Planetary ascent vehicle multi-degree of freedom compliant docking and stowage system

Abstract

The application provides a multi-degree-of-freedom flexible docking and filling system of a planetary ascent vehicle, and belongs to the technical field of docking and filling assembly of a spacecraft. The system solves the problems of multi-degree-of-freedom flexible docking and low-friction adaptive filling of the planetary ascent vehicle in the filling process of a launch cylinder of a lander. The system comprises a six-degree-of-freedom active attitude adjustment system, a compliant multi-degree-of-freedom filling propulsion and friction force detection system and a precision measurement system. The six-degree-of-freedom active attitude adjustment system serves as a main adjustment unit, has the functions of precise adjustment of the multi-degree-of-freedom attitude of the ascent vehicle, docking with the reference of the lander and fixed connection, can realize adjustment of the central axis of the ascent vehicle through adjustment of the position and posture, align the axis of the ascent vehicle to be filled with the axis of the launch cylinder of the lander, realize precise docking, and the precision measurement system is used for obtaining the relative position and posture of the ascent vehicle and the launch cylinder. The compliant multi-degree-of-freedom filling propulsion and friction force detection system is a main execution unit in the filling process of the ascent vehicle. The application has good adjustment capacity and high docking precision.

Description

Technical Field

[0001] This invention belongs to the field of multi-degree-of-freedom flexible docking and loading technology, and specifically relates to a multi-degree-of-freedom flexible docking and loading system for planetary ascenders. This invention is also applicable to the field of multi-degree-of-freedom precision docking and loading technology for other large-scale precision aerospace equipment such as planets and projectiles. Background Technology

[0002] Planetary surface environments and geological histories hold irreplaceable value for understanding major scientific questions such as planetary evolution and the origin of life. Although several probes from the United States, Russia, and other countries have successfully achieved surface exploration and in-situ investigations, returning planetary samples to Earth for detailed laboratory analysis remains a crucial goal for future deep space exploration. As a key component of planetary sample return missions, the planetary ascent vehicle's adaptive docking and low-friction adaptive launch tube loading technologies are critical to the reliability of the launch process and directly determine the success or failure of the entire mission.

[0003] Existing technologies generally lack compliant adaptive control capabilities based on six-dimensional force sensing, making it impossible to achieve true "force-position hybrid control" during docking and loading processes. Therefore, there is an urgent need for an innovative solution that integrates lightweight design, high-precision attitude adjustment, compliant docking, and end-to-end safety assurance. Summary of the Invention

[0004] In view of this, in order to solve the problems of difficulty in achieving accurate attitude docking and loading and low efficiency caused by factors such as poor manufacturing precision, weak rigidity and easy deformation of the planetary ascender and lander launch tube, lack of reference guidance mechanism during loading, and weak rigidity of the planetary ascender cantilever support arm in the existing attitude docking and loading system, the present invention proposes a planetary ascender multi-degree-of-freedom flexible docking and loading system.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a multi-degree-of-freedom flexible docking and loading system for a planetary ascent vehicle, comprising: A six-degree-of-freedom active attitude adjustment system includes a six-degree-of-freedom active attitude adjustment mechanism; the six drive axes of the six-degree-of-freedom active attitude adjustment mechanism are asymmetrically distributed. The ascender system includes an ascender, an adapter, and a clamping hoop; the adapter is made of elastic material and is configured in three sets to circumferentially wrap around the ascender; the clamping hoop is fitted around the outer periphery of the adapter and is configured to reduce the inlet stress by compressing the adapter so that its radius is smaller than the inner diameter of the launch tube, and to achieve automatic centering by utilizing the elastic recovery characteristics of the adapter; A compliant multi-degree-of-freedom loading and propulsion system with friction detection is installed on the upper platform of the six-degree-of-freedom active attitude adjustment mechanism. It includes a feeding system, a roll fine-tuning support, and a six-dimensional friction sensor integrated on the propulsion path. The feeding system drives the riser to feed axially, and the six-dimensional friction sensor provides real-time feedback of contact force / torque. The control system drives the six-degree-of-freedom active attitude adjustment mechanism to perform attitude compensation based on the feedback signal. A precision measurement system is used to obtain the relative position and orientation of the ascender and the launch tube.

[0006] Preferably, the compliant multi-degree-of-freedom loading propulsion and friction detection system further includes a tail fixing cover, which is rigidly connected to the tail of the ascender and is driven by the feed system, and is configured to drive the ascender forward or backward.

[0007] Preferably, the roll fine-tuning support is configured in three groups, which are respectively installed on the front, middle and rear slides; the roll fine-tuning support has built-in needle rollers and is equipped with height adjustment bolts and lateral adjustment bolts to realize the roll fine-tuning of the ascender and the coarse adjustment of yaw, translation and pitch.

[0008] Preferably, of the six drive shafts of the six-degree-of-freedom active attitude adjustment mechanism, two drive shafts are configured at the front end and four drive shafts are configured at the rear end, in order to adapt to the attitude adjustment requirements of risers with a large length-to-diameter ratio.

[0009] Preferably, the precision measurement system includes a cubic mirror and a laser tracker; the cubic mirror is respectively installed on the rear end face of the launch tube and the surface of the ascender, and the coaxiality of the ascender and the launch tube is obtained by measuring the pose of the cubic mirror.

[0010] Preferably, it also includes a planetary ascender launch system, which includes a launch tube and a launch tube parking bracket. The six-degree-of-freedom active attitude adjustment system is also provided with a connecting rod and a connector for fixing to the launch tube parking bracket to establish a unified reference coordinate system.

[0011] Preferably, the six-degree-of-freedom active attitude adjustment system further includes an explosion-proof electrical control cabinet and an explosion-proof movable operation panel.

[0012] Preferably, the feeding system is driven by an explosion-proof motor to meet the operational requirements on planetary surfaces or in flammable and explosive environments.

[0013] Preferably, the upper and lower Hooke hinges of the six-degree-of-freedom active attitude adjustment mechanism adopt forged steel housings and tapered roller bearings, and the motion accuracy under heavy load is ensured by grease lubrication.

[0014] Preferably, it also includes a lifting device module, which includes a lifting device adapted to the outer contour of the ascender and lifting rings distributed at both ends of the ascender.

[0015] Compared with the prior art, the beneficial effects of the planetary ascender multi-degree-of-freedom flexible docking and loading system described in this invention are: 1. Conventional propulsion devices use track propulsion. This invention uses a rolling fine-tuning bracket and a cantilever support beam to support and propel the ascender. It can propel the ascender into a distant launch tube and has the ability to fine-tune the ascender's position and attitude, resulting in better adjustment capability and higher docking accuracy.

[0016] 2. This invention adopts a large-stroke non-standard six-DOF active attitude adjustment system. Unlike the standard Stewart platform, this six-DOF attitude adjustment system separates the six telescopic rods. Two telescopic rods (with two degrees of freedom) are distributed at the front end of the platform, and four telescopic rods (with four degrees of freedom) are distributed at the rear end. This design allows the six degrees of freedom to be distributed separately on the moving platform, each controlling a certain degree of freedom. The position and posture of cylinders of different lengths can be adjusted according to the separation distance, and the position and posture adjustment of large-volume and heavy cylinders can be realized.

[0017] 3. The ascender propelled by this invention is an irregular cylinder, and the launch tube can also be an irregular cylinder, which can realize the propulsion and docking of two irregular cylinders into the tube.

[0018] 4. Unlike existing propulsion devices, the propulsion device of the present invention can also reverse the riser during the propulsion process; when it is found that the equipment is subjected to excessive force during propulsion, the riser can be retracted, the position can be adjusted and then propulsion can continue, which has better control flexibility.

[0019] 5. Seven-axis coordination and functional decoupling: Through a seven-axis configuration of six degrees of freedom + single-axis propulsion (macro motion + micro motion), the high-precision attitude adjustment and fine force control insertion functions are separated, resulting in more precise control and better system performance.

[0020] 6. Combination of active and passive compliance: It integrates active compliance control based on six-dimensional force sensing and active attitude adjustment with a passive safety mechanism for manual feed, achieving a balance between high performance and high reliability.

[0021] 7. Flexible design throughout the entire process: From the initial fine-tuning support with needle rollers to the active compliant control based on force feedback, and then to the mechanical parking protection, flexible operation is achieved throughout the entire filling and docking process.

[0022] 8. High engineering practicality: It integrates practical functions such as transportation, leveling, explosion protection, and manual backup. The process is clear, the reliability is high, and it is easy to implement and promote in industrial sites. Attached Figure Description

[0023] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the planetary ascender multi-degree-of-freedom flexible docking and loading system described in this invention; Figure 2 This is a schematic diagram of the structure of the six-degree-of-freedom active attitude adjustment system described in this invention; Figure 3 This is a schematic diagram of the external operating platform in this invention; Figure 4 This is a schematic diagram of the precision measurement system in this invention; Figure 5 This is a schematic diagram of the compliant multi-degree-of-freedom loading, propulsion, and friction detection system of the present invention; Figure 6 This is a schematic diagram of the riser system in this invention; Figure 7 This is a schematic diagram of the planetary ascent launch system in this invention; Figure 8 This is a structural schematic diagram of the lifting device module in this invention; Figure 9 This is a schematic diagram of the six-degree-of-freedom active attitude adjustment mechanism in this invention; Figure 10 This is an overall view of the planetary ascender multi-degree-of-freedom flexible docking and loading system during the loading process described in this invention; Figure 11 This is an overall view of the planetary ascender multi-degree-of-freedom flexible docking and loading system described in this invention after loading is completed.

[0024] In the figure: 100 six-degree-of-freedom active attitude adjustment system, 200 external operating platform, 300 precision measurement system, 400 compliant multi-degree-of-freedom loading, propulsion and friction detection system, 500 ascender system, 600 planetary ascender launch system, and 700 lifting module; Bottom support frame 101, leveling manual support leg 102, transport roller 103, connecting rod 104, connector 105, accessory cabinet 106, explosion-proof electrical control cabinet 107, explosion-proof movable operation panel 108, six-degree-of-freedom active attitude adjustment mechanism 150; Operator 201, operating platform 202; cubic mirror 301; Upper platform 401, roll fine-tuning support 402, parking protector 403, support support beam 404, tail fixing cover 405, six-dimensional friction sensor 406, feeding system 407, explosion-proof motor 408; Ascender 501, adapter 502, clamp 503; Launch tube 601, launch tube parking bracket 602, solar panel 603; Lifting gear 701, lifting ring 702; 151 Motor and reducer, 152 Drive shaft, 153 Upper Hooke hinge assembly, 154 Lower Hooke hinge assembly. Detailed Implementation

[0025] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are for illustrative purposes only and are not intended to limit the invention. Furthermore, it should be noted that, for ease of description, only the parts relevant to the invention are shown in the drawings, and not all of them. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing specific embodiments only and is not intended to limit the invention.

[0026] See Figure 1-11 This embodiment describes a planetary ascent multi-degree-of-freedom flexible docking and loading system, comprising a six-degree-of-freedom active attitude adjustment system 100, an external operating platform 200, a precision measurement system 300, a compliant multi-degree-of-freedom loading, propulsion, and friction detection system 400, an ascent system 500, a planetary ascent launch system 600, and a lifting device module 700. The six-degree-of-freedom active attitude adjustment system 100 serves as the main adjustment unit, possessing functions for precise adjustment of the ascent 501's multi-degree-of-freedom attitude, as well as docking and fixing with the lander reference. It can adjust the ascent's central axis through attitude adjustment, aligning the ascent 501's axis with the launch tube 601 for precise docking. The external operating platform 200 serves as the operating platform for personnel during the loading process. The precision measurement system 300 is used for docking between the ascent 501 and the launch tube 601 flange pin holes and for attitude detection during the loading process. The compliant multi-degree-of-freedom loading, propulsion, and friction detection system 400 is the main execution unit during the ascent 501 loading process.

[0027] See Figure 1 and Figure 2 The six-degree-of-freedom active attitude adjustment system 100 includes a bottom support frame 101, a leveling manual support leg 102, a transport roller 103, a connecting rod 104, a connector 105, an accessory cabinet 106, an explosion-proof electrical control cabinet 107, an explosion-proof movable operation panel 108, and a six-degree-of-freedom active attitude adjustment mechanism 150.

[0028] The bottom support frame 101 is a welded steel structure with sufficient rigidity and strength to support the entire device. Six leveling manual support legs 102 are arranged around the bottom support frame 101. They are used after being connected to the launch tube parking bracket 602 via the connecting rod 104 fixed to the external reference. They can extend during operation to lift the transport rollers 103 off the ground for horizontal adjustment of the compliant multi-degree-of-freedom loading, propulsion, and friction detection system 400, ensuring the entire device is in a horizontal working state. Four transport rollers 103 are connected to the bottom support frame 101 via L-shaped plates, enabling the system to move in place. This allows the device to be moved after hoisting and placement to roughly align with the fixed launch tube parking bracket 602. Connecting rod 104 and connector 105 are used to connect the compliant multi-degree-of-freedom loading, propulsion, and friction detection system 400 to the planetary ascender launch system 600. This allows for initial coaxial attitude adjustment of the compliant multi-degree-of-freedom loading, propulsion, and friction detection system 400 and the launch tube 601 on the six-degree-of-freedom active attitude adjustment system 100, serving as a reference connection. Accessory cabinet 106 is placed at the rear end of the bottom support frame 101 to store necessary spare parts and operating tools. Explosion-proof electrical control cabinet 107 is installed in the middle of the bottom support frame 101. Explosion-proof movable operating panel 108 is located on the right side of the operating platform 202, with its height and range of motion convenient for personnel 201 to operate.

[0029] The transport roller 103 realizes the transport function of the entire system and has a locking function, which can lock the system after it is transported to the position to prevent displacement of the system during operation and thus prevent errors.

[0030] The connecting rod 104 is telescopic and adjustable, and the connector 105 can be adjusted up and down around the connecting rod 104 to facilitate connection with the launch tube parking bracket 602.

[0031] The bottom support frame 101 is welded from 316L stainless steel to ensure that there are no microorganisms. The platform surface is equipped with anti-slip patterned plates. The middle of the platform is designed as a frame structure for easy assembly by users. Support device installation interfaces are provided at the four corners for easy connection with the six leveling manual support legs 102. The transport rollers 103 are connected to the bottom support frame 101 through L-shaped plates.

[0032] The six-DOF active attitude adjustment system 100 is an unconventional Stewart mechanism. A typical Stewart platform has only two platforms, a fixed lower platform and a movable upper platform, both controlled by six telescopic rods. However, the six-DOF active attitude adjustment system in this design separates the six telescopic rods, with two rods at the front (each with two degrees of freedom) and four rods at the rear (each with four degrees of freedom). This design distributes the six degrees of freedom across the moving platform, each controlling a specific degree of freedom. Depending on the distance between the rods, the attitude of cylinders of different lengths can be adjusted. After determining the ascender's central axis and the launch tube's axis, the six-DOF active attitude adjustment system can adjust the ascender's central axis through attitude adjustment, aligning the ascender's axis with the launch tube's axis for precise docking. This design is highly suitable for adjusting the attitude of cylinders.

[0033] Its compliant multi-degree-of-freedom loading, propulsion, and friction detection system 400 is a long strip structure, with six drive shafts 152 arranged in an atypical, uniform layout, allowing any point above the platform to be selected as the attitude control reference point. Furthermore, the four transport rollers of this six-degree-of-freedom active attitude adjustment system enable the platform to move freely on the ground, facilitating the connection between the six-degree-of-freedom active attitude adjustment system and the parking support.

[0034] See Figure 1 and Figure 3 The external operating platform 200 includes an operator 201 and an operating platform 202. The operator 201 can stand on the operating platform 202 and control the propulsion and loading process of the ascender 501 through the explosion-proof movable operating panel 108.

[0035] See Figure 1 and Figure 4 The precision measurement system 300 includes cubic mirrors 301 and a laser tracker for measurement. Multiple cubic mirrors 301 are respectively mounted on the rear end face of the launch tube 601 and the surface of the ascender 501. During measurement, the poses of the cubic mirrors 301 on the launch tube 601 and the ascender 501 are first measured using a laser tracker or theodolite. Then, the pose relationship between the launch tube 601 and the ascender 501 is obtained through pose transformation, thereby determining whether the ascender 501 and the launch tube 601 are aligned.

[0036] See Figure 1 and Figure 5 The compliant multi-degree-of-freedom loading, propulsion, and friction detection system 400 includes an upper platform 401, a roll fine-tuning support 402, a parking protector 403, a support beam 404, a tail fixing cover 405, a six-dimensional friction sensor 406, a feeding system 407, and an explosion-proof motor 408.

[0037] The upper platform 401 is used to support the propulsion platform and connect the six-degree-of-freedom active attitude adjustment system 100 with the compliant multi-degree-of-freedom loading propulsion and friction detection system 400. There are three roll fine-tuning supports 402 and support beams 404, installed on the front, middle, and rear slides respectively, mounted on the upper platform 401. They are detachable and have built-in needle rollers. Using height adjustment bolts and lateral adjustment bolts, the ascender 501 can be rotated ±1°. Any two sets of roll fine-tuning supports 402 can be combined to achieve yaw, translation, and pitch adjustments of the ascender 501 to be loaded. The elevation and descent fine-tuning is used to support and fine-tune the ascender's attitude in the initial state; the parking protector 403 is used to fix the ascender 501 in the non-operational state and needs to be disassembled during operation; the tail fixing cover 405 can be fixedly connected to the tail of the ascender 501 to realize the advancement and towing of the ascender 501; the six-dimensional friction force sensor 406 integrated in the propulsion system can monitor the force / torque in six directions in real time; the feeding system 407 is connected to the explosion-proof motor 408 via a belt to realize the loading of the ascender with the filling material into the launch tube.

[0038] The upper platform 401 is a welded component with a certain rigidity, used for installing and supporting loads. It serves as a bridge between the six-degree-of-freedom active attitude adjustment system 100 and the compliant multi-degree-of-freedom loading, propulsion and friction detection system 400. When the six-degree-of-freedom active attitude adjustment system 100 is working, the upper platform 401 will drive the compliant multi-degree-of-freedom loading, propulsion and friction detection system 400 to move together, thereby achieving attitude adjustment.

[0039] The rolling fine-tuning bracket 402 is connected to the bracket support beam 404 by screws. It can be raised and lowered for fine-tuning the rolling posture of the riser body, thereby aligning with the bolt holes of the tail fixing cover 405 to achieve a fixed connection. After being connected in place, the rolling fine-tuning bracket 402 can be lowered to eliminate stress, which facilitates subsequent disassembly.

[0040] There are three support beams 404, which are installed on the front, middle and rear slides respectively. The front and middle slides are installed on the guide rails of the upper platform 401 by sliders. The middle slide is longer and its upper end is equipped with a guide rail. The rear slide is installed on the guide rail of the middle slide. The support beams 404 form a cantilever structure to support the riser 501 with an extension of up to 700mm, which can transport the riser 501 into the launch tube 601.

[0041] The tail fixing cover 405 is composed of a locking mechanism and a tail cover. The locking mechanism can be connected to the riser 501 by a positioning pin and bolts, so that the tail fixing cover 405 can push and drag the riser 501.

[0042] See Figure 1 and Figure 6The ascender system 500 includes an ascender 501, an adapter 502, and a clamping clamp 503. The ascender 501 is the object of propulsion and loading and is in the shape of a projectile. The adapter 502 is made of elastic material and consists of three sets. During the propulsion and loading process, it is installed in the front, middle, and rear parts of the ascender 501. Each set contains four adapters and three clamping clamps 503, which can adjust the position of the ascender 501 in the tube. The clamping clamps 503 are used to lock and compress the adapter 502 so that its radius is smaller than the inner diameter of the launch tube 601.

[0043] Before the propulsion riser 501, the compliant multi-degree-of-freedom loading propulsion and friction detection system 400 needs to install three sets of elastic adapters 502 at three positions: before, in the middle and behind the riser 501. Four adapters 502 form a group, which provides a basis for propulsion into the cylinder and ensures stable installation.

[0044] Each adapter is secured and compressed by three clamps 503 during installation. The adapter 502 is an elastic body with a pin hole in the center. After the pin hole is aligned with the corresponding hole on the riser 501, it can be installed on the surface of the riser 501 by a positioning pin, and then secured and compressed by the clamps 503.

[0045] The clamping hoop 503 is a rigid annular device fixed to the ascender 501 and adapter 502. It can compress the adapter 502 to adjust its size, making the adapter radius smaller than the inner diameter of the launch tube 601 to facilitate entry into the tube. When the adapter 502 is pushed into the tube, due to its elasticity, the clamping hoop 503 is compressed to reduce the stress during entry into the tube, making it easier for the adapter 502 to enter the tube. During the pushing process, as the adapter 502 enters, the clamping hoop 503 needs to be removed one by one so that the ascender carries the adapter 502 into the tube. After the adapter 502 is fully inside the tube, it will expand and adjust the position of the ascender 501 so that its axis is aligned with the launch tube 601, reducing the stress caused by the misalignment of the axes during subsequent pushing.

[0046] See Figure 1 and Figure 7 The planetary ascent launch system 600 includes a launch tube 601, a launch tube parking bracket 602, and a solar panel 603. The launch tube 601 is placed on the launch tube parking bracket 602, with the placement position approximately 700mm from the front end of the launch tube parking bracket 602, and serves as the loading and receiving device for the ascent 501. The launch tube parking bracket 602 is the foundation of the planetary ascent launch system 600, housing the launch tube 601, solar panel 603, and other equipment. The solar panels 603 are placed on both sides of the launch tube parking bracket 602, which obstructs the view of the operator 201, highlighting the necessity of the precision measurement system 300.

[0047] See Figure 1and Figure 8 The spreader module 700 includes a spreader 701 and lifting rings 702. The spreader 701 is used for transporting the riser 501; the two lifting rings 702 can be installed at the front and rear ends of the riser 501 so that the center of gravity is in the middle of the two lifting rings 702, ensuring safe lifting and transport.

[0048] See Figure 9 The six-degree-of-freedom active attitude adjustment mechanism 150 includes a specific structure for realizing the attitude adjustment function. The motor and reducer 151 provide driving force; the telescopic movement of the drive shaft 152 can control the position and posture of the upper platform 401 to achieve compliant multi-degree-of-freedom loading, propulsion and friction detection system 400 position and posture adjustment. The mechanism has two drive shafts 152 at the front end with two degrees of freedom and four drive shafts 152 at the rear end with four degrees of freedom. This design allows the six degrees of freedom to be distributed separately on the moving platform, each controlling a certain degree of freedom. The position and posture of cylinders of different lengths can be adjusted according to the distance between them. After determining the central axis of the ascender 501 and the axis of the launch tube 601, the six-degree-of-freedom active posture adjustment mechanism 150 can adjust the central axis of the ascender 501 by adjusting the position and posture, so that the axis of the ascender 501 coincides with the axis of the launch tube 601, achieving precise docking; the upper Hooke hinge assembly 153 is used to connect the platform and the drive system. In order to ensure sufficient strength, the upper hinge housing is made of forged steel, and other parts are also made of 45# steel, including all bolts. The joint lubrication is grease lubrication; the lower Hooke hinge assembly 154 is used to connect the drive system and the foundation.

[0049] The upper Hooke hinge assembly 153 and the lower Hooke hinge assembly 154 have the same composition, both consisting of an ear ring, a shaft, a housing, and a tapered roller bearing. The upper Hooke hinge assembly 153 is connected to the upper platform 401 by screws distributed on the housing, and the lower Hooke hinge assembly 154 is connected to the bottom support frame 101 by screws.

[0050] See Figure 6The workflow begins with initial hoisting. The ascender 501 is placed on the roll fine-tuning support 402. Operators can easily fine-tune the ascender's circumferential roll attitude using its built-in needle rollers, quickly aligning and connecting it with the tail cover 405. After completing its mission, the first front support can be lowered and removed from the work area to avoid interference. The docking process is driven by a lead screw powered by an explosion-proof motor 408. Crucially, a six-dimensional friction sensor 406 integrated into the propulsion system monitors forces / torques in six directions in real time. Based on this feedback signal, the control system uses an impedance control algorithm to immediately calculate compensation commands and drive the six-degree-of-freedom active attitude adjustment system 100 to perform micron- and millidegree-level compensation movements, dynamically eliminating lateral contact forces, thereby achieving true zero-force tracking and active compliant docking. The entire system embodies a safety design concept that combines active and passive safety features: in case of power failure or other abnormalities, it can be immediately switched to the feed system 407 for manual operation; during work breaks or long-term shutdown, a parking protector 403 can be installed to lock the riser like a clamp, providing foolproof mechanical safety protection.

[0051] At this point, the ascender 501 has been partially pushed into the launch tube 601, and the front adapter 502 has fully entered the launch tube 601 and expanded, which helps to adjust the position of the ascender 501. At this time, it is also necessary to use a laser tracker to determine the positional relationship between the ascender 501 and the launch tube 601, and adjust the positional relationship accordingly to ensure that there is no radial force interference during the propulsion process and to minimize the frictional force.

[0052] See Figure 7 At this point, the ascender 501 has fully entered the launch tube 601. The four positioning holes of the locking mechanism need to be aligned with the four positioning pins on the flange of the launch tube 601. After ensuring alignment, continue advancing until the locking mechanism contacts the end face of the launch tube 601. Then, separate the locking mechanism from the tail cover and connect the locking mechanism to the launch tube 601. The loading and docking are now complete. Figure 7 As shown, all the sliders are merged together.

[0053] This invention primarily addresses the following technical challenges in the docking and loading process between the planetary ascent vehicle and the launch tube: 1. Inconsistent reference standards between the planetary ascender and launch tube. Both the planetary ascender and launch tube utilize lightweight carbon fiber structures and winding processes. Compared to metal structural components, they suffer from a lack of secondary finishing, making it difficult to guarantee geometric tolerances such as roundness and coaxiality. Furthermore, the ascender lacks positioning references like pins between its various stages, and the significant differences in the centroid distribution between these stages result in poor coaxiality between ascender stages and between the ascender body and the launch tube. Therefore, multiple attitude adjustments and measurements between the ascender and launch tube are required during docking and loading, increasing the technical difficulty of docking and loading and demanding a high degree of system adaptability.

[0054] 2. Lack of reference guiding mechanisms such as guide rails during the loading process. Unlike traditional large projectiles that use guide rails or other track loading technology, the gap between the ascender and the launch tube during the loading process is filled by three sets of adapters: front, middle, and rear. Each set of adapters consists of four adapters evenly distributed around the circumference of the ascender, and each set of adapters can be compressed to facilitate the ascender's entry into the launch tube for loading. The ascender launch system requires that the friction between the ascender and the inner wall of the launch tube be minimized during the loading process to facilitate the ascender's entry and exit from the tube.

[0055] 3. The docking distance between the planetary ascender and the launch tube is relatively large. Considering the external structures such as the lander's outriggers, the planetary ascender's launch tube is generally located inside the lander. Furthermore, the placement of solar panels and other equipment on both sides of the launch tube results in a significant distance (over a meter) between the ascender and the launch tube during docking. Therefore, considering the positional relationship of the adapter between the ascender's outer wall and the launch tube's inner wall, the ascender support requires a cantilever structure design. The ascender's large mass also introduces positional deviations caused by cantilever structure deformation, significantly impacting the ascender's entry attitude into the launch tube.

[0056] 4. In accordance with the technical requirements for planetary ascent launch, the docking and loading of the ascent unit with the launch tube must be explosion-proof throughout the entire process.

[0057] In summary, the planetary ascender multi-degree-of-freedom flexible docking and loading system described in this invention is a key device for achieving efficient docking and low-friction adaptive loading between the planetary ascender and the lander launch tube. The main functional rooms of this system complete the attitude detection of the ascender and launch tube, high-precision multi-degree-of-freedom attitude adjustment, flexible docking, adaptive loading and locking of the ascender, six-dimensional friction force measurement, and convenient disassembly and assembly. As an optical, mechanical, and electrical integrated unit, it covers many aspects such as precision measurement of the ascender, precision calibration, high-precision motion control with up to 12 degrees of freedom, optimization of structural dynamic and static characteristics, and disassembly and maintenance under complex conditions. It is a large, complex, high-difficulty, and high-precision special docking and loading device.

[0058] The embodiments of the present invention disclosed above are merely illustrative of the invention. These embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention.

Claims

1. A multi-degree-of-freedom flexible docking and loading system for a planetary ascender, characterized in that: include: A six-degree-of-freedom active attitude adjustment system (100) includes a six-degree-of-freedom active attitude adjustment mechanism (150); the six drive axes (152) of the six-degree-of-freedom active attitude adjustment mechanism (150) are asymmetrically distributed; The ascender system (500) includes an ascender (501), an adapter (502), and a clamping hoop (503); the adapter (502) is made of elastic material and is configured in three sets to circumferentially wrap around the ascender (501); the clamping hoop (503) is fitted around the outer periphery of the adapter (502) and is configured to be removed sequentially during the axial feed process of the ascender (501), and automatically aligned using the elastic recovery characteristics of the adapter (502); A compliant multi-degree-of-freedom loading and propulsion and friction detection system (400) is installed on the upper platform (401) of the six-degree-of-freedom active attitude adjustment mechanism (150), including a feeding system (407), a roll fine-tuning support (402), and a six-dimensional friction sensor (406) integrated on the propulsion path; the feeding system (407) drives the riser (501) to feed axially, and the six-dimensional friction sensor (406) provides real-time feedback of contact force / torque, and the control system drives the six-degree-of-freedom active attitude adjustment mechanism (150) to perform attitude compensation based on the feedback signal; A precision measurement system (300) is used to obtain the relative pose of the ascender (501) and the launch tube (601).

2. The planetary ascender multi-degree-of-freedom flexible docking and loading system according to claim 1, characterized in that: The compliant multi-degree-of-freedom loading propulsion and friction detection system (400) also includes a tail fixing cover (405), which is rigidly connected to the tail of the riser (501) and is connected to the feed system (407) for transmission, and is configured to drive the riser (501) forward or backward.

3. The planetary ascender multi-degree-of-freedom flexible docking and loading system according to claim 1, characterized in that: The roll fine-tuning support (402) is set into three groups and installed on the front, middle and rear slides respectively; the roll fine-tuning support (402) has built-in needle rollers and is equipped with height adjustment bolts and lateral adjustment bolts to realize the roll fine-tuning and yaw, translation and pitch coarse adjustment of the ascender (501).

4. The planetary ascender multi-degree-of-freedom flexible docking and loading system according to claim 1, characterized in that: Of the six drive axes (152) of the six-degree-of-freedom active attitude adjustment mechanism (150), two drive axes (152) are configured at the front end and four drive axes (152) are configured at the rear end to adapt to the attitude adjustment requirements of the riser (501) with a large length-to-diameter ratio.

5. The planetary ascender multi-degree-of-freedom flexible docking and loading system according to claim 1, characterized in that: The precision measurement system (300) includes a cubic mirror (301) and a laser tracker; the cubic mirror (301) is installed on the rear end face of the launch tube (601) and the surface of the riser (501) respectively, and the coaxiality of the riser (501) and the launch tube (601) is obtained by measuring the pose of the cubic mirror (301).

6. The planetary ascender multi-degree-of-freedom flexible docking and loading system according to claim 1, characterized in that: It also includes a planetary ascender launch system (600), which includes a launch tube (601) and a launch tube parking bracket (602). The six-degree-of-freedom active attitude adjustment system (100) is also provided with a connecting rod (104) and a connector (105) for fixed connection with the launch tube parking bracket (602) to establish a unified reference coordinate system.

7. The planetary ascender multi-degree-of-freedom flexible docking and loading system according to claim 1, characterized in that: The six-degree-of-freedom active attitude adjustment system (100) also includes an explosion-proof electrical control cabinet (107) and an explosion-proof movable operation panel (108).

8. The planetary ascender multi-degree-of-freedom flexible docking and loading system according to claim 1, characterized in that: The feeding system (407) is driven by an explosion-proof motor (408) to meet the operating requirements on planetary surfaces or in flammable and explosive environments.

9. The planetary ascender multi-degree-of-freedom flexible docking and loading system according to claim 1, characterized in that: The upper Hooke hinge assembly (153) and lower Hooke hinge assembly (154) of the six-degree-of-freedom active attitude adjustment mechanism (150) adopt forged steel housings and tapered roller bearings, and the motion accuracy under heavy load is ensured by grease lubrication.

10. The planetary ascender multi-degree-of-freedom flexible docking and loading system according to claim 1, characterized in that: It also includes a lifting device module (700), which includes a lifting device (701) adapted to the outer contour of the riser (501) and lifting rings (702) distributed at both ends of the riser (501).

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