CN113911394A - Light-weight large-bearing extraterrestrial planet detection pointing mechanism - Google Patents
Light-weight large-bearing extraterrestrial planet detection pointing mechanism Download PDFInfo
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- CN113911394A CN113911394A CN202111173337.9A CN202111173337A CN113911394A CN 113911394 A CN113911394 A CN 113911394A CN 202111173337 A CN202111173337 A CN 202111173337A CN 113911394 A CN113911394 A CN 113911394A
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- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/16—Extraterrestrial cars
Abstract
The invention relates to the technical field of planetary detection, and discloses a light-weight large-bearing extraterrestrial planetary detection pointing mechanism which comprises a supporting seat, an unfolding component, a yawing component, a pitching component, an arm rod, a load support, a thermal protection component and a cable protection component, wherein the supporting seat is arranged on the supporting seat; the supporting seat is provided with an unfolding component, and the unfolding component is connected with a yawing component; the yaw assembly is connected with one end of an arm rod, and the other end of the arm rod is provided with a pitching assembly; the pitching assembly is provided with a load support for placing a load, and the load support is also provided with a thermal protection assembly for protecting the load; the cable protection component protects the cable, and the cable penetrates out of the supporting seat after being sequentially connected with the thermal protection component, the pitching component, the yawing component and the unfolding component; the unfolding component, the yawing component and the pitching component drive the load support and the load to realize unfolding, yawing and pitching rotation. The invention is suitable for the extraterrestrial planet surface planet vehicle and provides accurate pointing for the effective load.
Description
Technical Field
The invention relates to the technical field of planet detection, in particular to a light-weight and large-bearing extraterrestrial planet detection pointing mechanism.
Background
The existing lunar rover pointing mechanism in China realizes the establishment of an initial state of a payload and the pitching yaw saccade through three-axis rotation so as to meet the detection requirements of lunar navigation and scientific exploration.
Because the gravity of the moon is only 1/6 on the earth surface, the gravitational moment load of the pointing mechanism in the rotation process is small; the lunar soil is soft, and the bumping load is small; the moon surface has no atmosphere, so the weather phenomena such as sand storm and the like do not exist, and special redundant protection measures are not taken except for the rotating part. The day of the moon is approximately equal to one month of the earth, the time of the month is long, the temperature return of the effective load can be realized by paying more time cost, and the thermal protection measures of the load are few.
However, taking the Mars environment as an example, the gravity of the Mars is about 1/3 of the gravity of the earth, the surface of the Mars is mostly a hard ground, and the Mars bumps obviously; the fire surface has periodic sand weather, and gravel splashes; the day of mars is approximately equal to the day of the earth. The lunar rover pointing mechanism has small load and limited protection measures, and has insufficient adaptability to the large gravity, extreme high and low temperature rapid alternation, sand dust and bumpy environment of extraterrestrial planets such as mars and the like.
Disclosure of Invention
The invention aims to provide a light-weight large-bearing extraterrestrial planet detection pointing mechanism aiming at the technical problems in the prior art, which is suitable for an extraterrestrial planet surface planet vehicle and provides accurate pointing for effective loads.
In order to solve the problems proposed above, the technical scheme adopted by the invention is as follows:
the invention provides a light-weight large-bearing extraterrestrial planet detection pointing mechanism which comprises a supporting seat, an unfolding component, a yawing component, a pitching component, an arm rod, a load support, a thermal protection component and a cable protection component, wherein the support is fixedly connected with the support;
the supporting seat is provided with an unfolding component, and the unfolding component is connected with a yawing component; the yaw assembly is connected with one end of an arm rod, and the other end of the arm rod is provided with a pitching assembly; a load support is arranged on the pitching assembly, and a load is arranged on the load support; the load support is also provided with a thermal protection assembly for protecting the load; the cable protection component protects a cable, and the cable penetrates out of the supporting seat after being sequentially connected with the thermal protection component, the pitching component, the yawing component and the unfolding component; the unfolding component, the yawing component and the pitching component drive the load support and the load to realize unfolding, yawing and pitching rotation.
Furthermore, the whole configuration of the pointing mechanism is distributed in a T shape, and the unfolding component drives the load to rotate from a folded state parallel to the supporting seat to an upright state perpendicular to the supporting seat; the yawing component and the pitching component respectively drive the load to realize yawing rotation of-180 degrees and pitching rotation of-80-90 degrees.
Furthermore, the pointing mechanism further comprises three groups of pressing and releasing assemblies which are respectively arranged on two sides of the load support and one side of the yawing assembly.
Furthermore, the unfolding component comprises an unfolding support, an unfolding driving module and an unfolding auxiliary shaft system, wherein the unfolding driving module is arranged on the unfolding support, and the unfolding driving module is connected with the unfolding auxiliary shaft system; the pitching assembly comprises a pitching driving module, a pitching support and a pitching auxiliary shaft system, the pitching support is connected with the other end of the arm rod, and the pitching driving module is connected with the load support.
Furthermore, the yaw assembly comprises a yaw support, a yaw driving module arranged on the yaw support and an adapter plate connected with the yaw driving module, wherein the yaw support is connected with the unfolding driving module; the adapter plate is connected with one end of the arm rod and used for shielding the yaw driving module in an annular mode.
Furthermore, the unfolding driving module, the yawing driving module and the pitching driving module respectively comprise a driving shell, a motor arranged in the driving shell, a planetary reducer, a harmonic reducer, an output shaft and a rotary transformer, wherein the output shaft of the motor is sequentially connected with a two-stage planetary reducer, a one-stage harmonic reducer and the rotary transformer; an output shaft of the unfolding driving module is connected with the yawing support, an output shaft of the yawing driving module is connected with one end of the arm rod, and an output shaft of the pitching driving module is connected with the load support.
Furthermore, a sealing ring is arranged between the rotary transformer and the output shaft, and the sealing ring adopts two-stage sealing and is arranged in an asymmetric V shape relative to the axis of the output shaft; the sealing ring comprises a V-shaped short arm and a V-shaped long arm, and a cavity is formed between the V-shaped short arm and the V-shaped long arm and the surface of the output shaft; the end part of a driving shell of the yaw driving module is provided with a conical surface to form a guide slope which plays a role in guiding external dust.
Furthermore, the thermal protection mechanism comprises a shell, a baffle, a thermal insulation lining, a temperature measuring unit and an electric heater, wherein the shell is arranged on the load support and is used for installing a load and a cable; a protective baffle for protecting the load and the cable, a temperature measuring unit for temperature feedback and an electric heater for heating are arranged in the shell; and the inner surface of the shell is provided with a heat-insulating lining for heat insulation.
Furthermore, the cable protection assembly comprises a binding wire, a cable jacket, a cable, a fixed cable support and a limiting cable support, wherein the cable jacket is arranged on the outer surface of the cable, and the binding wire is arranged for fixing; the cable passes through fixed cable support fixes on the supporting seat, and passes through spacing formula cable support fixes on the armed lever.
Furthermore, the binding wire adopts a thermosetting film and a binding wire with a low expansion coefficient; the cable jacket is a flexible cable jacket with wide temperature range, and the diameter of the cable jacket is larger than the maximum deformation value of the cable.
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention realizes the rotation and deflection of the pointing mechanism through the integral configuration design and the lightweight design and through the unfolding component, the yawing component and the pitching component, has simple integral structure and reliable function, adopts the thermal protection component, can effectively protect sand and dust, and is also provided with the cable protection component for protecting the cable.
(2) The cable protection assembly provided by the invention has the advantages that the dustproof capacity of the cable is improved, the mechanical resistance is enhanced, the rotation abrasion is reduced, meanwhile, the adopted protection measures do not increase the resistance moment of the cable, and the load capacity of the pointing mechanism is effectively improved.
Drawings
In order to illustrate the solution of the invention more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, it being obvious that the drawings in the following description are some embodiments of the invention, and that other drawings may be derived from these drawings by a person skilled in the art without inventive effort. Wherein:
fig. 1 is a schematic structural diagram of a lightweight large-bearing extraterrestrial planet detection pointing mechanism.
Fig. 2 is a left side view of the light-weight large-bearing extraterrestrial planet detection pointing mechanism of the invention.
Fig. 3 is a schematic structural view of the deployment assembly of the present invention.
FIG. 4 is a schematic view of a partial structure of a yaw assembly according to the present invention.
Fig. 5 is a schematic structural view of the deployment driving module according to the present invention.
FIG. 6 is a schematic structural view of a thermal shield assembly according to the present invention.
Fig. 7 is a schematic structural view of the cable guard assembly of the present invention.
Fig. 8 is a right side view of the cable guard assembly of the present invention.
The reference numerals are explained below: 1-unfolding component, 2-yawing component, 3-pitching component, 4-supporting seat, 5-pressing releasing component, 6-arm rod, 7-load support, 8-thermal protection component, 9-cable protection component, 11-unfolding driving module, 111-motor, 112-planetary reducer, 113-harmonic reducer, 114-output shaft, 115-rotary transformer, 116-sealing ring, 1161-V-shaped short arm, 1162-V-shaped long arm, 117-temperature measuring unit, 118-heater, 12-unfolding support, 13-unfolding auxiliary shaft system, 21-yawing support, 22-adapter plate, 23-yawing driving module, 81-shell, 82-baffle, 83-heat-insulating lining, 84-temperature measuring unit, 23-yawing driving module, 85-electric heater, 91-binding wire, 92-cable jacket, 93-cable, 94-fixed cable support and 95-limiting cable support.
Detailed Description
Unless defined otherwise, 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 belongs; the terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, e.g., the terms "length," "width," "upper," "lower," "left," "right," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," etc., refer to an orientation or position based on that shown in the drawings, are for convenience of description only and are not to be construed as limiting of the present disclosure.
The terms "including" and "having," and any variations thereof, in the description and claims of this invention and the description of the above figures are intended to cover non-exclusive inclusions; the terms "first," "second," and the like in the description and in the claims, or in the drawings, are used for distinguishing between different objects and not necessarily for describing a particular sequential order. In the description and claims of the present invention and in the description of the above figures, when an element is referred to as being "fixed" or "mounted" or "disposed" or "connected" to another element, it may be directly or indirectly located on the other element. For example, when an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element.
Furthermore, reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the invention. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1 and 2, the invention provides a light-weight and large-bearing extraterrestrial planet detection pointing mechanism, which is a three-degree-of-freedom pointing mechanism and adopts a serial connection form, and comprises a support seat 4, an expansion assembly 1, a yaw assembly 2, a pitch assembly 3, an arm lever 6, a load support 7, a thermal protection assembly 8 and a cable protection assembly 9.
The supporting seat 4 is provided with an unfolding component 1, and the unfolding component 1 is connected with a yawing component 2. The yawing assembly 2 is connected with one end of an arm rod 6, and the other end of the arm rod 6 is provided with a pitching assembly 3. The pitching assembly 3 is provided with a load support 7, and the load support 7 is provided with a load. And the load support 7 is also provided with a thermal protection assembly 8 for protecting the load. The cable protection component 9 protects the cable 93, and the cable 93 is connected in sequence after the thermal protection component 8, the pitching component 3, the yawing component 2 and the unfolding component 1, the cable is penetrated out from the supporting seat 4. The unfolding component 1, the yawing component 2 and the pitching component 3 drive the load support 7 and the load to realize unfolding, yawing and pitching rotation.
In this embodiment, the whole configuration of the pointing mechanism is distributed in a T shape, the support seat 4, the deployment assembly 1, the yaw assembly 2, the arm lever 6, the load support 7, and the thermal protection assembly 8 are connected in series step by step, that is, the deployment assembly 1, the yaw assembly 2, and the pitch assembly 3 are arranged in three axes to implement load deployment, yaw, and pitch rotation, the load support 7 and the thermal protection assembly 8 are located at the upper portion, the arm lever 6 is located at the middle portion, the pitch assembly 3 is located at the top end of the arm lever 6, the yaw assembly 2 is located at the bottom end of the arm lever 6, and the support seat 4 and the deployment assembly 1 are located at the lower portion and correspond to the bottom end of the arm lever 6.
In this embodiment, referring to fig. 1 and 2, the deployment assembly 1 is in the 90 ° position, and the yaw assembly 2 and the pitch assembly 3 are in the 0 ° position. The unfolding component 1 drives the load to rotate from a folded state parallel to the mounting surface of the supporting seat 4 to an upright state vertical to the mounting surface; the yawing component 2 and the pitching component 3 respectively drive the load to realize yawing rotation of-180 degrees and pitching rotation of-80-90 degrees along the axis of the yawing component, so that the panning of most angles can be completed.
Furthermore, the pointing mechanism further comprises three groups of pressing and releasing assemblies 5, the three groups of pressing and releasing assemblies 5 are respectively arranged on two sides of the load support 7 and one side of the yawing assembly 2, and the three groups of pressing and releasing assemblies 5 are arranged in an approximately isosceles triangle shape, so that the bearing capacity and the mechanical resistance of the load support 7 are effectively improved, and the structural stability of the whole pointing mechanism is ensured.
In the embodiment, the compression release assembly 5 adopts a 3-point arrangement according to the existing configuration, and the integral compression of the pointing mechanism is realized by virtue of interfaces of the unfolding bracket 12 and the loading bracket 7. The load support 7 can provide a top interface and a bottom interface, so that the mounting area is maximized, and the load carrying capacity is improved. Specifically, the two sides of the load support 7 are provided with interfaces for compressing the release assembly 5, the top interfaces are isolated connection points and are connected with the load through a high-heat-resistance material pad, and meanwhile, a space outside the connection points is filled with a low-density high-heat-resistance material, so that heat conduction is reduced, and the heat preservation effect of the load is improved. Compared with a CE-3 lunar rover mast, the load ratio of the lunar rover mast is improved by 130% through the two-side compression and two-side mounting of the load support 7.
Referring to fig. 3, the deployment assembly 1 includes a deployment bracket 12, a deployment driving module 11 disposed on the deployment bracket 12, and a deployment auxiliary shaft system 13, wherein the deployment bracket 12 is disposed on the support base 4, and the deployment driving module 11 is connected to the deployment auxiliary shaft system 13 and to the yaw assembly 2.
Further, referring to fig. 4, the yaw assembly 2 includes a yaw support 21, a yaw driving module 23 disposed on the yaw support 21, and an adapter plate 22 connected to the yaw driving module 23, wherein the yaw support 21 is disposed orthogonally to the deployment assembly 1 and is connected to the deployment driving module 11, and the yaw support 21 is rotatable with respect to the deployment support 12. The adapter plate 22 is connected with one end of the arm lever 6. Specifically, the unfolding auxiliary shaft system 13 and the unfolding driving module 11 form a bearing shaft system of the yaw support 21 in the yaw assembly 2, and the unfolding auxiliary shaft system 13 symmetrically supports the yaw support 21 to prevent the yaw support 21 from being subjected to long-term unbalance loading to accelerate the wear of the shaft system.
In this embodiment, there is an overlapping section between the adapter plate 22 and the yaw driving module 23 along the axial direction, that is, the yaw driving module 23 is partially shielded by the adapter plate 22 in an annular manner, and a radial gap of the overlapping section is smaller than an axial gap between the adapter plate and the yaw driving module, so that it can be ensured that too large particles cannot directly enter a joint between the yaw driving module and the adapter plate 22. The yaw support 21 overhanging flange is provided with a compression release assembly 5 interface. The joint of the unfolding driving module 11 and the yaw support 21 is larger than the maximum particle diameter carried by a sand storm, so that small particles can be prevented from entering the joint and entering the unfolding component 1 to cause clamping stagnation.
Further, the pitching assembly 3 comprises a pitching driving module, a pitching support connected with the pitching driving module and a pitching auxiliary shaft system, wherein the pitching auxiliary shaft system and the pitching driving module jointly form a supporting shaft system of the load support 7, the pitching support is connected with the other end of the arm rod 6, the pitching driving module is connected with the load support 7, and the load support 7 is symmetrically supported through the pitching auxiliary shaft system.
Further, referring to fig. 5, the unfolding driving module 11, the yawing driving module 23 and the pitching driving module all include a driving housing, and a motor 111, a planetary reducer 112, a harmonic reducer 113, an output shaft 114 and a rotary transformer 115 which are arranged in the driving housing, wherein the output shaft 114 of the motor 111 is sequentially connected with a two-stage planetary reducer 112, a one-stage harmonic reducer 113 and the rotary transformer 115. An output shaft 114 of the unfolding driving module 11 is connected with the yaw support 21, an output shaft 114 of the yaw driving module is connected with one end of the arm rod 6, and an output shaft 114 of the pitching driving module is connected with the load support 7.
Further, a temperature measuring unit 117 and a heater 118 are further disposed on the driving housing for temperature feedback and heating.
In the embodiment, the two-stage planetary reducer and the 1-stage harmonic reducer are connected in series to realize speed reduction of 3000, and the maximum outer diameter is less than 60 mm. The driving shell is made of a novel metal matrix composite material, and the density of the driving shell is lower than 3g/cm3The weight of the driving module is only 1kg, the maximum output torque can reach 150Nm, the angular resolution can reach 3', and a foundation is laid for large load and high-precision pointing. Meanwhile, all parts which move relatively adopt low-temperature solid lubricant based on interlayer slippage, and can normally operate at the temperature of more than 200K.
Further, as shown in fig. 4, a sealing ring 116 is disposed between the rotary transformer 115 and the output shaft 114, and the sealing ring 116 adopts two-stage sealing and is disposed in an asymmetric V-shape with respect to the axis of the output shaft 114. The sealing ring 116 includes a V-shaped short arm 161 and a V-shaped long arm 162, the V-shaped short arm 161 has a larger diameter than the V-shaped long arm 162, and a cavity is formed between the V-shaped short arm 161 and the V-shaped long arm 162 and the surface of the output shaft 114. Specifically, the diameter of the V-shaped short arm 161 is slightly larger, and is slightly smaller than the diameter of the output shaft 114 by about 5 μm; the V-shaped long arm 162 has a slightly smaller diameter, which is about 30 μm smaller than the diameter of the output shaft 114.
In this embodiment, the sealing ring 116 is made of a wear-resistant flexible material, and the V-shaped short arm 1161 and the V-shaped long arm 1162 are arranged through two-stage layered sealing to form a cavity, so that particles can be prevented from entering between the sealing ring 116 and the output shaft 114 under a small probability, jamming caused by large interference can be prevented, and two-stage redundant dust prevention can be performed.
Furthermore, the end of the driving housing of the yaw driving module 23 is set to be a tapered part, that is, the corresponding end surface forms a tapered surface, the angle of the tapered surface can be adjusted according to actual needs, the surface of the tapered surface is smooth and has no static accumulation, and a guiding slope is formed. Since the axis of the yaw assembly 2 is parallel to the direction of gravity, even if particles enter the joint, they will quickly fall out along the guide slope under the action of gravity without accumulating.
In the embodiment of the invention, the yaw driving module is annularly shielded through the adapter plate 22, so that shielding type dust prevention of the yaw assembly is realized; contact type dust prevention is realized by performing contact sealing twice between the sealing ring 116 and the output shaft 114; the end part of the driving shell of the yaw driving module is arranged to be a cone part to form a guide slope, so that dust accumulation is avoided, and gravity dust removal is realized.
Further, referring to fig. 6, the thermal protection assembly 8 includes an outer shell 81, a baffle 82, a thermal insulation lining 83, a temperature measurement unit 84, and an electric heater 85, which are disposed on the load support 7, wherein the outer shell 81 is a semi-closed square box with a dome, which can resist the impact of sand and dust, and has an installation interface with the load support 7, and openings are left at the positions of a lens and a cable entrance and exit of the load for installing the load and the cable. The baffle 82 is used for protecting the load probe and the cable, and has a mounting interface with the shell 81 and the load support 7 so as to maintain the shape of the thermal protection assembly 8 to be closed and improve the bearing capacity.
Further, the insulation lining 83 is designed to have a shape following design, and a constant 5mm distance is kept between the insulation lining and the payload and an external electrical interface of the payload, so that the insulation effect is improved. Specifically, the surface of the heat-insulating lining 83 is uniformly adhered with a high-reflectivity inner film, so that the radiation heat dissipation of the load can be reduced.
Further, a temperature measuring unit 84 and an electric heater 85 are arranged inside the shell 81 to provide real-time temperature feedback of the load and heat the load to a specified temperature.
The thermal protection assembly 8 in this embodiment can effectively protect dust and sand by arranging the housing 81 and the baffle 82, and is provided with the heat-insulating lining 83 and the electric heater 85, thereby having the capability of active heating and high-efficiency heat insulation.
Referring to fig. 7 and 8, the cable protection assembly 9 includes a binding wire 91, a cable sheath 92, a cable 93, a fixed cable holder 94, and a limiting cable holder 95, wherein the cable sheath 92 is disposed on an outer surface of the cable 93, and the binding wire 91 is disposed for fixing. The cable 93 is also provided with a cable support. Specifically, the cable support comprises a fixed cable support 94 and a limiting cable support 95, the fixed cable support 94 fixes the cable 93 on the support seat 4 through compression joint, the limiting cable support 95 fixes the cable 93 on the arm rod 6 and allows the cable 93 to rotate within a certain range, so that the resistance moment of the cable 93 in a working area is small, and the cable is mechanically limited in a non-working area, so that interference is avoided.
Furthermore, the binding wire 91 is a thermosetting film and a binding wire with a low expansion coefficient, the binding length is 3-5 mm, the binding point position is located in the middle section of the fixed position and the moving position of the cable 93, and the rotation restraint of the cable 93 can be reduced when the cable 93 is effectively drawn in.
Furthermore, the cable jacket 92 is a flexible cable jacket with a wide temperature range, and the diameter of the cable jacket is larger than the maximum deformation value of the cable 93, so that the cable jacket has a dust-proof effect and cannot restrict the cable 93. The cable jacket 92 is also wrapped with a thermosetting film at the cable-securing location, which hardens at high temperatures and is tightly attached to the cable jacket 92, protecting the cable 93 when the stationary cable support 94 is pressed against it.
In this embodiment, when the cable 93 is fixed at both ends by additionally applying a twisting or bending force, the middle portion of the cable is in a specific shape and has a certain rigidity, so as to resist the mechanical load during launching and landing and prevent the cable 93 from interfering with specific equipment.
The invention provides a light-weight large-bearing extraterrestrial planet detection pointing mechanism, which comprises the following working processes:
during the first time work, the expansion assembly 1 works first, rotates to 0 degree position from 90 degrees position, namely the axis of the yaw assembly is parallel to the gravity direction, and then the expansion assembly 1, the yaw assembly 2 and the pitching assembly 3 can work simultaneously or one by one under the condition of no interference.
When the unfolding component 1 works, after the motor 111 of the unfolding driving module 11 performs speed reduction and moment increase through the two-stage planetary reducer 112 and the one-stage harmonic reducer 113, the motor drives the output shaft 114 to move and drives the yaw support 21 to rotate, the rotary transformer 115 accurately measures the rotation angle of the output shaft 114, and the load support 7 and the load on the load support are driven to rotate to the vertical state perpendicular to the mounting surface from the folded state parallel to the mounting surface of the support base 4.
When the yawing assembly 2 works, the motor 111 corresponding to the yawing driving module drives the output shaft 114 to move, and drives the connecting plate 22 and the arm lever 6 to rotate, so that the load support 7 and the load thereon perform yawing rotation of-180 degrees. When the pitching assembly 3 works, the motor 111 corresponding to the pitching driving module drives the output shaft 114 to move and drives the load support 7 and the load thereon to rotate, thereby realizing pitching rotation of-80 to 90 degrees.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.
Claims (10)
1. The utility model provides a directional mechanism is surveyed to extraterrestrial planet that lightweight bears greatly which characterized in that: the device comprises a supporting seat, an unfolding component, a yawing component, a pitching component, an arm rod, a load support, a thermal protection component and a cable protection component;
the supporting seat is provided with an unfolding component, and the unfolding component is connected with a yawing component; the yaw assembly is connected with one end of an arm rod, and the other end of the arm rod is provided with a pitching assembly; a load support is arranged on the pitching assembly, and a load is arranged on the load support; the load support is also provided with a thermal protection assembly for protecting the load; the cable protection component protects a cable, and the cable penetrates out of the supporting seat after being sequentially connected with the thermal protection component, the pitching component, the yawing component and the unfolding component; the unfolding component, the yawing component and the pitching component drive the load support and the load to realize unfolding, yawing and pitching rotation.
2. The light-weight large-bearing extraterrestrial planet detection pointing mechanism according to claim 1, wherein: the whole configuration of the pointing mechanism is distributed in a T shape, and the unfolding component drives the load to rotate from a folded state parallel to the supporting seat to an upright state vertical to the supporting seat; the yawing component and the pitching component respectively drive the load to realize yawing rotation of-180 degrees and pitching rotation of-80-90 degrees.
3. The light-weight large-bearing extraterrestrial planet detection pointing mechanism according to claim 1, wherein: the pointing mechanism further comprises three groups of pressing and releasing assemblies which are respectively arranged on two sides of the load support and one side of the yawing assembly.
4. The light-weight large-bearing extraterrestrial planet detection pointing mechanism according to claim 1, wherein: the unfolding assembly comprises an unfolding support, an unfolding driving module and an unfolding auxiliary shaft system, the unfolding driving module is arranged on the unfolding support, and the unfolding driving module is connected with the unfolding auxiliary shaft system; the pitching assembly comprises a pitching driving module, a pitching support and a pitching auxiliary shaft system, the pitching support is connected with the other end of the arm rod, and the pitching driving module is connected with the load support.
5. The light-weight large-bearing extraterrestrial planet detection pointing mechanism according to claim 4, wherein: the yaw assembly comprises a yaw support, a yaw driving module arranged on the yaw support and an adapter plate connected with the yaw driving module, wherein the yaw support is connected with the unfolding driving module; the adapter plate is connected with one end of the arm rod and used for shielding the yaw driving module in an annular mode.
6. The light-weight large-bearing extraterrestrial planet detection pointing mechanism according to claim 5, wherein: the unfolding driving module, the yawing driving module and the pitching driving module respectively comprise a driving shell, a motor, a planetary reducer, a harmonic reducer, an output shaft and a rotary transformer, wherein the motor, the planetary reducer, the harmonic reducer, the output shaft and the rotary transformer are arranged in the driving shell; an output shaft of the unfolding driving module is connected with the yawing support, an output shaft of the yawing driving module is connected with one end of the arm rod, and an output shaft of the pitching driving module is connected with the load support.
7. The light-weight large-bearing extraterrestrial planet detection pointing mechanism according to claim 6, wherein: a sealing ring is arranged between the rotary transformer and the output shaft, and the sealing ring adopts two-stage sealing and is arranged in an asymmetric V shape relative to the axis of the output shaft; the sealing ring comprises a V-shaped short arm and a V-shaped long arm, and a cavity is formed between the V-shaped short arm and the V-shaped long arm and the surface of the output shaft; the end part of a driving shell of the yaw driving module is provided with a conical surface to form a guide slope which plays a role in guiding external dust.
8. The light-weight large-bearing extraterrestrial planet detection pointing mechanism according to claim 1, wherein: the thermal protection mechanism comprises a shell, a baffle, a thermal insulation lining, a temperature measurement unit and an electric heater, wherein the shell is arranged on the load support and is used for installing a load and a cable; a protective baffle for protecting the load and the cable, a temperature measuring unit for temperature feedback and an electric heater for heating are arranged in the shell; and the inner surface of the shell is provided with a heat-insulating lining for heat insulation.
9. The light-weight large-bearing extraterrestrial planet detection pointing mechanism according to claim 1, wherein: the cable protection assembly comprises a binding wire, a cable jacket, a cable, a fixed cable support and a limiting cable support, wherein the cable jacket is arranged on the outer surface of the cable, and the binding wire is arranged for fixing; the cable passes through fixed cable support fixes on the supporting seat, and passes through spacing formula cable support fixes on the armed lever.
10. The light-weight large-bearing extraterrestrial planet detection pointing mechanism according to claim 9, wherein: the binding wire adopts a thermosetting film and a binding wire with a low expansion coefficient; the cable jacket is a flexible cable jacket with wide temperature range, and the diameter of the cable jacket is larger than the maximum deformation value of the cable.
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