CN-116495202-B - Star inspection device transfer release device and transfer release method

Abstract

The invention provides a transferring and releasing device and a transferring and releasing method of a star patrol device, and belongs to the technical field of transferring of star patrol devices. The transfer release device comprises a slow-release rope, a suspender, a swinging rod and a gesture control rope, wherein one end of the swinging rod is rotatably connected with the side wall of the lander, the other end of the swinging rod is provided with a gesture control hinge, one end of the suspender is connected with the gesture control hinge, the other end of the swinging rod is connected with the inspection device, one end of the gesture control rope is connected with the lander, the other end of the gesture control rope bypasses the gesture control hinge, the slow-release rope is wound on a slow-release rope wheel, the slow-release rope wheel is arranged on the side wall of the lander, and the slow-release rope is connected with the suspender. The device is mainly used for transferring and releasing the star patrol instrument.

Inventors

• WANG YINCHAO
• DING CHENXU
• YU ZIMING
• JIN HANG
• JIANG SHENGYUAN
• ZHANG WEIWEI
• YE CHANGLONG
• TANG JUNYUE
• WU XUAN
• WANG WENLONG
• LI XINLI
• TANG SHENGTAO

Assignees

• 沈阳航空航天大学
• 哈尔滨工业大学
• 苏州曦寰凯科技有限公司
• 北京空间飞行器总体设计部

Dates

Publication Date

20260508

Application Date

20230414

Claims (9)

1. 1. A planet inspection device transferring and releasing device is characterized by comprising a slow-release rope (3), a hanging rod (6), a swinging rod (9) and an attitude control rope (10), wherein one end of the swinging rod (9) is rotatably connected with the side wall of a lander (11), the other end of the swinging rod (9) is provided with an attitude control hinge (4), one end of the hanging rod (6) is connected with the attitude control hinge (4), the other end of the hanging rod is connected with an inspection device (8), one end of the attitude control rope (10) is connected with the lander (11), the other end bypasses the attitude control hinge (4), the slow-release rope (3) is wound on a slow-release rope wheel (2), the slow-release rope wheel (2) is arranged on the side wall of the lander (11), the slow-release rope (3) is connected with the hanging rod (6), the inspection device (8) is connected with the hanging rod (6) through a second locking mechanism (5), the hanging rod (6) is of an L-shaped structure, and the inspection device (8) is arranged on the inner side of the L-shaped structure.
2. 2. A star patrol transferring and releasing device according to claim 1, wherein said patrol (8) is connected with the side wall of lander (11) by means of first locking mechanism (1).
3. 3. The transferring and releasing device of the star inspection machine according to claim 2, wherein the number of the first locking mechanisms (1) is plural, and the first locking mechanisms (1) are respectively positioned at a plurality of corner points of the inspection machine (8).
4. 4. A star patrol instrument transfer release according to claim 2 or 3, characterized in that the first locking mechanism (1) is an electromagnetic locking mechanism.
5. 5. A star patrol instrument transfer release according to claim 1, wherein the second locking mechanism (5) is a mechanical locking mechanism.
6. 6. The planet inspection device transferring and releasing device as claimed in claim 5, wherein the mechanical locking mechanism is of two C-shaped structures enveloped with each other.
7. 7. A star patrol vessel transfer release according to claim 5, wherein said boom (6) is connected to a patrol vessel (8) by means of a damped hoist (7).
8. 8. The planet inspection device transferring and releasing device according to claim 1 is characterized in that a groove-shaped cam structure is arranged on the attitude control hinge (4), and an elastic holding grab is arranged at the bottom of the slow-release rope wheel (2).
9. 9. A transfer release method of a planet inspection device transfer release device according to claim 7 is characterized in that in an initial transfer state, an inspection device (8) and a swinging rod (9) are locked on the side wall of a lander (11), when transfer starts, the swinging rod (9) is released through a slow-release rope (3), the swinging rod (9) carries the inspection device (8) to swing, the inspection device (8) is not rotated around a centroid due to mechanical locking of the inspection device (8) and the hanging rod (6), after the inspection device (8) and the hanging rod (6) are unlocked, the inspection device (8) rotates around a damping hanging hinge (7) under the action of centroid gravity moment, and under the action of damping and limiting, the inspection device (8) and the hanging rod (6) after the rotation gesture are in a relative static position, and the swinging rod (9) continues to rotate, so that the inspection device (8) is transferred to the surface of a planet.

Description

Star inspection device transfer release device and transfer release method Technical Field The invention belongs to the technical field of transferring of star inspection devices, and particularly relates to a transferring and releasing device and a transferring and releasing method of a star inspection device. Background The transfer mechanism is a component for transferring and releasing the inspection device carried by the lander to the surface of the 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 the key technologies in the technical system required by the whole celestial body detection task, and is a key ring for determining success or failure of the detection task. The transfer mechanism is various in form according to different landing modes and inspection device quality. Taking the transfer work of the lunar rover as an example, the lunar rover and the transfer mechanism are required to be reliably pressed on the side wall of the lander in the flying process of a ground-moon transfer section, a surrounding moon section, a power descent section and the like, and can bear transverse and longitudinal acceleration loads, and after the lander safely lands on the lunar surface, the lunar rover is reliably transferred to the lunar surface and is reliably separated under the action of the transfer mechanism. The lunar vehicle and the transfer mechanism are safely and reliably pressed and installed on the lander in the flying stage and before lunar transfer, the transfer mechanism and the lunar vehicle realize separation and unlocking with the lander after lunar transfer, and meanwhile, the lander has various working conditions such as rolling, pitching and the like, so that the transfer mechanism can reliably transfer the lunar vehicle to the lunar surface under various landing working conditions, the lunar vehicle falling position has a certain selectable range so as to avoid lunar surface pits and bulges, and the lunar vehicle is separated from the transfer mechanism after lunar vehicle stably falls to realize free lunar surface running of the lunar vehicle. The requirements of other inspection devices are basically the same as those of lunar vehicles, so that a scheme capable of meeting the transfer of the star inspection device at the present stage needs to be provided. Disclosure of Invention In view of the above, the present invention is directed to a transferring and releasing device and a transferring and releasing method for a star inspection machine, so as to meet the transferring requirement of the existing inspection machine. The planet inspection device comprises a slow-release rope, a hanging rod, a swinging rod and an attitude control rope, wherein one end of the swinging rod is rotatably connected with the side wall of the lander, the other end of the swinging rod is provided with the attitude control hinge, one end of the hanging rod is connected with the attitude control hinge, the other end of the hanging rod is connected with the inspection device, one end of the attitude control rope is connected with the lander, the other end of the attitude control rope bypasses the attitude control hinge, the slow-release rope is wound on a slow-release rope wheel, the slow-release rope wheel is arranged on the side wall of the lander, and the slow-release rope is connected with the hanging rod. Further, the patrol is connected to the lander sidewall by a first locking mechanism. Further, the number of the first locking mechanisms is multiple, and the first locking mechanisms are respectively located at a plurality of corner points of the inspection device. Further, the first locking mechanism is an electromagnetic locking mechanism. Further, the patrol machine is connected with the suspender through a second locking mechanism. Further, the second locking mechanism is a mechanical locking mechanism. Furthermore, the mechanical locking mechanism is of a C-shaped structure with two mutually enveloped parts. Furthermore, the suspender is connected with the inspection device through the damping hanging hinge, the suspender is of an L-shaped structure, and the inspection device is arranged on the inner side of the L-shaped structure. Furthermore, the attitude control hinge is provided with a groove type cam structure, and the bottom of the slow-release rope wheel is provided with an elastic holding gripper. The invention also provides a transferring and releasing method of the transferring and releasing device of the star patrol device, in the transferring initial state, the patrol device and the swing rod are locked on the side wall of the lander, when transferring starts, the swing rod is released through the slow-release rope, the swing rod carries the patrol device to swing, the patrol device does not revolve around the centroid due to the mechanical locking of the patrol d