CN115924135A - Lifting and transferring device and method for rope-driven telescopic swing rod - Google Patents

Abstract

The invention provides a lifting and transferring device and method for a rope-driven telescopic swing rod, and belongs to the technical field of transfer mechanisms of planet patrols. The technical problems that the transfer mechanism and the star patrolling device are separated and unlocked from the lander, how to ensure that the transfer mechanism reliably transfers the star patrolling device to the moon surface, the star patrolling device can be reliably transferred to the moon surface under various landing working conditions, and the moon falling place of the star patrolling device has a certain optional range so as to avoid pits and bulges on the moon surface are solved. The landing device comprises a release mechanism, a telescopic swing rod, a front arm and a swing rod release mechanism, wherein one end of the telescopic swing rod is fixed on the landing device, the other end of the telescopic swing rod is connected with the front arm, the front arm is connected with a planet inspection device through the release mechanism, and the swing rod release mechanism is fixed on the side wall of the landing device and provides power for the actuation of the telescopic swing rod to complete the stretching and the releasing. The invention can randomly select the release position suitable for the landing of the planet patrol instrument in a straight line range, and the landing is flexible.

Description

Lifting and transferring device and method for rope-driven telescopic swing rod

Technical Field

The invention belongs to the technical field of transfer mechanisms of celestial bodies inspection devices, and particularly relates to a lifting transfer device and a transfer method of a rope-driven telescopic swing rod.

Background

The deep space exploration refers to exploration activities of human beings on the moon and farther celestial bodies or space environments, is an important direction of human space activities and an important way of space science and technical innovation, and is one of the development focuses in the current and future space fields. Deep space exploration is not only the embodiment of the national science and technology level, but also the embodiment of comprehensive national force.

At present, china realizes the landing of a planet patrol instrument and the landing of a mars vehicle, but the situation of the outer planet ground surface is complex and difficult to predict, so that the mission detection vehicles such as the planet patrol instrument and the like are difficult to land, and in order to better deal with the situation of the ground surface with complex landing places, the existing detection vehicle landing mechanism needs to be improved, so that the detection vehicle can land safely and stably.

The transfer mechanism is a component for transferring and releasing a patrol device carried by a lander to the surface of a planet, and has important application in the field of extraterrestrial celestial body detection. The transfer release technology represented by the transfer mechanism is one of key technologies in a technical system required by the whole extraterrestrial celestial body detection task, and is a key ring for determining success or failure of the detection task.

The transfer mechanism has various forms according to different landing modes and different quality of the inspection device. Taking the transfer work of the planet patrol instrument as an example, the planet patrol instrument and the transfer mechanism are required to be reliably pressed on the side wall of the lander and bear transverse and longitudinal acceleration loads in the flight processes of a Earth-moon transfer section, a round-moon section, a power descending section and the like; after the lander safely lands on the moon, the planet patrol device is reliably transferred to the moon and reliably separated under the action of the transfer mechanism. The transfer mechanism is required to be safely and reliably pressed and installed on the lander in the flying stage and before the falling moon transfer; after the lander lands on the moon, the transfer mechanism and the planet patrol instrument are separated and unlocked from the lander, the transfer mechanism reliably transfers the planet patrol instrument to the moon surface, and meanwhile, the lander has various working conditions such as side tilting, pitching and the like, so that the transfer mechanism can reliably transfer the planet patrol instrument to the moon surface under various landing working conditions, and the moon landing place of the planet patrol instrument has a certain optional range to avoid pits and bulges on the moon surface; after the planet patrol device falls on the moon stably, the planet patrol device is separated from the transfer mechanism, and the free walking of the lunar surface of the planet patrol device is realized.

The requirements of other patrollers are basically the same as those of a celestial globe, so that a scheme capable of meeting the transfer of the celestial globe at the present stage needs to be provided.

Disclosure of Invention

In view of this, the present invention aims to provide a rope-driven telescopic swing link lifting transfer device and a transfer method, so as to solve a plurality of technical problems that a transfer mechanism and a star patrolling device realize the separation and unlocking with a lander, how to ensure that the transfer mechanism reliably transfers the star patrolling device to the moon surface, and the star patrolling device can be reliably transferred to the moon surface under various landing working conditions, and the moon-falling place of the star patrolling device should have a certain selectable range so as to avoid pits and bulges on the moon surface.

In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a rope drives flexible pendulum rod and lifts transfer device, includes disengagement mechanism, flexible pendulum rod, forearm and pendulum rod release mechanism, flexible pendulum rod one end is fixed on the lander, and the other end is connected with the forearm, the forearm is patrolled the ware through disengagement mechanism and planet and is connected, pendulum rod release mechanism is fixed in the lander lateral wall, for the actuation of flexible pendulum rod provides power, accomplishes flexible and release.

Furthermore, the swing rod releasing mechanism comprises a telescopic motor and a swing rod motor, the swing rod motor is connected with the telescopic swing rod through a traction rope, the telescopic motor and the swing rod motor are both fixed on the side wall of the lander, and the telescopic motor provides power for the actuation of the telescopic swing rod.

Furthermore, when the swing rod motor rotates positively, the traction rope is released, so that the telescopic swing rod slowly descends; when the planet inspection device rotates reversely, the traction rope triggers the separation mechanism to separate the planet inspection device from the transfer mechanism.

Furthermore, the telescopic swing rod comprises a multistage rod which is of a sleeve structure, and the telescopic swing rod is fixed on the side wall of the lander through a hinge support.

Furthermore, the telescopic swing rod comprises a primary rod, a secondary rod and a tertiary rod, wherein the primary rod is connected with the hinge support through a rotary pair, the primary rod is connected with the secondary rod and the secondary rod is connected with the tertiary rod through a sliding pair, and the front end of the tertiary rod is connected with the front arm through a rotary pair.

Furthermore, a turning limiting block is arranged at the joint of the telescopic swing rod and the front arm.

Furthermore, a limiting device is arranged on the front arm to ensure that the front arm can only rotate inwards.

Furthermore, the limiting device is a front arm stop pin, and the turnover limiting block is matched with the front arm stop pin to complete the limiting of the front arm.

A transfer method of a rope-driven telescopic swing rod lifting transfer device specifically comprises the following steps:

(1) The compressing point is released, and the planet inspection device turns 180 degrees: after the pressing point is released, a swing rod motor releases a rope, the telescopic swing rod swings outwards around the O point of the hinge support under the action of a volute spiral spring of the hinge support until the telescopic swing rod is lower than the horizontal plane, and meanwhile, the planet inspection device slowly realizes 180-degree turnover under the action of the front arm and the separation mechanism;

(2) Elongation: the telescopic swing rod extends, and the turning limiting block is separated from the front arm stop pin, so that the swing mechanism between the front arm and the third-stage rod is separated, and the posture of the lunar rover is corrected subsequently;

(3) Front wheel contact lunar surface: the rope is unwound by the positive rotation of the telescopic motor, and meanwhile, the swing rod motor is matched with the rope unwinding to extend the telescopic swing rod; after the telescopic swing rod extends to a set length, the swing rod motor continues to release the rope, and the telescopic swing rod continues to swing downwards around the hinge support until the front wheel of the moon rover contacts the ground;

(4) And (4) landing the lunar vehicle, and separating and unlocking the initiating explosive devices.

Compared with the prior art, the lifting and transferring device and the transferring method of the rope-driven telescopic swing rod have the beneficial effects that:

(1) According to the rope-driven telescopic swing rod lifting and transferring device, all actions are completed by only two motors, and the number of driving parts can be effectively reduced.

(2) The rope-driven telescopic swing rod lifting and transferring device can randomly select a release position suitable for the planet inspection tour in a linear range, and is flexible in landing.

(3) The swinging and extending of the telescopic swing rod of the rope-driven telescopic swing rod lifting and transferring device are driven by a motor, and the swinging angle is adjustable, so that the swinging and extending device is not influenced by the moon falling posture of a lander.

(4) The lifting and transferring device for the rope-driven telescopic swing rod is simple in structure, high in reliability, small in quality, low in processing cost and suitable for various working conditions.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention, illustrate embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation of the invention. In the drawings:

FIG. 1 is a first schematic structural view of a rope-driven telescopic swing rod lifting and transferring device according to the present invention;

FIG. 2 is a second schematic structural view of a rope-driven telescopic swing rod lifting and transferring device according to the present invention;

FIG. 3 is an initial state diagram of the lunar rover pressed against the-Z side of the lander for the rope-driven telescopic swing link lift transfer device according to the present invention;

FIG. 4 is a schematic view of a lunar rover 180 degree turn-over with the compression point released for a rope driven telescopic swing rod lift transfer device according to the present invention;

FIG. 5 is a schematic view of the extension of the telescopic swing link of the rope-driven telescopic swing link lift transfer device according to the present invention;

FIG. 6 is a schematic view of a front wheel contact moon surface of a rope-driven telescopic swing link lift transfer device according to the present invention;

FIG. 7 is a schematic diagram of a lunar vehicle landing, initiating explosive device separation and unlocking of the rope-driven telescopic swing rod lifting and transferring device of the present invention;

FIG. 8 is a schematic view of a rope driven telescopic swing link lift transfer device of the present invention at a pitch of-14 °;

FIG. 9 is a schematic view of a rope driven telescopic swing link lift transfer device according to the present invention in a state of 14 ° pitch;

fig. 10 is a schematic view of a rope-driven telescopic swing rod lifting transfer device in a 14-degree-heeled state, wherein (a) represents an initial working condition and (b) represents a transfer completion working condition;

FIG. 11 is a perspective view of a telescoping swing link of a rope driven telescoping swing link lift transfer device in accordance with the present invention;

FIG. 12 is a perspective view of another angle of a telescoping swing link of a rope driven telescoping swing link lift transfer device in accordance with the present invention;

FIG. 13 is a schematic view of the principle of expansion and contraction of the expansion and contraction swing link of the rope-driven expansion and contraction swing link lifting and transferring device according to the present invention;

FIG. 14 is a schematic diagram of the forearm turning of a rope-driven telescopic swing link lifting and transferring device according to the present invention;

FIG. 15 is a schematic touchdown view of a lunar vehicle for a rope driven telescopic pendulum rod lift transfer device in accordance with the present invention;

in the figure: 1-a disengaging mechanism, 2-a celestial globe, 3-a telescopic swing rod, 4-a hinge support, 5-a front arm, 6-a telescopic motor, 7-a swing rod motor, 8-a fixed pulley, 9-a first-level rod, 10-a second-level rod, 11-a third-level rod, 12-a sliding rod, 13-a turning limiting block, 14-a front arm stop pin and 15-a lander.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention. It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict, and the described embodiments are only a part of the embodiments of the present invention, not all of the embodiments.

1. First embodiment, the present embodiment is described with reference to fig. 1 to 15, and a rope-driven telescopic swing rod lifting and transferring device includes a disengaging mechanism 1, a telescopic swing rod 3, a front arm 5 and a swing rod releasing mechanism, wherein one end of the telescopic swing rod 3 is fixed on a lander 15, the other end of the telescopic swing rod is connected with the front arm 5, the front arm 5 is connected with a celestial globe rover 2 through the disengaging mechanism 1, and the swing rod releasing mechanism is fixed on a side wall of the lander 15 to provide power for the actuation of the telescopic swing rod 3, thereby completing the telescoping and releasing.

The swing rod releasing mechanism comprises a telescopic motor 6 and a swing rod motor 7, the swing rod motor 7 is connected with the telescopic swing rod 3 through a traction rope, the telescopic motor 6 and the swing rod motor 7 are both fixed on the side wall of the lander 15, and the telescopic motor 6 provides power for the actuation of the telescopic swing rod 3.

When the swing rod motor 7 rotates forwards, the traction rope is released, so that the telescopic swing rod 3 descends slowly; when the planet inspection device rotates reversely, the separation mechanism 1 is triggered through the traction rope, so that the planet inspection device 2 is separated from the transfer mechanism.

The telescopic swing rod 3 comprises a multistage rod which is of a sleeve structure, and the telescopic swing rod 3 is fixed on the side wall of the lander 15 through a hinge support 4.

The telescopic swing rod 3 comprises a primary rod 9, a secondary rod 10 and a tertiary rod 11, wherein the primary rod 9 is connected with the hinge support 4 through a revolute pair, the primary rod 9 is connected with the secondary rod 10 and the secondary rod 10 are connected with the tertiary rod 11 through a sliding pair, and the front end of the tertiary rod 11 is connected with the front arm 5 through a revolute pair.

And a turning limiting block 13 is arranged at the joint of the telescopic swing rod 3 and the front arm 5.

And a limiting device is arranged on the front arm 5 to ensure that the front arm 5 can only rotate inwards.

The limiting device is a front arm stop pin 14, and the overturning limiting block 13 is matched with the front arm stop pin 14 to complete the limiting of the front arm 5.

In this embodiment, the falling month transfer process is taken as an example, and the star patrol instrument 2 is a lunar vehicle.

The Raschide lunar vehicle is arranged on the side of the lander 15-Z, and in order to meet the requirement of carrying enveloping space, the connection form of the lunar vehicle and the lander 15 adopts a side-hanging connection form. The lunar rover is connected with the lander 14 through the pressing mechanism, after the lander falls in the moon, the transfer mechanism transfers the lunar rover from a side-hung state to a flat position of the lunar surface and releases the lunar rover, and meanwhile the lunar rover can be adjusted to a driving-capable state in the transfer process, and a scheme schematic diagram is shown in fig. 1-2.

The scheme mainly comprises a swing rod motor 7, a hinge support 4, a telescopic motor 6, a telescopic swing rod 3, a front arm 5, a disengaging mechanism 1 and the like.

(1) Hinge support 4: and a volute spiral spring is fixed on the side wall of the lander 15, and is arranged at the rotating shaft to provide power for the swinging of the swing rod.

(2) A telescopic swing rod 3: the front-end-rotation-type front arm device is composed of three sections, namely a first-stage rod 9, a second-stage rod 10, a third-stage rod 11 and a sleeve structure, wherein the first-stage rod 9 is connected with the hinge support 4 through a revolute pair, the first-stage rod 9 is connected with the second-stage rod 10, the second-stage rod 10 is connected with the third-stage rod 11 through a sliding pair, the front end of the third-stage rod 11 is connected with the front arm 5 through a revolute pair, and the front arm 5 can only rotate inwards through structure limiting.

The structure of the telescopic swing rod 3 is shown in fig. 11-13, and is composed of three sections, namely a first-stage rod 9, a second-stage rod 10 and a third-stage rod 11, which are similar to a sleeve structure, wherein the first-stage rod 9 is linked with the hinge support 4 through a rotary pair, and the first-stage rod 9 is linked with the second-stage rod 10, and the second-stage rod 10 is linked with the third-stage rod 11 through a sliding pair. A pulley is fixed on the side surface of each rod, and one end of a rope is fixed on the shaft a and sequentially passes through the shafts b, c, d, e, f, g and h. When the telescopic motor is used for winding up the rope, g and f (simultaneously a and b) are close to each other, and c and d (simultaneously e and d) are close to each other, so that the secondary rod 10 extends forwards relative to the primary rod 9, the tertiary rod 11 extends forwards relative to the secondary rod 10, and the whole telescopic swing rod 3 is elongated, and the principle is shown in fig. 13. A turning limiting block 13 extends out of the side face of the primary rod 9 and is in contact with a stop pin 14 of the front arm 5. When the primary lever 9 is not extended, the rotation of the lunar vehicle and the forearm 5 is limited; when the telescopic swing rod 3 extends for a certain distance, the overturning limiting block 13 is separated from the front arm stop pin 14, the freedom degree of inward swinging of the front arm 5 is released, and the lunar rover can be driven to realize lunar falling posture adjustment. As shown in fig. 5-11.

(3) The telescopic motor 6: is fixed on the side wall of the lander 15 and provides power for the movement of the telescopic swing rod 3.

(4) A swing rod motor 7: a ratchet mechanism is fixed on the side wall of the lander 15, and when the rope is rotated positively, the rope is released, so that the telescopic swing rod 3 slowly descends; and when the lunar rover rotates reversely, the traction rope triggers the separation mechanism 1 to separate the lunar rover from the transfer mechanism. The release mechanism 1 is an initiating explosive nut which is used for fixing the lunar rover, and the swing rod motor 7 reversely rotates to trigger the initiating explosive nut to unlock through the traction rope.

(5) Front arm 5: the lunar rover is connected with the third-level rod 11 through a rotary pair to correct the landing posture of the lunar rover;

(6) Disengaging mechanism 1: the front arm 5 is connected with the tertiary bar 11 through a hinge. When the front wheel of the lunar vehicle touches the moon, the telescopic swing rod 3 continues to swing downwards again, and the lunar vehicle naturally swings right.

The unlocking and transferring process of the rope-driven telescopic swing rod lifting and transferring device comprises the following steps:

(1) An initial state: the lunar vehicle is pressed against the side of the lander 15-Z, and at the same time, the transfer mechanism is also pressed.

(2) The compression point is released, and the lunar rover overturns 180 degrees: after the pressing point is released, the swing rod motor 7 releases the rope, and the telescopic swing rod 3 swings outwards around the point 4O of the hinge support 4 under the action of the volute spring of the hinge support 4 until the telescopic swing rod 3 is lower than the horizontal plane. Meanwhile, under the action between the front arm 5 and the separation mechanism 1, the lunar rover slowly realizes 180-degree overturning.

(3) Elongation: the telescopic swing rod 3 extends, the turning limiting block 13 is separated from the front arm stop pin 14, so that the swing mechanism between the front arm 5 and the third-stage rod 11 is separated, and the posture of the lunar rover is adjusted subsequently.

(4) Front wheel contact lunar surface: the telescopic motor 6 forwards rotates to release the rope, and meanwhile, the swing rod motor 7 is matched with the rope release to enable the telescopic swing rod 3 to extend. And after the telescopic swing rod 3 extends to a set length, the swing rod motor 7 continues to release the rope, and the telescopic swing rod 3 continues to swing downwards around the hinge support 4 until the front wheel of the moon rover contacts the ground.

(5) And (4) landing the lunar rover, and separating and unlocking the initiating explosive devices.

The working condition adaptability analysis of the rope-driven telescopic swing rod lifting and transferring device comprises the following steps:

working condition 1: pitching at-14 °

In the pitching-14-degree state, the gravity center of the lunar vehicle is positioned outside the rotating shaft of the hinge support 4, the unfolding of the mechanism is not influenced, and the working condition posture is as shown in fig. 8.

Working condition 2: pitch 14 °

The gravity center of the lunar vehicle is arranged on the left side of the rotating shaft of the hinge support 4 in a 14-degree pitching state, the lunar vehicle generates anticlockwise turning moment in an initial state by means of gravity of the lunar vehicle, clockwise and lateral swinging of the lunar vehicle cannot be achieved, therefore, the lunar vehicle can be laterally swung only by means of assistance of a volute spiral spring, and the working condition posture is shown in fig. 9.

Working condition 3: inclined at 14 °

The 14 degree roll does not affect the deployment of the transfer mechanism. If the lander and the landing plane of the lunar vehicle do not have the same lateral inclination angle, when the transfer is completed and the lunar vehicle contacts the lunar surface, the lunar vehicle wheels can only contact the lunar surface on one side, and the other side can not contact the lunar surface and has a distance of h from the lunar surface. Therefore, the front arm 5 has a certain angle adaptation range of +/-14 degrees, can keep the middle state by using a centering spring, and can adapt to the lunar surface rolling working condition under the action of gravity moment when contacting the inclined lunar surface, and the working condition posture is shown in fig. 10.

The transfer scheme of the planet patrolling device for other planets is the same as the falling moon transfer process, and the planet patrolling device 2 only needs to be a corresponding planet patrolling device.

The embodiments of the invention disclosed above are intended merely to aid in the explanation of the invention. The examples are not intended to be exhaustive or to limit the invention to the precise embodiments described. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention.

Claims (9)

1. The utility model provides a transfer device is lifted to flexible pendulum rod of rope drive which characterized in that: including breaking away from mechanism (1), flexible pendulum rod (3), forearm (5) and pendulum rod release mechanism, flexible pendulum rod (3) one end is fixed on lander (15), and the other end is connected with forearm (5), forearm (5) are connected with planet tour ware (2) through breaking away from mechanism (1), pendulum rod release mechanism is fixed in lander (15) lateral wall, provides power for actuating of flexible pendulum rod (3), accomplishes flexible and release.

2. The rope-driven telescopic swing rod lifting and transferring device of claim 1, characterized in that: the swing rod releasing mechanism comprises a telescopic motor (6) and a swing rod motor (7), the swing rod motor (7) is connected with the telescopic swing rod (3) through a traction rope, the telescopic motor (6) and the swing rod motor (7) are fixed on the side wall of the lander (15), and the telescopic motor (6) provides power for actuation of the telescopic swing rod (3).

3. The rope-driven telescopic swing rod lifting and transferring device as claimed in claim 1, wherein: when the swing rod motor (7) rotates forwards, the traction rope is released, so that the telescopic swing rod (3) descends slowly; when the planet inspection device rotates reversely, the separation mechanism (1) is triggered through the traction rope, so that the planet inspection device (2) is separated from the transfer mechanism.

4. A rope driven telescopic swing link lift transfer device according to claim 1, 2 or 3, characterized in that: the telescopic swing rod (3) comprises a multistage rod which is of a sleeve structure, and the telescopic swing rod (3) is fixed on the side wall of the lander (15) through a hinge support (4).

5. The rope-driven telescopic swing rod lifting and transferring device of claim 4, characterized in that: the telescopic swing rod (3) comprises a primary rod (9), a secondary rod (10) and a tertiary rod (11), wherein the primary rod (9) is connected with the hinge support (4) through a rotation pair, the primary rod (9) is connected with the secondary rod (10) and the secondary rod (10) are connected with the tertiary rod (11) through a sliding pair, and the front end of the tertiary rod (11) is connected with the front arm (5) through a rotation pair.

6. The rope-driven telescopic swing rod lifting and transferring device of claim 5, wherein: and a turning limiting block (13) is arranged at the joint of the telescopic swing rod (3) and the front arm (5).

7. The rope-driven telescopic swing rod lifting and transferring device of claim 6, wherein: and a limiting device is arranged on the front arm (5) to ensure that the front arm (5) can only rotate inwards.

8. The rope-driven telescopic swing rod lifting and transferring device of claim 7, wherein: the limiting device is a front arm stop pin (14), and the turnover limiting block (13) is matched with the front arm stop pin (14) to complete the limiting of the front arm (5).

9. The transfer method of the rope-driven telescopic swing rod lifting transfer device according to claim 1, characterized by comprising the following steps: the method specifically comprises the following steps:

(1) The pressing point is released, and the planet patrol device (2) turns over by 180 degrees: after the pressing point is released, a swing rod motor (7) releases a rope, a telescopic swing rod (3) swings outwards around a hinge support (4) under the action of a volute spiral spring of the hinge support (4) until the telescopic swing rod (3) is lower than the horizontal plane, and meanwhile, under the action of a front arm (5) and a separation mechanism (1), the planet inspection device (2) slowly realizes 180-degree turnover;

(2) Elongation: the telescopic swing rod (3) extends, the turning limiting block (13) is separated from the front arm stop pin (14), so that the swing mechanism between the front arm (5) and the third-level rod (11) is separated, and the posture of the lunar rover is adjusted subsequently;

(3) Front wheel contact lunar surface: the telescopic motor (6) releases the rope in a forward rotation manner, and meanwhile, the swing rod motor (7) is matched with the rope release manner to extend the telescopic swing rod (3); after the telescopic swing rod (3) extends to a set length, the swing rod motor (7) continues to release the rope, and the telescopic swing rod (3) continues to swing downwards around the hinge support (4) until the front wheel of the moon rover contacts the ground;

(4) And (4) landing the lunar vehicle, and separating and unlocking the initiating explosive devices.

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