnic cutter. The vertical cantilever is folded and placed below the platform frame.

[0029] Release Phase: After the lander body lands, the locking mechanism unlocks, and the planetary application payload falls under its own weight, driving the vertical cantilever to rotate downwards and transfer out of the platform frame; after the pyrotechnic cutter releases the lock on the first and second horizontal swing arms, the first and second horizontal swing arms open outwards from the platform frame by means of the coil springs of the first and second joints. After the first and second horizontal swing arms are fully opened, the planetary application payload is released.

[0030] The beneficial effects of this invention are as follows: The release method of this invention utilizes a coil spring and the gravity of the planetary application payload to drive the movement of the entire device. The entire movement process requires no external continuous driving force input to achieve the passive transfer and release of the planetary application payload, offering the advantage of low resource consumption. This invention controls the rotation of the rotary joints through a coil spring, limits the rotation of the joints through a limiting mechanism at each joint, and, to achieve sequential deployment, uses a pyrotechnic cutter to unlock and release the joint movement. Attached Figure Description

[0031] Figure 1 This is a cross-sectional structural diagram of the fully passive transfer and release device for planetary applications of the present invention in its open state.

[0032] Figure 2 for Figure 1 Enlarged structural diagram of section A in the middle;

[0033] Figure 3 for Figure 1 Enlarged structural diagram of section B in the middle;

[0034] Figure 4 for Figure 1 Enlarged structural diagram of section C;

[0035] Figure 5 for Figure 1 Enlarged structural diagram of section D in the middle;

[0036] Figure 6 This is a top view of the fully passive transfer and release device for planetary applications of the present invention in its open state.

[0037] Figure 7 This is a top view schematic diagram of the second joint and rope release structure of the present invention;

[0038] Figure 8This is a side view of the passive transfer and release device for planetary applications of the present invention in its retracted state on the lander body.

[0039] Figure 9 This is a front view schematic diagram of the planetary application payload passive transfer and release device of the present invention in the retracted state on the lander body;

[0040] Figure 10 for Figure 9 Enlarged schematic diagram of the middle section structure;

[0041] Figure 11 This is a top view of the retracted state of the planetary application payload fully passive transfer and release device of the present invention.

[0042] Figure 12 This is a side view of the partially opened structure of the planetary application payload passive transfer and release device of the present invention on the lander body;

[0043] Figure 13 This is a schematic diagram of the front view of the planetary application payload fully passive transfer and release device of the present invention, partially unfolded on the lander body;

[0044] Figure 14 for Figure 13 Enlarged schematic diagram of the middle section structure;

[0045] Figure 15 This is a side view of the fully deployed planetary application payload passive transfer and release device of the present invention on the lander body.

[0046] Figure 16 for Figure 15 Enlarged schematic diagram of the middle part of the structure.

[0047] The attached diagram lists the components represented by each number as follows:

[0048] 1. First horizontal swing arm; 11. First limit block; 2. Second horizontal swing arm;

[0049] 3. Vertical cantilever; 31. Rope limiting component; 32. Connecting rod;

[0050] 4. First joint; 41. First connector; 42. First bearing; 43. First pivot; 44. First coil spring; 45. First connecting channel; 46. First coil spring housing;

[0051] 5. Second joint; 51. Second limiting block; 52. Torsion spring stop block;

[0052] 6. Third joint; 61. Second connecting piece; 62. Second bearing; 63. Second pivot; 64. Second coil spring; 65. Second coil spring housing;

[0053] 7. Lander body; 71. Connecting frame; 72. Platform frame; 73. Planetary application payload; 74. Pyrotechnic cutter; 75. Connection point; 76. Separation nut;

[0054] 8. Rope; 81. Rope release mechanism; 82. Rope bearing; 83. Rope coil spring; 84. Rope coil spring assembly housing; 85. Rope pivot; 86. Wheel; 87. Locking lever; 88. Lever shaft; 89. Torsion spring; 890. Rope through hole; 891. First limit hook; 892. Second limit hook; 893. Spring pin. Detailed Implementation

[0055] The principles and features of the present invention are described below. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0056] Example 1

[0057] like Figures 1-16 As shown, this embodiment of a planetary application payload passive transfer and release device includes a first horizontal swing arm 1, a second horizontal swing arm 2, a vertical cantilever 3, a first joint 4, a second joint 5, and a third joint 6. One end of the first horizontal swing arm 1 is provided with a first joint 4 for rotatably connecting to the lander body 7. The other end of the first horizontal swing arm 1 is rotatably connected to one end of the second horizontal swing arm 2 through the second joint 5. The other end of the second horizontal swing arm 2 is rotatably connected to one end of the vertical cantilever 3 through the third joint 6. The other end of the vertical cantilever 3 is used to install the planetary application payload 73. The first joint 4, the second joint 5, and the third joint 6 all provide rotational force through coil springs. When the first horizontal swing arm 1, the second horizontal swing arm 2, and the vertical cantilever 3 are in a folded state, the coil springs at the first joint 4, the second joint 5, and the third joint 6 are all in an energy storage state.

[0058] In this embodiment, the fully passive transfer and release device for planetary application payloads can be used by first folding the first horizontal swing arm 1, the second horizontal swing arm 2, and the vertical cantilever 3. Then, the first horizontal swing arm 1 and the second horizontal swing arm 2 are locked using the pyrotechnic cutter 74. The vertical cantilever 3 can be folded horizontally through the connection between the planetary application payload 73 and the platform frame 72. That is, the planetary application payload 73 prevents the vertical cantilever 3 from rotating downwards, and the vertical cantilever 3 has no corresponding structure for direct locking. When the planetary application payload 73 is released from the platform frame 72, the vertical cantilever 3 can be rotated from a horizontal state to a vertical state under the action of gravity of the planetary application payload 73. Then, the pyrotechnic cutter releases the lock on the first horizontal swing arm 1 and the second horizontal swing arm 2, and the first horizontal swing arm 1 and the second horizontal swing arm 2 unfold under the action of the first joint 4 and the second joint 5.

[0059] To limit the rotation of the first horizontal swing arm 1 and the second horizontal swing arm 2 to their designated positions, limiting holes and spring pins 893 can be provided at the positions of the first horizontal swing arm 1 and the second horizontal swing arm 2 corresponding to the positions of the first joint 4 and the second joint 5, respectively, to provide elastic limiting after rotation. The vertical cantilever 3 near the third joint 6 can also be limited by limiting holes and spring pins. The pyrotechnic cutter 74 can be any pyrotechnic device commonly used in the art, to achieve locking and releasing of the second horizontal swing arm 2, allowing the first horizontal swing arm 1 to fold under the limiting of the second horizontal swing arm 2 and the pyrotechnic cutter 74.

[0060] This embodiment presents a fully passive transfer and release device for planetary application payloads. By configuring two horizontal swing arms and one vertical cantilever, the three arms are connected by joints and utilize coil springs to provide rotational force. The entire device operates without any external continuous driving force input, achieving passive transfer and release of planetary application payloads, thus offering the advantage of low resource consumption. The entire release device uses a purely mechanical structure for control, improving the stability, safety, and reliability of the entire system.

[0061] Example 2

[0062] Based on Embodiment 1, this embodiment provides a preferred structural scheme for the first joint 4 and the second joint 5. For example... Figures 1-3 As shown, both the first joint 4 and the second joint 5 include a first connecting member 41, a first bearing 42, a first rotating shaft 43, and a first coil spring 44. A first connecting channel 45 is formed within the first connecting member 41. The first rotating shaft 43 is rotatably connected to the first connecting channel 45 via the first bearing 42. The first coil spring 44 is sleeved on the first rotating shaft 43, with its inner end connected to the first rotating shaft 43 and its outer end connected to the first connecting member 41. The first connecting member 41 of the first joint 4 is fixedly connected to one end of the first horizontal swing arm 1. Both ends of the first rotating shaft 43 of the first joint 4 are used to fixably connect to the lander body 7. The first horizontal swing arm 1 is arranged perpendicularly to the first rotating shaft 43 of the first joint 4. The first rotating shaft 43 of the second joint 5 is vertically fixedly connected to the other end of the first horizontal swing arm 1. The first connecting member 41 of the second joint 5 is fixedly connected to one end of the second horizontal swing arm 2. This structural design of the first and second joints facilitates the rotatable connection between the two horizontal swing arms and also facilitates the rotatable connection with the platform frame.

[0063] Specifically, such as Figures 1-3As shown, both the first joint 4 and the second joint 5 include a first spring housing 46. The first spring housing 46 is fixed to one axial end of the first connecting channel 45 of the first connector 41, and the first spring 44 is installed inside the first spring housing 46. One or more first bearings 42 can be provided in the first connecting channel 45 of the first connector 41 to facilitate an effective and stable connection with the first rotating shaft 43.

[0064] In this embodiment, a connecting post can be vertically installed on the side wall of the first connector 41 at the first joint 4. A connecting groove can be opened on the connecting post for inserting and fixing the first horizontal swing arm 1. The first rotating shaft 43 at the first joint 4 can extend from both ends of the first connecting channel 45 of the first connector 41 and be fixed to the platform frame 72 of the lander body 7.

[0065] In this embodiment, a connecting post can also be vertically installed on the side wall of the first connecting member 41 at the second joint 5. A connecting groove can also be provided on the connecting post for inserting and fixing the second horizontal swing arm 2, so that the first rotating shaft 43 is arranged perpendicularly to the first horizontal swing arm 1. The first rotating shaft 43 at the second joint 5 can extend from both ends of the first connecting channel 45 of the first connecting member 41 and be fixed to the other end of the first horizontal swing arm 1 (it can be directly fixed to the other end of the first horizontal swing arm 1, or it can be indirectly fixed by connecting post and connecting groove).

[0066] Specifically, a limiting hole can be provided on the first connecting member 41 of the second joint 5, and a spring pin 893 can be provided on the connecting column of the first horizontal swing arm 1 corresponding to the second joint 5. When rotated to the position, the spring pin 893 automatically enters the limiting hole for limiting.

[0067] In this embodiment, during the release of the planetary application payload passive transfer and release device, the vertical cantilever 3 rotates downwards from its original horizontal state to a vertical state under the gravity of the planetary application payload 73. Then, the first horizontal swing arm 1 opens outwards under the action of the first coil spring 44 at the first joint 4, and simultaneously the second horizontal swing arm 2 opens outwards under the action of the first coil spring 44 at the second joint 5. The torque transmission path at the first joint 4 is: first coil spring 44 at the first joint 4 → first coil spring shell 46 → first connecting member 41 → first horizontal swing arm 1. The torque transmission path at the second joint 5 is: first coil spring 44 at the second joint 5 → first coil spring shell 46 → first connecting member 41 → second horizontal swing arm 2.

[0068] Example 3

[0069] Based on Embodiment 1 or Embodiment 2, this embodiment provides a preferred structural scheme for the third joint 6. For example... Figure 4As shown, the third joint 6 includes a second connecting member 61, a second bearing 62, a second rotating shaft 63, and a second coil spring 64. The second connecting member 61 has an L-shaped structure, and one end of the second connecting member 61 is fixedly connected to the other end of the second horizontal swing arm 2 (which can be fixed by plugging). The second rotating shaft 63 is vertically fixedly connected to the other end of the second connecting member 61. The upper end of the vertical cantilever 3 is sleeved on the second rotating shaft 63 and rotatably connected to the second rotating shaft 63 through the second bearing 62. The second coil spring 64 is sleeved on the second rotating shaft 63, with its inner end connected to the second rotating shaft 63 and its outer end connected to the upper end of the vertical cantilever 3. By setting the structure of the third joint, the rotatable connection between the horizontal swing arm and the vertical cantilever is facilitated.

[0070] Specifically, such as Figure 4 As shown, the third joint 6 also includes a second spring housing 65, which is fixed to the upper end of the vertical cantilever 3. The second spring 64 is disposed inside the second spring housing 65 and its outer end is fixedly connected to the second spring housing 65. The second rotating shaft 63 moves through the second spring housing 65.

[0071] When the planetary application payload fully passive transfer and release device of this embodiment is released, the torque transmission path at the third joint 6 is the second coil spring 64 at the third joint 6 → the second coil spring shell 65 → the second connecting piece 61 → the vertical cantilever 3.

[0072] Example 4

[0073] Based on any of the above embodiments, the planetary application payload fully passive transfer and release device of this embodiment further includes a rope 8, a rope release mechanism 81, and a rope triggering mechanism. The rope 8 is installed on the rope release mechanism 81 and extends along the vertical cantilever 3 after passing through the third joint 6, and is used to connect the planetary application payload 73. The rope release mechanism 81 and the rope triggering mechanism are both installed on one end of the second horizontal swing arm 2 near the second joint 5 or directly on the first connecting member 41 of the second joint 5. The other end of the first horizontal swing arm 1 is provided with a first limiting block 11. When the second horizontal swing arm 2 opens to a preset angle relative to the first horizontal swing arm 1, the first limiting block 11 abuts against and drives the rope triggering mechanism to release the locking and limiting of the rope release mechanism 81, so that the rope release mechanism 81 releases the rope 8. By setting the rope release mechanism and the rope triggering mechanism, it is convenient to wind up, limit, and release the rope, and it is convenient for the planetary application payload to be smoothly lowered to the planetary surface after the entire release device is opened.

[0074] Specifically, such as Figure 4As shown, a ┐-shaped rope through hole 890 can be opened on the second connector 61. After the rope 8 passes through the rope through hole 890, the extension direction of the rope 8 is changed, and the rope 8, which originally extends along the second horizontal swing arm 2, is changed to extend along the vertical cantilever 3.

[0075] Example 5

[0076] In accordance with the technology of Embodiment 4, this embodiment provides a preferred structure for a rope release mechanism. For example... Figure 3 As shown, the rope release mechanism in this embodiment includes a rope bearing 82, a rope coil spring 83, a rope coil spring assembly housing 84, a rope shaft 85, and a wheel 86. The rope shaft 85 is vertically rotatably connected to the first connecting member 41 of the second joint 5 or the second horizontal swing arm 2 via the rope bearing 82. The rope coil spring assembly housing 84 is fixed to the first connecting member 41 of the second joint 5 or the second horizontal swing arm 2. The rope coil spring 83 is sleeved on the rope shaft 85, with its inner end fixedly connected to the rope shaft 85 and its outer end fixedly connected to the rope coil spring assembly housing 84. The wheel 86 is sleeved on and fixed to the rope shaft 85, and one end of the rope 8 is connected to and wound on the wheel 86. By providing the rope coil spring, tension can be provided for the release of the rope.

[0077] like Figure 5 As shown, in this embodiment, a rope limiting member 31 is provided on the side wall of the other end of the vertical cantilever 3. The other end of the rope 8 passes through the rope limiting member 31 and is used to connect to the planetary application payload 73. By setting the rope limiting member, the rope can pass through the rope limiting member, so that the rope extends along the extension direction of the vertical cantilever.

[0078] like Figure 5 As shown, the rope limiting member 31 can be fixed to the lower end of the vertical cantilever 3 via the connecting rod 32. The vertical cantilever 3 is arranged perpendicularly to the connecting rod 32, and the rope limiting member 31 is spaced apart from the vertical cantilever 3. The rope limiting member 31 can be a pulley and a limiting frame. The limiting frame can be fixed on the pulley axle to limit the rope 8 on the pulley. Alternatively, a through hole can be directly opened on the rope limiting member 31 for the rope 8 to move through the through hole for limiting.

[0079] In this embodiment, the rope coil spring assembly housing 84 does not have the degree of freedom to rotate freely around its axis. When the rope release mechanism is unlocked, the rope coil spring 83 will drive the rope shaft 85 to rotate, which in turn will drive the wheel 86 to rotate and release the rope 8. Under the combined action of the planetary application payload 73's own gravity, the frictional force on the rope 8, and the torque of the rope coil spring 83, the planetary application payload 73 will smoothly descend to the planetary surface, and the transfer and release process of the planetary application payload will be completed.

[0080] Example 6

[0081] This embodiment provides a preferred structural scheme for a rope triggering mechanism. For example... Figure 6 and Figure 7 As shown, the rope triggering mechanism includes a locking lever 87, a lever shaft 88, and a torsion spring 89. The middle part of the locking lever 87 is rotatably connected to the first connecting member 41 of the second joint 5 or the second horizontal swing arm 2 via the lever shaft 88. The lever shaft 88 is connected to the middle part of the locking lever 87 via the torsion spring 89. One end of the locking lever 87 is locked and limited on the rope release mechanism 81 under the action of the torsion spring 89. When the second horizontal swing arm 2 opens to a preset angle relative to the first horizontal swing arm 1 (e.g., 160°~200°), the first limiting block 11 abuts against and drives the other end of the locking lever 87 to rotate, so that one end of the locking lever 87 releases the locking and limiting action on the rope release mechanism 81, and the rope release mechanism 81 releases the rope 8. By incorporating a locking lever, when the entire release device is retracted, the locking lever engages with the rope release mechanism to wind up the rope. When the entire release device is extended, a limit block drives the locking lever to release the rope release mechanism, allowing the rope release mechanism to release the rope. The locking lever has a self-locking characteristic, ensuring stable release of the planetary application payload even if the vertical cantilever disconnects prematurely.

[0082] Specifically, such as Figure 6 and Figure 7 As shown, in this embodiment, a first limiting hook 891 can be provided at one end of the locking lever 87. The rope shaft 85 extends from the first connecting member 41 of the connected second horizontal swing arm 2 or second joint 5 to directly fix the second limiting hook 892. Alternatively, the rope shaft 85 extends from the first connecting member 41 of the connected second horizontal swing arm 2 or second joint 5 and is fixed or integrally connected with a spring pin. The second limiting hook 892 is fixed on the spring pin. In use, the locking lever 87 and the rope shaft 85 can be locked by the first limiting hook 891 and the second limiting hook 892. The setting of the spring pin can reduce the impact force generated when the two limiting hooks collide, and at the same time avoid large-scale vibration of the mechanism.

[0083] like Figure 7 As shown, preferably, the first connecting member 41 of the second horizontal swing arm 2 or the second joint 5 used for assembling the rope triggering mechanism in this embodiment is provided with a second limiting block 51, which is used to limit the locking lever 87 when it is in the open state after the locking lever 87 is released from the limit with the rope release mechanism 81, so as to prevent the locking lever 87 from being opened too much and unable to return to its original position.

[0084] Optionally, in this embodiment, the first connecting member 41 of the second horizontal swing arm 2 or the second joint 5 used for assembling the rope triggering mechanism is provided with a torsion spring stop 52 that limits one end of the torsion spring 89. The other end of the torsion spring 89 can be fixed to the end of the locking lever 87 near the first limiting block 11. When the first limiting block 11 presses the locking lever 87, the other end of the locking lever 87 can be released from limiting the rope release mechanism 81, that is, the hook engagement between the first limiting hook 891 and the second limiting hook 892 is opened, and the torsion spring 89 is in a stored state. When the first limiting block 11 releases the pressure on the locking lever 87, the locking lever 87 can hook and engage the rope shaft 85 under the action of the torsion spring 89.

[0085] Example 7

[0086] This invention also provides a method for the fully passive transfer and release of planetary application payloads, implemented using a fully passive transfer and release device for planetary application payloads as described in any of the above embodiments, comprising the following steps:

[0087] Upward phase: such as Figures 8-11 As shown, the planetary application payload 73 is fixed to the platform frame 72 of the lander body 7 by a locking mechanism. The platform frame 72 is fixedly connected to the outer wall of the lander body 7 by a connecting frame 71. The first horizontal swing arm 1 and the second horizontal swing arm 2 are folded and placed on one side of the platform frame 72 and are limited and fixed by a pyrotechnic cutter 74. The vertical cantilever 3 is folded and placed below the platform frame 72. Specifically, after folding, the vertical cantilever 3 is perpendicular to the second horizontal swing arm 2 and located behind the folded second horizontal swing arm 2 and the first horizontal swing arm 1.

[0088] The locking mechanism can be a release nut 76, and the upper surface of the planetary application load 73 can be provided with multiple connection points 75, which are respectively connected and fixed to the platform frame 72 through the release nut 76.

[0089] Release phase: such as Figures 12-16 As shown, after the lander body 7 lands, the locking mechanism unlocks, and the planetary application payload 73 falls under its own weight, driving the vertical cantilever to rotate downwards and transfer out of the platform frame 72; after the pyrotechnic cutter 74 releases the lock on the first horizontal swing arm 1 and the second horizontal swing arm 2, the first horizontal swing arm 1 and the second horizontal swing arm 2 open outwards from the platform frame 72 by means of the coil springs of the first joint 4 and the second joint 5. After the first horizontal swing arm 1 and the second horizontal swing arm 2 are in place, the planetary application payload 73 is released.

[0090] The release method in this embodiment uses the coil spring and the gravity of the planetary application payload to drive the movement of the entire device. The planetary application payload can be passively transferred and released without any external continuous driving force input during the entire movement process, which has the advantage of low resource consumption.

[0091] In the description of this invention, it should be understood that the terms "vertical," "horizontal," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0092] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0093] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0094] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0095] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0096] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A fully passive transfer and release device for planetary applications, characterized in that, The system includes a first horizontal swing arm, a second horizontal swing arm, a vertical cantilever, a first joint, a second joint, and a third joint. One end of the first horizontal swing arm is provided with a first joint for rotatably connecting to the lander body. The other end of the first horizontal swing arm is rotatably connected to one end of the second horizontal swing arm via a second joint. The other end of the second horizontal swing arm is rotatably connected to one end of the vertical cantilever via a third joint. The other end of the vertical cantilever is used to mount planetary application payloads. The first, second, and third joints all provide rotational force through coil springs. When the first, second, and vertical swing arms are in a folded state, the coil springs at the first, second, and third joints are all in an energy storage state. Ascent Phase: The planetary application payload is fixed to the platform frame of the lander body by a locking mechanism. The first joint is installed on the front side of the platform frame. The first and second horizontal swing arms are folded and placed on the front side of the platform frame and are limited and fixed by a pyrotechnic cutter. The vertical cantilever is folded and placed below the platform frame. Release Phase: After the lander body lands, the locking mechanism unlocks, and the planetary application payload falls under its own weight, driving the vertical cantilever to rotate downwards and transfer out of the platform frame; after the pyrotechnic cutter releases the lock on the first and second horizontal swing arms, the first and second horizontal swing arms open outwards from the platform frame by means of the coil springs of the first and second joints. After the first and second horizontal swing arms are fully opened, the planetary application payload is released.

2. The planetary application payload fully passive transfer and release device according to claim 1, characterized in that, Both the first joint and the second joint include a first connector, a first bearing, a first rotating shaft, and a first coil spring. A first connecting channel is formed in the first connector. The first rotating shaft is rotatably connected to the first connecting channel through the first bearing. The first coil spring is sleeved on the first rotating shaft, with its inner end connected to the first rotating shaft and its outer end connected to the first connector. The first connector of the first joint is fixedly connected to one end of the first horizontal swing arm, and the two ends of the first pivot of the first joint are respectively used to fix the lander body. The first horizontal swing arm is arranged perpendicularly to the first pivot of the first joint. The first pivot of the second joint is fixedly connected perpendicularly to the other end of the first horizontal swing arm, and the first connector of the second joint is fixedly connected to one end of the second horizontal swing arm.

3. The planetary application payload fully passive transfer and release device according to claim 1, characterized in that, The third joint includes a second connector, a second bearing, a second rotating shaft, and a second coil spring. The second connector has an L-shaped structure. One end of the second connector is fixedly connected to the other end of the second horizontal swing arm. The second rotating shaft is vertically fixedly connected to the other end of the second connector. The upper end of the vertical cantilever is sleeved on the second rotating shaft and rotatably connected to the second rotating shaft through the second bearing. The second coil spring is sleeved on the second rotating shaft, with its inner end connected to the second rotating shaft and its outer end connected to the upper end of the vertical cantilever.

4. The planetary application payload fully passive transfer and release device according to claim 3, characterized in that, The third joint also includes a second spring housing, which is fixed to the upper end of the vertical cantilever. The second spring is disposed inside the second spring housing and its outer end is fixedly connected to the second spring housing. The second rotating shaft moves through the second spring housing.

5. The planetary application payload fully passive transfer and release device according to claim 1, characterized in that, It also includes a rope, a rope release mechanism, and a rope triggering mechanism. The rope is mounted on the rope release mechanism and extends along the vertical cantilever after passing through the third joint and is used to connect the planetary application payload. The rope release mechanism and the rope triggering mechanism are both mounted on one end of the second horizontal swing arm near the second joint or directly mounted on the first connector of the second joint. The other end of the first horizontal swing arm is provided with a first limiting block. When the second horizontal swing arm opens to a preset angle relative to the first horizontal swing arm, the first limiting block abuts against and drives the rope triggering mechanism to release the locking limit on the rope release mechanism, so that the rope release mechanism releases the rope.

6. The planetary application payload fully passive transfer and release device according to claim 5, characterized in that, The rope release mechanism includes a rope bearing, a rope coil spring, a rope coil spring assembly housing, a rope shaft, and a wheel. The rope shaft is vertically rotatably connected to the first connecting piece of the second joint or the second horizontal swing arm via the rope bearing. The rope coil spring assembly housing is fixed to the first connecting piece of the second joint or the second horizontal swing arm. The rope coil spring is sleeved on the rope shaft, with its inner end fixedly connected to the rope shaft and its outer end fixedly connected to the rope coil spring assembly housing. The wheel is sleeved on and fixed to the rope shaft, and one end of the rope is connected to and wound on the wheel.

7. A planetary application payload fully passive transfer and release device according to claim 5 or 6, characterized in that, A rope limiting member is provided on the side wall of the other end of the vertical cantilever. The other end of the rope moves through the rope limiting member and is used to connect to the planetary application payload.

8. A planetary application payload fully passive transfer and release device according to claim 5 or 6, characterized in that, The rope triggering mechanism includes a locking lever, a lever shaft, and a torsion spring. The middle part of the locking lever is rotatably connected to the first connecting piece of the second joint or the second horizontal swing arm via the lever shaft. The lever shaft is connected to the middle part of the locking lever via the torsion spring. One end of the locking lever is locked and limited on the rope release mechanism under the action of the torsion spring. When the second horizontal swing arm opens to a preset angle relative to the first horizontal swing arm, the first limiting block abuts against and drives the other end of the locking lever to rotate, causing one end of the locking lever to release the locking limit on the rope release mechanism, thereby releasing the rope from the rope release mechanism.

9. A planetary application payload fully passive transfer and release device according to claim 5 or 6, characterized in that, The third joint is provided with a U-shaped rope through hole for threading a rope.

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