CN102060106A - Buffer landing leg for planet detector - Google Patents
Buffer landing leg for planet detector Download PDFInfo
- Publication number
- CN102060106A CN102060106A CN201010597814XA CN201010597814A CN102060106A CN 102060106 A CN102060106 A CN 102060106A CN 201010597814X A CN201010597814X A CN 201010597814XA CN 201010597814 A CN201010597814 A CN 201010597814A CN 102060106 A CN102060106 A CN 102060106A
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- inner core
- landing leg
- outer cylinder
- rotating machine
- ratchet
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- 230000006835 compression Effects 0.000 claims abstract description 10
- 238000007906 compression Methods 0.000 claims abstract description 10
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 230000003139 buffering effect Effects 0.000 claims description 16
- 239000000523 sample Substances 0.000 claims description 11
- 230000003044 adaptive effect Effects 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 4
- 238000009434 installation Methods 0.000 abstract description 2
- 230000036544 posture Effects 0.000 abstract 1
- 239000006096 absorbing agent Substances 0.000 description 6
- 239000000306 component Substances 0.000 description 5
- 230000035939 shock Effects 0.000 description 5
- 238000013016 damping Methods 0.000 description 4
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 3
- 229910052782 aluminium Inorganic materials 0.000 description 3
- 239000004411 aluminium Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 238000013017 mechanical damping Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000000465 moulding Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000002459 sustained effect Effects 0.000 description 1
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Abstract
The invention discloses a buffer landing leg for a planet detector, which comprises an outer cylinder, an inner cylinder and a foot cushion, wherein a guide rail is arranged on the inner wall of the outer cylinder, a rotating motor is arranged at the upper end of the inner cylinder, an output rotating shaft of the rotating motor is fixedly connected with the inner cylinder, a compression spring is arranged on the upper end of the rotating motor, the upper end of the compression spring is in contact with the top of the outer cylinder, two sides of the rotating motor are also provided with guide wheels matched with the guide rail; and the foot cushion is arranged at the lower end of the outer cylinder, helical convex teeth are arranged on the outer peripheral surface of the inner cylinder, and a pawl matched with the helical convex teeth is arranged on the outer cylinder and compressed in the helical convex teeth through an external elastic member. The invention has the advantages of no interference in processes of installation and movement of the landing leg mechanism, good structural rigidity, lighter mass, simple structure, convenience of processing, long service life, high reliability and capability of absorbing higher impact energy and realizing self-repairing function of buffer postures.
Description
Technical field
The invention belongs to a kind of repeatedly used buffering landing leg that is used for planetary probe, this landing leg can realize cushioning the attitude self-repair function.
Background technology
Buffer gear is the key and the core component of planetary probe soft landing device, the buffering energy-absorbing arrangement of components choose and design be the soft landing device can realize stablizing, reliably, the key of the soft landing of safety.It mainly acts on is to absorb the impact energy that planetary probe is produced in the landing impact process, avoids excessive impact loading in detector and entrained experimental facilities thereof it to be sustained damage.
The planetary probe lander shock absorber that had abroad adopted has air bag shock absorber, compressible energy absorber, pneumatic buffer, hydraulic damping device, magnetorheological shock absorber, electromagnetic damping shock absorber and mechanical type spring bumper at present.Bounce-back reached often and rolls after the air bag shock absorber landed, and attitude should not be controlled, and can't adjust attitude, was difficult to realize returning from menology; Hydraulic damping device needs to carry out strict sealing and thermal protection measure in a vacuum, complex structure, and weight is big, and reliability is low; Compressible energy-absorbing buffering device mainly adopts aluminium (or paper) honeycomb structure and is filled with the moulding honeycomb structure of foam is padded coaming, the buffering damping capacity instability of aluminium cellular cushion device, stressed wayward, maximum shortcoming is can not reply after the distortion of honeycomb aluminium, can not carry out the self-repair function operation to the detector landing attitude.Electromagnetic buffer mechanism quality is excessive, complex structure, and be subjected to the influence of electric power system fault easily.Even magnetorheologically be in development phase at space industry, technology is ripe not enough.Mechanical cushioning device is simple in structure, is not easy to be subjected to the influence of external environment and other system.
The mechanical damping mode is mainly the mode that friction braking combines with the length of spring compressed energy-absorbing, adopts friction braking energy-absorbing mode, and it is simple in structure, the reliability height, and long service life matches with spring, and buffering effect can be more efficient.Simultaneously, utilize rotating machine and threads engaged, the selfreparing of the leg buffering attitude that can realize landing.
Summary of the invention
Purpose of the present invention: at the deficiencies in the prior art, provide a kind of repeatedly used planetary probe soft landing buffering leg, this mechanism has buffering attitude self-repair function simultaneously.The characteristics of this mechanism be for can absorb very high impact energy, long service life, reliability height, and the rigidity of structure is big, and kinematic mechanism, control system are simple, light weight, practicality is stronger.
Technical scheme of the present invention: a kind of buffering landing leg of planetary probe, comprise urceolus, inner core and foot pad, described outer tube inner wall is provided with guide rail, be provided with a rotating machine in the upper end of described inner core, the output revolving shaft of this rotating machine is captiveed joint with described inner core, upper end at rotating machine also is provided with a compression spring, and the upper end of this compression spring contacts with the top of described urceolus, also is provided with the pulley adaptive with described guide rail in the both sides of rotating machine; Described foot pad is arranged on the lower end of inner core, is provided with the spiral double wedge at the outer peripheral face of described inner core, described urceolus be provided with one with the suitable ratchet of described spiral double wedge, this ratchet is compressed in the described spiral double wedge by exterior elastic component.
Between described inner core and foot pad, also be provided with linear bearing.
Described elastic component is a leaf spring.
This landing leg comprises inside and outside two sleeves.The pulley guide rails of four symmetries is arranged on the outer sleeve inwall, and the urceolus end is fixed with spiral fashion ratchet and leaf spring.Inner sleeve is placed within the outer sleeve, the inner sleeve outer wall has the ratchet screw thread, the inner sleeve outer end is connected with the foot pad by linear bearing, end in outer sleeve links to each other with rotating machine by linear bearing, the other end of motor is equipped with linear bearing equally, links to each other with compression spring, and the linear bearing at motor two ends is equipped with four pulleys respectively, pulley guide rails on outer tube inner wall matches, thereby guarantees that rotating machine can drive inner core and move up and down with respect to urceolus.
When the landing leg is subjected to landing impact, inner core promotes inwards, spiral double wedge on the inner tank theca also is that ratchet pushes ratchet laterally, ratchet is oppressed the elastic component leaf spring again, thereby realize inner core on ratchet by the advancing continuously an of tooth of a tooth of pitch, impact energy consumes by the friction between the ratchet.Because inner core is not continuous with respect to the motion of ratchet, but the slip of one-level one-level, so impact energy can not all absorb, and part energy is compressed spring and stores.Rotating machine can be regulated the stroke of inner core by the rotation that drives inner core, thereby regulates the height of lander, realizes the landing attitude self-repair function.
Beneficial effect of the present invention: the installation and the motion process of this landing leg mechanism do not have interference, and the rigidity of structure is good, and lighter weight is simple in structure, and is easy to process, long service life, and the reliability height can absorb very high impact energy, realizes the self-repair function of buffering attitude.
Description of drawings
The composition scheme drawing of 1 buffering of accompanying drawing landing leg mechanism.
Number in the figure title: 1, foot pad; 2, linear bearing; 3, leaf spring; 4, ratchet; 5, urceolus; 6, inner core; 7, guide rail; 8, pulley; 9, rotating machine; 10, rotating shaft; 11, compression spring.
The specific embodiment
As shown in Figure 1, the present invention plants the buffering landing leg of planetary probe, comprise urceolus 5, inner core 6 and foot pad 1, urceolus 5 inwalls are provided with guide rail 7, be provided with a rotating machine 9 in the upper end of inner core 6, the output revolving shaft 10 of this rotating machine 9 is captiveed joint with inner core 6, also is provided with a compression spring 11 in the upper end of rotating machine, the upper end of this compression spring 11 contacts with the top of urceolus 5, also is provided with two groups of 4 pulleys 8 in the both sides of rotating machine 9; Inner core 6 is by pulley 8 slippage up and down in urceolus 5, foot pad 1 is arranged on the lower end of inner core 6, and by linear bearing 2 connections, outer peripheral face at inner core 6 is provided with the spiral double wedge, on urceolus 8 be provided with one with the suitable ratchet 4 of spiral double wedge, this ratchet 4 is compressed in the spiral double wedge by exterior elastic component leaf spring 3.
When the landing leg is subjected to landing impact, inner core promotes inwards, and the ratchet on the inner tank theca pushes ratchet laterally, and ratchet is oppressed leaf spring again, thereby realize inner core on ratchet by the advancing continuously an of tooth of a tooth of pitch, impact energy consumes a part by the friction between the ratchet.Inner core is not because inner core is continuous with respect to the motion of ratchet, but the slip of one-level one-level, so impact energy can not all absorb, and part energy is compressed spring and stores.Rotating machine can be by driving the inner core rotation, and the outer ratchet of inner core is along the ratchet screw thread rotation, thus the stroke of adjusting inner core, and the height of adjusting lander is realized the landing attitude self-repair function.
Claims (3)
1. the buffering landing leg of a planetary probe, it is characterized in that: comprise urceolus (5), inner core (6) and foot pad (1), described urceolus (5) inwall is provided with guide rail (7), be provided with a rotating machine (9) in the upper end of described inner core (6), the output revolving shaft (10) of this rotating machine (9) is captiveed joint with described inner core (6), upper end at rotating machine (9) also is provided with a compression spring, the upper end of this compression spring contacts with the top of described urceolus (5), also is provided with the pulley (8) adaptive with described guide rail (7) in the both sides of rotating machine (9); Described foot pad (1) is arranged on the lower end of inner core (6), outer peripheral face at described inner core (6) is provided with the spiral double wedge, described urceolus (5) be provided with one with the suitable ratchet (4) of described spiral double wedge, this ratchet (4) is compressed in the described spiral double wedge by exterior elastic component.
2. the buffering landing leg of a kind of planetary probe according to claim 1 is characterized in that: also be provided with linear bearing (2) between described inner core (6) and foot pad (1).
3. the buffering landing leg of a kind of planetary probe according to claim 1 and 2, it is characterized in that: described elastic component is leaf spring (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010597814XA CN102060106A (en) | 2010-12-21 | 2010-12-21 | Buffer landing leg for planet detector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010597814XA CN102060106A (en) | 2010-12-21 | 2010-12-21 | Buffer landing leg for planet detector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102060106A true CN102060106A (en) | 2011-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201010597814XA Pending CN102060106A (en) | 2010-12-21 | 2010-12-21 | Buffer landing leg for planet detector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102060106A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103661965A (en) * | 2013-11-22 | 2014-03-26 | 上海宇航系统工程研究所 | Built-in extension-type landing buffering mechanism |
| CN103883664A (en) * | 2012-12-21 | 2014-06-25 | 中国直升机设计研究所 | Throttle valve for helicopter |
| CN104573347A (en) * | 2014-12-26 | 2015-04-29 | 北京空间机电研究所 | Method for determining impact force of honeycomb buffer in landing buffering process |
| CN106704433A (en) * | 2017-01-12 | 2017-05-24 | 南京航空航天大学 | Bidirectional buffer with driving function |
| CN106965954A (en) * | 2017-04-28 | 2017-07-21 | 南京航空航天大学 | Force transducer for sole of foot stretches protection device |
| CN106986006A (en) * | 2017-04-11 | 2017-07-28 | 重庆大学 | Reusable varied angle becomes length automatic adaptation cushion landing mechanism |
| CN108708673A (en) * | 2018-04-04 | 2018-10-26 | 哈尔滨工业大学 | It is landed based on more mechanical arms and anchoring device is adhered on the asteroid surface of fork-shaped ultrasonic drilling |
| CN109080857A (en) * | 2018-07-27 | 2018-12-25 | 北京控制工程研究所 | A kind of leg buffer gear for lunar surface flying robot |
| CN109398766A (en) * | 2018-11-29 | 2019-03-01 | 哈尔滨工业大学 | A kind of trajectory buffer-type star landing and scientific exploration platform |
| CN110065055A (en) * | 2019-04-30 | 2019-07-30 | 北京空间飞行器总体设计部 | Realize the asteroid detection device of surface layer bulk sample crawl sampling |
| CN110844125A (en) * | 2019-12-17 | 2020-02-28 | 中国科学院沈阳自动化研究所 | Leg type landing buffer device capable of being repeatedly used |
| CN111114845A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Leg type asteroid surface landing buffer device based on electromagnetic damping |
| CN111114847A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface landing buffer device based on electromagnetism and metal rubber damping |
| CN111114851A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Planetary surface anchoring device based on rotation motor and impact type ultrasonic drill are coaxial |
| CN111114841A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN111114842A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Electromagnetic and elastic damping composite energy-absorbing folding asteroid surface landing device |
| CN113060307A (en) * | 2021-03-11 | 2021-07-02 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN113173269A (en) * | 2021-04-20 | 2021-07-27 | 南京理工大学 | Low-resilience combined buffering device |
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Patent Citations (4)
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| US4088286A (en) * | 1976-02-04 | 1978-05-09 | Messier-Hispano, S.A. | Shock absorber |
| US20090218444A1 (en) * | 2005-10-27 | 2009-09-03 | Messier-Dowty Sa | undercarriage shock absorber with positive retention in a retracted position and with crash overtravel |
| CN1986334A (en) * | 2005-12-23 | 2007-06-27 | 梅西耶-布加蒂公司 | Telescopic actuator with a main rod and an auxiliary rod, and method applying said actuator |
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Cited By (27)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103883664A (en) * | 2012-12-21 | 2014-06-25 | 中国直升机设计研究所 | Throttle valve for helicopter |
| CN103661965A (en) * | 2013-11-22 | 2014-03-26 | 上海宇航系统工程研究所 | Built-in extension-type landing buffering mechanism |
| CN104573347A (en) * | 2014-12-26 | 2015-04-29 | 北京空间机电研究所 | Method for determining impact force of honeycomb buffer in landing buffering process |
| CN106704433A (en) * | 2017-01-12 | 2017-05-24 | 南京航空航天大学 | Bidirectional buffer with driving function |
| CN106704433B (en) * | 2017-01-12 | 2019-05-14 | 南京航空航天大学 | A kind of bidirectional buffer with driving function |
| CN106986006B (en) * | 2017-04-11 | 2020-04-24 | 重庆大学 | Reusable variable-angle variable-length self-adaptive buffer landing mechanism |
| CN106986006A (en) * | 2017-04-11 | 2017-07-28 | 重庆大学 | Reusable varied angle becomes length automatic adaptation cushion landing mechanism |
| CN106965954A (en) * | 2017-04-28 | 2017-07-21 | 南京航空航天大学 | Force transducer for sole of foot stretches protection device |
| CN106965954B (en) * | 2017-04-28 | 2019-06-04 | 南京航空航天大学 | Force transducer for sole of foot stretches protective device |
| CN108708673A (en) * | 2018-04-04 | 2018-10-26 | 哈尔滨工业大学 | It is landed based on more mechanical arms and anchoring device is adhered on the asteroid surface of fork-shaped ultrasonic drilling |
| CN109080857A (en) * | 2018-07-27 | 2018-12-25 | 北京控制工程研究所 | A kind of leg buffer gear for lunar surface flying robot |
| CN109080857B (en) * | 2018-07-27 | 2020-07-14 | 北京控制工程研究所 | Leg buffer mechanism for lunar flying robot |
| CN111114842A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Electromagnetic and elastic damping composite energy-absorbing folding asteroid surface landing device |
| CN111114842B (en) * | 2018-10-30 | 2022-07-22 | 哈尔滨工业大学 | Electromagnetic and elastic damping composite energy-absorbing folding asteroid surface landing device |
| CN111114845A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Leg type asteroid surface landing buffer device based on electromagnetic damping |
| CN111114847A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface landing buffer device based on electromagnetism and metal rubber damping |
| CN111114851A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Planetary surface anchoring device based on rotation motor and impact type ultrasonic drill are coaxial |
| CN111114841A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN111114851B (en) * | 2018-10-30 | 2022-09-20 | 哈尔滨工业大学 | Planetary surface anchoring device based on rotation motor and impact type ultrasonic drill are coaxial |
| CN111114841B (en) * | 2018-10-30 | 2022-07-26 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN109398766A (en) * | 2018-11-29 | 2019-03-01 | 哈尔滨工业大学 | A kind of trajectory buffer-type star landing and scientific exploration platform |
| CN109398766B (en) * | 2018-11-29 | 2021-07-20 | 哈尔滨工业大学 | Ballistic buffering type planet landing and scientific detection platform |
| CN110065055A (en) * | 2019-04-30 | 2019-07-30 | 北京空间飞行器总体设计部 | Realize the asteroid detection device of surface layer bulk sample crawl sampling |
| CN110844125A (en) * | 2019-12-17 | 2020-02-28 | 中国科学院沈阳自动化研究所 | Leg type landing buffer device capable of being repeatedly used |
| CN113060307A (en) * | 2021-03-11 | 2021-07-02 | 哈尔滨工业大学 | Multi-finger self-adaptive flexible grabbing mechanism for fixing star catalogue and grabbing method thereof |
| CN113173269A (en) * | 2021-04-20 | 2021-07-27 | 南京理工大学 | Low-resilience combined buffering device |
| CN113173269B (en) * | 2021-04-20 | 2022-03-15 | 南京理工大学 | Low-resilience combined buffering device |
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Application publication date: 20110518 |