CN103144785B - Lander and instrument anchoring system for microgravity environment - Google Patents
Lander and instrument anchoring system for microgravity environment Download PDFInfo
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- CN103144785B CN103144785B CN201310108237.7A CN201310108237A CN103144785B CN 103144785 B CN103144785 B CN 103144785B CN 201310108237 A CN201310108237 A CN 201310108237A CN 103144785 B CN103144785 B CN 103144785B
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Abstract
The invention discloses a lander and instrument anchoring system for a microgravity environment, relating to the lander and instrument anchoring system. The invention aims to solve the problem that an anchor bill in the traditional anchoring mechanism is not deformable and leads to smaller anchoring force after being stricken into a medium. The big end of a stepped push rod is fixedly connected with a piston, the stepped push rod is located in the anchor bill and is in sliding connection with the anchor bill, a back taper is arranged in the anchor bill and is arranged adjacent to the small end of the stepped push rod, four anchoring claws are fixed on the small end of the stepped push rod and are arranged in a star shape, each spreading wing is arranged on the big end of the anchor bill through a spreading wing pin, and a plurality of the spreading wings are arranged in the star shape; and the outer wall of a combustion chamber of an anchoring unit is in sliding connection with the inner wall of the end cover of an expansion cylinder, the sliding bearing of a damping unit is sleeved on the outer wall of the expansion cylinder of a pushing unit, the damping unit slides relatively to the expansion cylinder of the pushing unit, and a winding unit is fixed on the sleeve of the damping unit. The lander and instrument anchoring system disclosed by the invention is used for anchoring the lander and instrument under the microgravity environment.
Description
Technical field
The present invention relates to a kind of for lander under microgravity environment and instrument and equipment anchor system.
Background technology
Microgravity is mainly reflected in survey of deep space, and the development of space technology makes the mankind likely to some celestial body emitter-detector solar, and fetches Soil and Rock sample, by scientific experiment knowledge and utility celestial body in some celestial body surface landing.Up to the present, the mankind have achieved and have landed at the moon and martian surface, and successfully fetch lunar surface soil and rock specimens.Except the moon and Mars, the mankind also transmit lander to Venus, Jupiter and minor planet, comet.Along with the arrival of 21 century, survey of deep space technology is preserved our planet as the mankind, enter universe and find the important means at new life home, causes showing great attention to of world's every country.Survey of deep space carries out the important channel of space resources research and development and utilization, the innovation of space science research and technology by being the mankind in the new century, goes the life of other celestial bodies to start brand-new epoch by leaving the earth for the mankind.
Little celestial body detection belongs to survey of deep space, has started the upsurge of ASTEREX in recent years in world wide.Before the starlet bodily form is formed in 4,600,000,000 years, the solar system produces the initial stage, forms material and the element at initial stage, by the detection to little celestial body, can promote solar understanding, explore solar origin and origin of life containing the solar system.Up to the present, the mankind to the detection of small feature loss (comprising minor planet, comet etc.) from simple to complex, by remote observation to closely observing, then to Landing on Small Bodies surface it is taken a sample to research, this process is incremental, progressively deep.In the landing detection of small feature loss, the surface traction of small feature loss is little especially, and during landing, instrument and equipment easily wafts on its surface, so need to set up between instrument and equipment and little celestial body to be mechanically connected, it is fixed on starlet surface firmly.
Existing positioning of anchor mode lander being fixed on minor planet surface has many kinds, comprising:
One, boring is fixing
Principle: utilize one or two drill bit to fix lander at minor planet surface drilling, their direction of rotation when having two drill bits, rotate with the lander reduced because drill bit rotational causes.
Advantage: low speed boring effects on surface region produces less temperature impact.
Shortcoming: (1) boring required time is longer and antagonistic force that is required applying when holing is comparatively large, and the time, longer consumption of fuel was larger, and this just requires the carrying amount increasing fuel when launching; (2) minor planet that this method effects on surface hardness is lower implements conveniently, and for the higher minor planet of superficial hardness, drilling time and required antagonistic force can increase a lot, even can not hole.
Two, melt pore-forming to fix
Principle: form hole by melting appartus on minor planet surface, and then lander is fixed.
Advantage: melting appartus movable parts is few, reduces quality, improves reliability.
Shortcoming: high temperature melting energy height is concentrated, institute's energy requirement is large, and flash time is also longer simultaneously; In fusion process, lander rests in the air, adds the danger of instrument overturning on lander; If celestial body surface composition is not fusible, lander cannot successfully be fixed.
Three, telescopic tube connects location
The ST4/Champollion of the U.S. also once planned the landing detection carrying out Temple1 comet, and this plan was cancelled afterwards, and what its positioning of anchor system adopted is the telescopic sleeve structure that priming system drives.
Principle: the rigid pipe of different-diameter connects together with one heart, anchor point and diameter little rigid pipe socket, actuating device effect cast anchor point drive sleeve pipe inject celestial body surface, reach the object of fixing lander.
Advantage: be rigidly connected between landing point and lander, lander does not have waving of horizontal direction; In lander position fixing process, do not have attitude to keep, consumption of fuel is few.
Shortcoming: due to the anisotropy of minor planet surface dielectric, meeting run-off the straight in the incident process of anchor point, has very large lateral impact loading and is applied on lander, cause damage to lander interior instrument; In incident process, telescopic tube motion parts quality can change, and brings difficulty to estimation initial transmissions energy.
Four, chain type anchor and position
The Rosetta cometary explorer of ESA adopts chain type anchor and position.
Principle: the piston promoting anchor body forms a fixed connection through tearing between pin and expansion cylinder, after priming system igniting, tear pin and be pulled off, anchor body is released expansion cylinder at a high speed, and then squeezes in medium.
Advantage: set up penetration model and can estimate priming system energy needed for penetration desired depth; Break and tear pin institute energy requirement greatly, large force of explosion can be produced, and then make anchor body produce large Penetration Speed.
Shortcoming: anchor point is non-deformable, the anchor force that after squeezing into medium, non deformable anchor point produces is less; Tear the not reproducible use of pin, change and tear pin and need ressemble, required time is long, and manufacture tears that pin difficulty of processing is large, cost is high.
Summary of the invention
The present invention solves that anchor point in existing anchoring mechanism is non-deformable causes squeezing into the less problem of anchor force after medium, and then provides a kind of for lander under microgravity environment and instrument and equipment anchor system.
The present invention solves the problems of the technologies described above the technical scheme taked to be:
Of the present inventionly to be made up of anchoring unit, propulsion unit, damper unit and winding unit for lander under microgravity environment and instrument and equipment anchor system;
Described anchoring unit comprises anchor point, anchoring claw, back taper, ladder push rod, piston, combustion chamber, Fire load, anchor pole, anchor pole end cap, multiplely uniform open wing pin and multiplely uniform open the wing, described anchor point, combustion chamber and anchor pole are hollow structure, large one end, one end of anchor point is little, the large end of anchor point is connected with the threaded one end of combustion chamber, the other end of combustion chamber is connected with the threaded one end of anchor pole, the other end of combustion chamber is provided with Fire load, piston is provided with in the inner chamber of combustion chamber, the large end of ladder push rod and piston affixed, ladder push rod in anchor point and and sliding block joint between anchor point, back taper to be arranged in anchor point and to be disposed adjacent with the small end of ladder push rod, anchoring claw is fixed on the small end of ladder push rod, the quantity of anchoring claw is four, four anchoring claws are that star is arranged, each wing that opens opens wing pin by one and is arranged on the large end of anchor point, multiple wing that opens is that star is arranged,
Described propulsion unit comprises expansion cylinder, thrust end cap, shock pad, piston body, attaching screw, piston cap, Fire load, firer's joint, spacing ring, multiple Compress Spring and multiple piston rod, the lower end of expansion cylinder is processed with outer, thrust end cap is threaded in the lower end of expansion cylinder, shock pad is arranged on the upper surface of thrust end cap, piston body be positioned at expansion cylinder and with its sliding block joint, piston body is processed with multiple blind hole along piston body radial equipartition, Compress Spring is arranged with the quantity of piston rod is all consistent with the quantity of blind hole, a Compress Spring and a piston rod is provided with in each blind hole, piston rod is by elastic deformation the moving axially along blind hole of spring, piston cap is packed on the upper surface of piston body by attaching screw, firer's joint is threaded connection the upper end in expansion cylinder, firer's joint is provided with Fire load, the outer wall of expansion cylinder upper end is threaded restraining position ring block,
Described damper unit comprises damper spring, walks spool, nut, sleeve, plain bearing and tightening end cap; Damper spring and sleeve are installed on the outer wall of expansion cylinder bottom successively, the upper end of sleeve is spacing by spacing ring, the lower end of damper spring contacts with the outer of expansion cylinder lower end, the upper end of damper spring contacts with the lower end of sleeve, walking spool is fixed on the lateral wall of sleeve by nut, plain bearing is embedded on sleeve lining, and tightening end cap is threaded connection the upper end at sleeve;
Described winding unit comprises motor, retarder, reducer stent, line case, the first antifriction-bearing box, line case baffle plate, the second antifriction-bearing box, unilateral bearing, flange, spool, spool and locating dowel pin, reducer stent is fixed on online case, retarder is fixed on reducer stent, the output shaft of motor is connected with the input end of retarder, the mouth of retarder is fixedly connected with spool, the two ends correspondence of line case is provided with the first antifriction-bearing box and the second antifriction-bearing box, spool is installed on online case by the first antifriction-bearing box and the second antifriction-bearing box, spool is fixedly connected with spool by locating dowel pin, flange is fixed on the upper surface of online case, unilateral bearing is arranged on flange, the upper end of spool is packed in unilateral bearing, line case baffle plate is fixed on sleeve, line case is fixedly connected with sleeve,
The outer wall of combustion chamber of anchoring unit and expansion cylinder end cap inwall sliding block joint, the plain bearing of damper unit is sleeved on the outer wall of the expansion cylinder of propulsion unit, relative sliding between damper unit and the expansion cylinder of propulsion unit, described winding unit is fixed on the sleeve of damper unit.
The invention has the beneficial effects as follows:
The anchor point with the active anchoring mechanism of secondary driving function of the present invention is provided with and opens the wing, after squeezing into medium, open the wing to open around opening wing pin under the effect of ladder push rod, compared with non-deformable with anchor point in existing anchoring mechanism, substantially increase anchor force, reduce instrument and equipment and to waft under microgravity environment the risk walked; Anchoring mechanism of the present invention also has the advantage that quality is light, volume is little, cost is low, penetrating capacity is strong, anchor force is high;
The piston of anchoring mechanism of the present invention is provided with piston rod, the Penetration Speed of anchoring unit can be changed by the quantity changing piston rod; The present invention realizes vibration damping by the compression of damper spring, can have good effectiveness in vibration suppression, can realize the real-time tensioning of cotton rope simultaneously; Line case is two cavity configurations, the structure of two cavates makes the control line of control system can be directly connected to the end of anchoring unit through spool, the design of unilateral bearing and drg makes anchor system cotton rope in spiral process can only strain and can not loosen, and unilateral bearing is the redundancy backup to drg, after drg breaks down, still can be realized the unidirectional tensioning of cotton rope by unilateral bearing;
The robot autonomous operation of (as radiation, virus, high/low temperature etc.) under anchor system of the present invention also can be used for hazardous environment, robot is installed anchoring mechanism, has assisted the operation such as sampling and scientific instrument operation of sample.
Accompanying drawing explanation
Fig. 1 is the integral structure block diagram for lander under microgravity environment and instrument and equipment anchor system of the present invention, Fig. 2 is the three-dimensional cutaway view of anchoring unit 1 in detailed description of the invention 1, Fig. 3 is the three-dimensional cutaway view of propulsion unit 2 in detailed description of the invention 1, Fig. 4 is the three-dimensional cutaway view of damper unit 3 in detailed description of the invention 1, and Fig. 5 is the three-dimensional cutaway view of winding unit 4 in detailed description of the invention 1.
Detailed description of the invention
Detailed description of the invention one: as shown in Fig. 1 ~ 5, being made up of anchoring unit 1, propulsion unit 2, damper unit 3 and winding unit 4 for lander under microgravity environment and instrument and equipment anchor system of present embodiment;
Described anchoring unit 1 comprises anchor point 1-1, anchoring claw 1-2, back taper 1-3, ladder push rod 1-4, piston 1-7, combustion chamber 1-8, Fire load 1-9, anchor pole 1-10, anchor pole end cap 1-11, multiplely uniform open wing pin 1-5 and multiplely uniform open wing 1-6, described anchor point 1-1, combustion chamber 1-8 and anchor pole 1-10 is hollow structure, large one end, one end of anchor point 1-1 is little, the large end of anchor point 1-1 is connected with the threaded one end of combustion chamber 1-8, the other end of combustion chamber 1-8 is connected with the threaded one end of anchor pole 1-10, the other end of combustion chamber 1-8 is provided with Fire load 1-9, piston 1-7 is provided with in the inner chamber of combustion chamber 1-8, large end and the piston 1-7 of ladder push rod 1-4 are affixed, ladder push rod 1-4 anchor point 1-1 in and and anchor point 1-1 between sliding block joint, back taper 1-3 be arranged on anchor point 1-1 in and be disposed adjacent with the small end of ladder push rod 1-4, anchoring claw 1-2 is fixed on the small end of ladder push rod 1-4, the quantity of anchoring claw 1-2 is four, four anchoring claw 1-2 are that star is arranged, each open wing 1-6 by one open wing pin 1-5 be arranged on anchor point 1-1 large end on, multiple wing 1-6 that opens is that star is arranged, opening wing 1-6 and opening between wing pin 1-5 is free-running fit,
Described propulsion unit 2 comprises expansion cylinder 2-1, thrust end cap 2-2, shock pad 2-3, piston body 2-4, attaching screw 2-7, piston cap 2-8, Fire load 2-9, firer's joint 2-10, spacing ring 2-11, multiple Compress Spring 2-5 and multiple piston rod 2-6, the lower end of expansion cylinder 2-1 is processed with outer, thrust end cap 2-2 is threaded in the lower end of expansion cylinder 2-1, shock pad 2-3 is arranged on the upper surface of thrust end cap 2-2, piston body 2-4 be positioned at expansion cylinder 2-1 and with its sliding block joint, piston body 2-4 is processed with multiple blind hole 2-4-1 along piston body radial equipartition, Compress Spring 2-5 is arranged with the quantity of piston rod 2-6 is all consistent with the quantity of blind hole 2-4-1, an a Compress Spring 2-5 and one piston rod 2-6 is provided with in each blind hole 2-4-1, piston rod 2-6 is by elastic deformation the moving axially along blind hole 2-4-1 of spring 2-5, piston cap 2-8 is packed on the upper surface of piston body 2-4 by attaching screw 2-7, firer's joint 2-10 is threaded connection the upper end at expansion cylinder 2-1, firer's joint 2-10 is provided with Fire load 2-9, the outer wall of expansion cylinder 2-1 upper end is threaded restraining position ring block 2-11, it is free-running fit between spacing ring 2-11 and expansion cylinder 2-1 inwall,
Described damper unit 3 comprises damper spring 3-1, walks spool 3-2, nut 3-3, sleeve 3-4, plain bearing 3-5 and tightening end cap 3-6; Damper spring 3-1 and sleeve 3-4 is installed on the outer wall of expansion cylinder 2-1 bottom successively, the upper end of sleeve 3-4 is spacing by spacing ring 2-11, the lower end of damper spring 3-1 contacts with the outer of expansion cylinder 2-1 lower end, the upper end of damper spring 3-1 contacts with the lower end of sleeve 3-4, walk spool 3-2 to be fixed on by nut 3-3 on the lateral wall of sleeve 3-4, plain bearing 3-5 is embedded on sleeve 3-4 inwall, and tightening end cap 3-6 is threaded connection in the upper end of sleeve 3-4; Tightening end cap 3-6 is for compressing plain bearing 3-5;
Described winding unit 4 comprises motor 4-2, retarder 4-3, reducer stent 4-4, line case 4-6, the first antifriction-bearing box 4-8, line case baffle plate 4-9, the second antifriction-bearing box 4-10, unilateral bearing 4-11, flange 4-12, spool 4-14, spool 4-15 and locating dowel pin 4-16, reducer stent 4-4 fixes on online case 4-6 by attaching screw 4-5, retarder 4-3 is fixed on reducer stent 4-4 by attaching screw 4-7, the output shaft of motor 4-2 is connected with the input end of retarder 4-3, the mouth of retarder 4-3 is fixedly connected with spool 4-14, the two ends correspondence of line case 4-6 is provided with the first antifriction-bearing box 4-8 and the second antifriction-bearing box 4-10, spool 4-14 installs on online case 4-6 by the first antifriction-bearing box 4-8 and the second antifriction-bearing box 4-10, spool 4-15 is fixedly connected with spool 4-14 by locating dowel pin 4-16, flange 4-12 fixes on the upper surface of online case 4-6 by attaching screw 4-13, unilateral bearing 4-11 is arranged on flange 4-12, the upper end of spool 4-14 is packed in unilateral bearing 4-11, line case baffle plate 4-9 is fixed on sleeve 3-4 by attaching screw 4-18, line case 4-6 is fixedly connected with sleeve 3-4 by attaching screw 4-18,
The combustion chamber 1-8 outer wall of anchoring unit 1 and expansion cylinder end cap 2-2 inwall sliding block joint, the plain bearing 3-5 of damper unit 3 is sleeved on the outer wall of the expansion cylinder 2-1 of propulsion unit 2, relative sliding between the expansion cylinder 2-1 of damper unit 3 and propulsion unit 2, described winding unit 4 is fixed on the sleeve 3-4 of damper unit 3 by attaching screw 4-17 and attaching screw 4-18.
After Fire load 2-9 triggers, the high pressure gas produced act on piston cap 2-8 surface through firer's joint 2-10, piston rod 2-6 is compressed, piston body 2-4, piston rod 2-6, Compress Spring 2-5, piston cap 2-8, the entirety that attaching screw 2-7 forms produces high speed slide in expansion cylinder 2-1 chamber, the high speed slide of piston body 2-4 can promote the high speed slide of anchoring unit 1 along thrust end cap 2-2 centre hole, stoped by shock ring 2-3 when piston body 2-4 slides into bottom expansion cylinder 2-1 and slide, now anchoring unit 1 has obtained high speed, anchoring unit 1 to fly out expansion cylinder 2-1 through the centre hole of thrust end cap 2-2.
After anchoring unit 1 is released at a high speed the expansion cylinder 2-1 of propulsion unit 2, and then certain depth in penetration to medium, after the penetration motion of anchoring unit 1 terminates, the Fire load 1-9 of anchoring unit 1 inside is lighted a fire, the high pressure gas that Fire load 1-9 produces are full of the inner chamber of combustion chamber 1-8, this high pressure gas knows from experience promotion piston 1-7 high-speed motion, piston 1-7 can promote ladder push rod 1-4 high-speed motion, under ladder push rod 1-4 effect, the wing 1-6 that opens closed shown in Fig. 1 opens around opening wing pin 1-5, as shown in Figure 2, simultaneously anchoring claw 1-2 also acts on back taper 1-3 surface at ladder push rod 1-4 and is opened, and then four apertures through anchor point 1-1 top are pushed out anchor point 1-1.That opens opens wing 1-6 and anchoring claw 1-2 and can produce with penetration medium and interact, and open wing 1-6 and increase the anchor force in soft medium, anchoring claw 1-2 increases the anchor force in harder medium;
Light a fire simultaneously at the Fire load 2-9 of propulsion unit 2, the motor 4-2 of winding unit 4 drives spool 4-14 to rotate through retarder 4-3, spool 4-14 drives spool 4-15 to start spiral, institute's spiral rope is cotton rope 6-2-2 and cotton rope 6-2-1, cotton rope 6-2-2 and cotton rope 6-2-1 stores in size two line chambeies of online case 4-6 in advance respectively, one end of cotton rope 6-2-2 is connected to anchoring unit 1, after anchoring unit 1 is released propulsion unit 2 at a high speed, anchoring unit 1 penetration is in medium, when cotton rope 6-2-2 strains, motor 4-2 is also being rotated further, instantaneous in tensioning, cotton rope 6-2-2 can drive damper unit 3 slide downward on the expansion cylinder 2-1 outer wall of propulsion unit 2, damper spring 3-1 is compressed, play the effect of buffering, when this buffering can prevent cotton rope 6-2-2 from straining instantaneously, motor 4-2 and retarder 4-3 is impacted and damaged,
Be wrapped in spool 4-15 process at cotton rope 6-2-2, drg 4-1 is in brakeless state, unilateral bearing 4-11 makes motor 4-2 can only rotate to the direction of cotton rope 6-2-2 tensioning, when after cotton rope 6-2-2 tensioning, motor 4-2 stops operating, drg 4-1 power down, become braking mode, the drg 4-1 being in braking mode can stop motor 4-2 to reverse under cotton rope 6-2-2 pulling force, unilateral bearing 4-11 provides the resistance stoping reversion all the time to spool 4-14, unilateral bearing 4-11 and drg 4-1 has the effect stoping spool 4-15 that reversion occurs, there is between unilateral bearing 4-11 and drg 4-1 the effect of redundancy backup,
The control signal of the Fire load 2-9 of propulsion unit 2 is transmitted through cotton rope 6-1 by control system, the control signal of the Fire load 1-9 of anchoring unit 1 is transmitted through cotton rope 6-2-1 and cotton rope 6-2-2 by control system, cotton rope 6-2-1 and cotton rope 6-2-2 is connected together, the major part of cotton rope 6-2-1 stores in the loculus of online case 4-6, one end connected control system of cotton rope 6-2-1, the other end is connected with cotton rope 6-2-2, the major part of cotton rope 6-2-2 stores in the loculus of online case 4-6, one end of cotton rope 6-2-2 is connected with cotton rope 6-2-1, the other end is connected with Fire load 1-9 with the anchor pole end cap 1-11 of anchoring unit 1, cotton rope 6-2-2 is connected with anchor pole end cap 1-11 and the anchor force of anchoring unit 1 is passed to whole anchor system, cotton rope 6-2-2 and Fire load 1-9 is connected to Fire load 1-9 and provides control signal.
Detailed description of the invention two: as depicted in figs. 1 and 2, the small end of present embodiment anchor point 1-1 is conical, and the large end of anchor point 1-1 is cylindrical.Setting like this, can increase Penetration Depth by actv..Other composition and connection mode identical with detailed description of the invention one.
Detailed description of the invention three: as shown in figures 1 and 3, the quantity of present embodiment piston rod 2-6 is two ~ six.Setting like this, can regulate the initial exit velocities of anchor body.Other composition and connection mode identical with detailed description of the invention one or two.
Detailed description of the invention four: as depicted in figs. 1 and 2, the quantity that present embodiment opens wing 1-6 is four ~ six.Setting like this, effectively can improve anchor force.Other composition and connection mode identical with detailed description of the invention three.
Detailed description of the invention five: as depicted in figs. 1 and 2, present embodiment is opened wing 1-6 and is made up of elastomeric material.Setting like this, the deformable of the anchor wing, to adapt to different hardness medium.Other composition and connection mode and detailed description of the invention one, two or four identical.
Detailed description of the invention six: as shown in Figure 1 and Figure 5, present embodiment spool 4-15 is made up of enlarged diameter section and reduced diameter section, enlarged diameter section and reduced diameter section are coaxially arranged, enlarged diameter section is for being wound around the cotton rope 6-2-2 be connected with anchoring unit 1, and reduced diameter section is for being wound around the cotton rope 6-2-1 be connected with control system.Setting like this, larger diameter end spiral speed is fast, and smaller diameter end spiral speed is slow, can effectively reduce to be wound around to be connected cotton rope 6-2-1 length with control system.Other composition and connection mode identical with detailed description of the invention five.
Detailed description of the invention seven: as shown in Figure 1 and Figure 5, described in present embodiment, winding unit 4 also comprises drg 4-1, and drg 4-1 is arranged on motor 4-2.Setting like this, after motor power-off, motor can not reverse, and cotton rope length is fixed.Other composition and connection mode identical with detailed description of the invention five.
Principle of work:
When needs carry out anchoring to instrument and equipments such as landers, Fire load 2-9 lights a fire, anchoring unit 1 is pushed out propulsion unit 2, the motor 4-2 of winding unit 4 starts spiral rope 6-2-2 and cotton rope 6-2-1 simultaneously, and anchoring unit 1 is driven in medium, and then Fire load 1-9 is lighted a fire again, cause and open opening of wing 1-6 and anchoring claw 1-2, increase anchoring unit 1 anchor force in media as well, when after cotton rope 6-2-2 tensioning, the instrument and equipments such as lander have been anchored at starlet surface; Instantaneous in cotton rope 6-2-2 tensioning, the impact load that motor 4-2 is subject to can be absorbed by the damper spring 3-1 of damper unit 3, after cotton rope 6-2-2 tensioning rear motor 4-2 stops operating, under unilateral bearing 4-11 and drg 4-1 effect, cotton rope 6-2-2 can not be relaxed, when to loosen due to anchoring unit 1 or after other reason causes cotton rope 6-2-2 lax, distortion can be recovered by the damper spring 3-1 compressed, make cotton rope 6-2-2 tensioning again, the cotton rope 6-2-2 moment can be made to be in tensioning state by the damper spring 3-1 compressed.
Claims (7)
1. for lander under microgravity environment and an instrument and equipment anchor system, it is characterized in that: described anchor system is made up of anchoring unit (1), propulsion unit (2), damper unit (3) and winding unit (4);
Described anchoring unit (1) comprises anchor point (1-1), anchoring claw (1-2), back taper (1-3), ladder push rod (1-4), piston (1-7), combustion chamber (1-8), Fire load (1-9), anchor pole (1-10), anchor pole end cap (1-11), multiplely uniform open wing pin (1-5) and multiplely uniform open the wing (1-6), described anchor point (1-1), combustion chamber (1-8) and anchor pole (1-10) are hollow structure, large one end, one end of anchor point (1-1) is little, the large end of anchor point (1-1) is connected with the threaded one end of combustion chamber (1-8), the other end of combustion chamber (1-8) is connected with the threaded one end of anchor pole (1-10), the other end of combustion chamber (1-8) is provided with Fire load (1-9), piston (1-7) is provided with in the inner chamber of combustion chamber (1-8), large end and the piston (1-7) of ladder push rod (1-4) are affixed, ladder push rod (1-4) be positioned at anchor point (1-1) and and sliding block joint between anchor point (1-1), back taper (1-3) to be arranged in anchor point (1-1) and to be disposed adjacent with the small end of ladder push rod (1-4), anchoring claw (1-2) is fixed on the small end of ladder push rod (1-4), the quantity of anchoring claw (1-2) is four, four anchoring claws (1-2) are arranged in star, each wing (1-6) that opens opens wing pin (1-5) by one and is arranged on the large end of anchor point (1-1), multiple wing (1-6) that opens is arranged in star,
Described propulsion unit (2) comprises expansion cylinder (2-1), thrust end cap (2-2), shock pad (2-3), piston body (2-4), attaching screw (2-7), piston cap (2-8), Fire load (2-9), firer's joint (2-10), spacing ring (2-11), multiple Compress Spring (2-5) and multiple piston rod (2-6), the lower end of expansion cylinder (2-1) is processed with outer, thrust end cap (2-2) is threaded in the lower end of expansion cylinder (2-1), shock pad (2-3) is arranged on the upper surface of thrust end cap (2-2), piston body (2-4) be positioned at expansion cylinder (2-1) and with its sliding block joint, piston body (2-4) is processed with multiple blind hole (2-4-1) along piston body radial equipartition, Compress Spring (2-5) is arranged with the quantity of piston rod (2-6) is all consistent with the quantity of blind hole (2-4-1), a Compress Spring (2-5) and a piston rod (2-6) is provided with in each blind hole (2-4-1), piston rod (2-6) is by elastic deformation the moving axially along blind hole (2-4-1) of Compress Spring (2-5), piston cap (2-8) is packed on the upper surface of piston body (2-4) by attaching screw (2-7), firer's joint (2-10) is threaded connection in the upper end of expansion cylinder (2-1), firer's joint (2-10) is provided with Fire load (2-9), the outer wall of expansion cylinder (2-1) upper end is threaded restraining position ring block (2-11),
Described damper unit (3) comprises damper spring (3-1), walks spool (3-2), nut (3-3), sleeve (3-4), plain bearing (3-5) and tightening end cap (3-6), damper spring (3-1) and sleeve (3-4) are installed on the outer wall of expansion cylinder (2-1) bottom successively, the upper end of sleeve (3-4) is spacing by spacing ring (2-11), the lower end of damper spring (3-1) contacts with the outer of expansion cylinder (2-1) lower end, the upper end of damper spring (3-1) contacts with the lower end of sleeve (3-4), walking spool (3-2) is fixed on the lateral wall of sleeve (3-4) by nut (3-3), plain bearing (3-5) is embedded on sleeve (3-4) inwall, tightening end cap (3-6) is threaded connection in the upper end of sleeve (3-4),
Described winding unit (4) comprises motor (4-2), retarder (4-3), reducer stent (4-4), line case (4-6), the first antifriction-bearing box (4-8), line case baffle plate (4-9), the second antifriction-bearing box (4-10), unilateral bearing (4-11), flange (4-12), spool (4-14), spool (4-15) and locating dowel pin (4-16), on the fixing online case (4-6) of reducer stent (4-4), retarder (4-3) is fixed on reducer stent (4-4), the output shaft of motor (4-2) is connected with the input end of retarder (4-3), the mouth of retarder (4-3) is fixedly connected with spool (4-14), the two ends correspondence of line case (4-6) is provided with the first antifriction-bearing box (4-8) and the second antifriction-bearing box (4-10), spool (4-14) is installed on online case (4-6) by the first antifriction-bearing box (4-8) and the second antifriction-bearing box (4-10), spool (4-15) is fixedly connected with spool (4-14) by locating dowel pin (4-16), on the upper surface of the fixing online case (4-6) of flange (4-12), unilateral bearing (4-11) is arranged on flange (4-12), the upper end of spool (4-14) is packed in unilateral bearing (4-11), line case baffle plate (4-9) is fixed on sleeve (3-4), line case (4-6) is fixedly connected with sleeve (3-4),
Combustion chamber (1-8) outer wall of anchoring unit (1) and thrust end cap (2-2) inwall sliding block joint, the plain bearing (3-5) of damper unit (3) is sleeved on the outer wall of expansion cylinder (2-1) of propulsion unit (2), relative sliding between the expansion cylinder (2-1) of damper unit (3) and propulsion unit (2), described winding unit (4) is fixed on the sleeve (3-4) of damper unit (3).
2. according to claim 1 for lander under microgravity environment and instrument and equipment anchor system, it is characterized in that: the small end of anchor point 1-1 is for conical, and the large end of anchor point 1-1 is cylindrical.
3. according to claim 1 and 2 for lander under microgravity environment and instrument and equipment anchor system, it is characterized in that: the quantity of piston rod (2-6) is two ~ six.
4. according to claim 3 for lander under microgravity environment and instrument and equipment anchor system, it is characterized in that: the quantity of opening the wing (1-6) is four ~ six.
5. according to claim 1,2 or 4 for lander under microgravity environment and instrument and equipment anchor system, it is characterized in that: open the wing (1-6) and be made up of elastomeric material.
6. according to claim 5 for lander under microgravity environment and instrument and equipment anchor system, it is characterized in that: spool (4-15) is made up of enlarged diameter section and reduced diameter section, enlarged diameter section and reduced diameter section are coaxially arranged, enlarged diameter section is used for being wound around the cotton rope (6-2-2) be connected with anchoring unit (1), and reduced diameter section is for being wound around the cotton rope (6-2-1) be connected with control system.
7. according to claim 1,2,4 or 6 for lander under microgravity environment and instrument and equipment anchor system, it is characterized in that: described winding unit (4) also comprises drg (4-1), drg (4-1) is arranged on motor (4-2).
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| CN201310108237.7A CN103144785B (en) | 2013-03-29 | 2013-03-29 | Lander and instrument anchoring system for microgravity environment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106742061B (en) * | 2016-11-25 | 2019-04-09 | 北京空间机电研究所 | Mechanism is maked an inspection tour on a kind of asteroid microgravity surface |
| CN108487858B (en) * | 2018-03-06 | 2020-04-07 | 哈尔滨工业大学 | Asteroid surface attachment anchoring mechanism based on multi-mechanical arm landing and ultrasonic drilling |
| CN108414277A (en) * | 2018-06-13 | 2018-08-17 | 中国科学院武汉岩土力学研究所 | Rock mass core boring sampling device and sampling method under microgravity environment |
| CN109002646B (en) * | 2018-08-17 | 2023-05-09 | 北京电子工程总体研究所 | Method for simulating acting force of fire attack actuator cylinder |
| CN111114844B (en) * | 2018-10-30 | 2022-09-13 | 哈尔滨工业大学 | Asteroid surface attachment device based on ring type damping and penetration anchoring |
| 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 |
| CN110435935B (en) * | 2019-07-23 | 2023-01-24 | 哈尔滨工业大学 | Flying anchor capable of repeatedly penetrating and fixing fragments |
| CN110514475B (en) * | 2019-10-14 | 2024-01-19 | 吉林大学 | Self-balancing and self-adaptive sample drilling system for extra-ground star soil rock |
| CN111645880B (en) * | 2020-05-29 | 2022-03-18 | 南京理工大学 | Fast spinning small satellite lander and landing method thereof |
| CN113148245B (en) * | 2021-05-13 | 2022-05-31 | 哈尔滨工业大学 | End effector capable of repeatedly grabbing large space debris |
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| CN101786504A (en) * | 2010-02-25 | 2010-07-28 | 哈尔滨工业大学 | Anchor positioning system for detecting planetoid lander |
| CN102167166A (en) * | 2011-03-31 | 2011-08-31 | 哈尔滨工业大学 | Attached mechanism of small star lander |
| CN102501986A (en) * | 2011-09-27 | 2012-06-20 | 南京航空航天大学 | Anchoring and sampling mechanism of planetary probe |
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| US20090041549A1 (en) * | 2007-08-10 | 2009-02-12 | Foresight Products, Llc | Earth anchor |
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| CN101786504A (en) * | 2010-02-25 | 2010-07-28 | 哈尔滨工业大学 | Anchor positioning system for detecting planetoid lander |
| CN102167166A (en) * | 2011-03-31 | 2011-08-31 | 哈尔滨工业大学 | Attached mechanism of small star lander |
| CN102501986A (en) * | 2011-09-27 | 2012-06-20 | 南京航空航天大学 | Anchoring and sampling mechanism of planetary probe |
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