CN110861789B - Landing support mechanism of asteroid lander - Google Patents
Landing support mechanism of asteroid lander Download PDFInfo
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- CN110861789B CN110861789B CN201911108094.3A CN201911108094A CN110861789B CN 110861789 B CN110861789 B CN 110861789B CN 201911108094 A CN201911108094 A CN 201911108094A CN 110861789 B CN110861789 B CN 110861789B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
Abstract
A landing support mechanism of a minor planet lander comprises a unfolding locking mechanism, a cantilever structure and a landing buffer. The unfolding locking mechanism is connected with the lander, the cantilever structure is connected with the unfolding locking mechanism through a rotating shaft and rotates around the rotating shaft, and the landing buffer is fixedly connected with the cantilever structure. The unfolding locking mechanism provides rotary power for the rotation of the cantilever structure through the driving force spring, the unfolding locking mechanism is locked after moving to a specified position, and when the lander starts to touch the bottom, the landing buffer performs buffering and deceleration until the lander finally and stably lands. The invention can be applied to solving a series of specific functional requirements of the future minor planet spacecraft and realizing the design of function realization, light weight and miniaturization of spacecraft products.
Description
Technical Field
The invention belongs to the field of asteroid exploration in deep space exploration, and relates to a furling, unfolding, supporting and buffering device for asteroid landing exploration.
Background
Currently, the only aircrafts that achieve asteroid landing attachment are "rosary towers" in the european space and "falcon number" in japan.
The 'Rosemata' adopts three legs, when the foot pads just contact the surface of the asteroid, the universal joint connecting the lander matrix and the landing frame is loosened, so that smaller angular momentum is transferred to the lander body, and when all the three foot pads contact the asteroid, the universal joint is locked, so that the posture of the lander matrix is basically kept unchanged, and the landing device is well suitable for the terrain. An electromagnetic damping buffer is arranged between the landing frame and the lander base body, most energy can be absorbed in the collision process, and meanwhile, the bolt at the bottom of the foot pad is pressed into the star surface to play a certain damping role. Most of the impact energy is dissipated through the landing attachment system, so that the detector is prevented from flying and overturning.
The landing condition of the 'Rosemata tower' is not ideal, the three support legs do not have folding, unfolding and unfolding processes, the occupied aircraft has larger enveloping space, the landing envelope is smaller, and the landing is unstable. In addition, the buffer effect of the electromagnetic damping buffer is not ideal, and 2 times of jump occurs during landing, so that the final landing place of the Rosetta deviates about 1 km from the set position and finally falls in the shadow of the cliff at the comet, which directly causes that the Filey standby solar cell cannot acquire enough energy and still does not wake up to now.
"falcon number" landed on "silk" asteroid (about 700 m long, about 300 m wide) "in 11 months of 2005, and" falcon number "merely hovered, did not realize landing in the true sense, it adopted the three-axis attitude control mode, equipped with xenon ion engine. During landing, the falcon horn shoots a high velocity bullet against the planetary surface, collects debris and dust from the hit rock into a sample box, and launches a micro-robot against the planetary surface, which then returns the sample to the earth. Therefore, the falcon number does not have mechanisms such as landing supports and the like to realize true asteroid landing.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the invention can be used for furling, unfolding, supporting and buffering the asteroid detector and is suitable for asteroid landing detection. The invention provides a landing support mechanism of an asteroid lander, which can meet a series of specific functional requirements of a future asteroid spacecraft and realize the design of function realization, light weight and miniaturization of spacecraft products.
The technical scheme adopted by the invention is as follows: a landing support mechanism of a minor planet lander comprises an unfolding locking mechanism, a cantilever structure and a landing buffer;
the unfolding locking mechanism comprises a torsional spring fixing seat, a bearing box, a driving force spring, a first connecting rod, a second connecting rod, an angle beam, an end frame, a lock hook limiting support, a lock hook, an angle beam torsional spring and a lock hook torsional spring;
one side of the end frame is connected with the bearing box through a rotating shaft, a driving force spring penetrates through the rotating shaft and is pressed on the bearing box through a torsional spring fixing seat, one end of the first connecting rod is rotatably connected with the end frame through a pin, the other end of the first connecting rod is rotatably connected with one end of the second connecting rod through a pin, and the other end of the second connecting rod is provided with an arc-shaped structure and is installed on the inner wall of the bearing box through the rotating shaft; one corner of the corner beam is arranged on the inner wall of the bearing box through a rotating shaft and presses the corner beam torsion spring, the other corner of the corner beam is externally tangent to the arc-shaped structure at the end part of the second connecting rod through a cylindrical structure, the third corner of the corner beam is embedded in the latch hook groove through a cylindrical structure, and the end part of the latch hook is fixed with the bearing box through the rotating shaft and is provided with the latch hook torsion spring; the lock hook limiting brackets are arranged on two sides of the lock hook and used for limiting the lock hook;
the cantilever structure is a space truss structure, one end of the cantilever structure is connected with the end frame, and the other end of the cantilever structure is provided with a landing buffer; when landing, the landing buffer plays a buffering role.
When the asteroid lands, the restraint of the end frame is released, the end frame moves clockwise under the action of the driving force spring, the end frame drives the first connecting rod and the second connecting rod to move, when the arc-shaped structure of the second connecting rod moves to be separated from the angle beam, the angle beam receives the anticlockwise rotating moment of the angle beam torsion spring, and rotates anticlockwise until the angle beam falls into the inner groove of the arc-shaped structure of the second connecting rod; when the angle beam starts to move, the locking hook is driven to rotate anticlockwise through the contact of the cylinder and the locking hook until the cylinder is separated from the groove surface of the locking hook; after the lock hook is separated from the restraint of the angle beam, the lock hook moves clockwise under the action of the lock hook torsion spring, and the lock hook locks the frame of the end frame to realize the locking of the end frame.
The landing buffer comprises a spring sleeve, a stroke pressure spring, pawl teeth, a support cylinder, pawl hooks, a spring fixing seat, a spring catch, an outer cylinder and an outer cylinder cover plate;
the outer cylinder cover plate is arranged on the side surface of the outer cylinder to form a hollow structure; the spring fixing seat is connected with the supporting cylinder, one end of the supporting cylinder is inserted into a hollow structure formed by the outer cylinder and the outer cylinder cover plate, and the spring fixing seat is symmetrical about the central axis of the supporting cylinder and is arranged in the middle of the supporting cylinder; the spring retaining pieces are symmetrically fixed at the bottom of the outer cylinder and are respectively positioned at the ports of the spring sleeve; the spring sleeves are fixed on the outer barrel and symmetrically arranged; the stroke pressure springs are respectively arranged in the spring sleeves, the end parts of the stroke pressure springs are arranged on the spring fixing seats and are pressed tightly through spring retaining pieces fixed at the bottoms of the outer cylinders, and openings are formed in the spring retaining pieces and used for the spring fixing seats to move through; the ratchet teeth are fixed on the supporting cylinder along the longitudinal direction and form a ratchet mechanism together with the ratchet hook and the torsion spring; the pawl hook is arranged on the outer cylinder cover plate through a torsion spring.
When the lander contacts the ground, the supporting cylinder contacts the ground and is under the action of ground support reaction force, the outer cylinder and the outer cylinder cover plate move downwards, the spring fixing seat compresses the stroke pressure spring to perform buffering and energy absorption, the pawl hook, the pawl teeth and the torsion springs beside the pawl hook are used as a ratchet mechanism, when the outer cylinder moves, the pawl hook and the outer cylinder move together, the pawl hook is pressed on the ratchet of the pawl teeth under the action of the torsion springs, and the supporting cylinder is prevented from rebounding due to the reaction force of the stroke pressure spring.
The cantilever structure adopts four metal aluminum plates to be connected to four sides of the truss structure through hinge points, and each metal aluminum plate is subjected to weight reduction treatment.
Compared with the prior art, the invention has the advantages that:
(1) the foldable and unfoldable supporting leg adopted by the invention can realize 1.5m2The folded state of the utility model occupies small space;
(2) the unfolded state of the invention can be realized with a diameter of 9m2The landing area is larger, the span is larger, the gravity center is lower, and the landing ground adaptability is better.
(3) The buffer process of the invention adopts the stroke pressure spring with large stroke and small rigidity as the buffer system device, can absorb the energy during landing to the maximum extent, and can avoid the occurrence of 'jumping' phenomenon by matching with the pawl structure.
Drawings
FIG. 1 is a schematic view of a landing support structure according to the present invention;
FIG. 2 is a component view of the deployment locking mechanism of the present invention;
FIG. 3 is a diagram of a cantilever structure according to the present invention;
FIG. 4 is a block diagram of a landing buffer according to the present invention;
FIG. 5 is a schematic view of the initial position of the deployment locking mechanism of the present invention;
FIG. 6 is a schematic view of the final position of the deployment locking mechanism of the present invention;
Detailed Description
The invention is further explained with reference to the drawings.
A landing support mechanism of a minor planet lander comprises three single units, namely a unfolding locking mechanism 1, a cantilever structure 2 and a landing buffer 3, as shown in figure 1.
The unfolding locking mechanism 1 is connected with the landing device through 8-M8 screws, the cantilever structure 2 and the unfolding locking mechanism 1 are connected through a phi 6 rotating shaft and rotate around the phi 6 rotating shaft, and the landing buffer 3 and the cantilever structure 2 are fixedly connected through 6-M5 multiplied by 12 screws.
The unfolding locking mechanism 1 provides rotary power for the rotation of the cantilever structure 2 through the driving force spring 14, the unfolding locking mechanism 1 is locked after moving to a specified position, and when the lander starts to touch the ground, the landing buffer 3 performs buffering and deceleration until the lander finally lands stably.
The unfolding locking mechanism 1 is shown in fig. 2, and the assembly relation and the specific working principle of the unfolding locking mechanism 1 are as follows:
the unfolding locking mechanism 1 comprises a torsion spring fixing seat 11, a bearing box 12, a driving force spring 14, a first connecting rod 15, a second connecting rod 16, an angle beam 17, an end frame 18, a lock hook limiting support 19, a lock hook 110, an angle beam torsion spring 111 and a lock hook torsion spring 112.
The end frame 18 is at a fixed distance from the end point of the second link 16, and may be considered as a frame, and the "end frame 18-first link 15-second link 16-frame" constitutes a four-bar linkage, as shown in fig. 5. The driving force spring 14 applies a driving force to the four-bar linkage for a rotational movement of 155 deg.. When the asteroid lands, the restraint of the end frame 18 is released, the end frame 18 moves clockwise under the action of the driving force spring 14, and the four-bar linkage moves according to a corresponding track while the end frame 18 moves clockwise by 155 degrees. The second connecting rod 16 is provided with an arc section structure and is tangent to a cylinder carried by the end part of the angle beam 17 when being installed; meanwhile, the angle beam torsion spring 111 is placed at the position of the angle beam 17, so that the angle beam 17 is subjected to active anticlockwise rotation moment, and because the arc section of the second connecting rod 16 blocks the motion track of the angle beam 17, when the second connecting rod 16 does not move to a specified position, the angle beam 17 is in a static state until the cylinder is separated from the restraint of the arc section to start moving. When the arc of the second connecting rod 16 moves to be separated from the corner beam 17, the corner beam 17 starts to rotate counterclockwise until it falls into the inner groove of the arc.
The angle beam 17 is responsible for transmitting a signal to the lock hook 110 while being responsible for clamping the four-bar linkage, when the end frame 18 moves to a specified position, when the angle beam 17 starts to move, the lock hook 110 is driven to rotate anticlockwise through the contact of the cylinder and the lock hook 110 until the cylinder is separated from the groove surface of the lock hook 110, at the moment, the cantilever also moves to the specified position, and due to the existence of the lock hook torsion spring 112, the lock hook 110 moves clockwise again after being separated from the constraint of the angle beam 17 until the angle beam 17 and the lock hook 110 move together for locking, so that the locking of the end frame 18 is realized. The final state of motion is shown in fig. 6.
The cantilever structure 2 is a frame structure, four metal aluminum plates with the thickness of 3mm are connected through hinge points to form a space truss structure, meanwhile, each metal plate is subjected to weight reduction treatment to achieve the purpose of light weight, and the structure is formed by assembling side plates 22, a top plate 23 and a bottom plate 24 as shown in fig. 3. The side plates 22, the top plate 23 and the bottom plate 24 are respectively installed on 4 sides of the truss structure and fixed with the truss frame through fixing blocks 25 and screws. The cantilever structure 2 is connected to the end frame 18 at one end and to the outer cylinder cover 313 of the landing bumper 3 at the other end.
The landing bumper 3 is composed as shown in fig. 4, and the assembly relationship and specific working principle of the landing bumper 3 are as follows:
the landing buffer 3 comprises a spring sleeve 31, a stroke pressure spring 33, pawl teeth 34, a support barrel 35, a pawl hook 39, a spring fixing seat 310, a spring stop piece 311, an outer barrel 312 and an outer barrel cover plate 313.
The outer cylinder 312 is connected with the outer cylinder cover plate 313 through 6-M4 multiplied by 10 screws to form a hollow structure, the spring fixing seat 310 is connected with the support cylinder 35 through M4 multiplied by 8 screws, one end of the support cylinder 35 is inserted into the hollow structure formed by the outer cylinder 312 and the outer cylinder cover plate 313, and the spring fixing seat 310 is symmetrically arranged in the middle of the support cylinder 35 relative to the central axis of the support cylinder 35; the spring retaining pieces 311 are symmetrically fixed at the bottom of the outer cylinder 312 through M4 multiplied by 10 screws and are respectively positioned at the ports of the spring sleeve 31; the spring sleeve 31 is fixed on the outer cylinder 312 through M4 multiplied by 20 long screws and is symmetrically installed; the stroke compression springs 33 are respectively installed in the spring sleeves 31, the end portions of the stroke compression springs 33 are installed on the spring fixing seats 310 and are pressed tightly through spring retaining pieces 311 fixed to the bottoms of the outer cylinders 312, and openings are formed in the spring retaining pieces 311 and used for the spring fixing seats 310 to move through. The pawl teeth 34 are fixed longitudinally to the support barrel 35 by 3M 4 x 8 screws, forming a ratchet mechanism with the pawl hook 39 and the torsion spring. The pawl hook 39 is mounted on the outer cylinder cover plate 313.
When the lander contacts the ground, the support cylinder 35 contacts the ground and is under the action of ground support reaction force, the outer cylinder 312 and the outer cylinder cover plate 313 move downwards, the spring fixing seat 310 compresses the stroke pressure spring 33 to perform buffering and energy absorption, the pawl hook 39, the pawl teeth 34 and the torsion springs beside the pawl hook 39 are used as a ratchet mechanism, when the outer cylinder 312 moves, the pawl hook 39 and the outer cylinder 312 move together, the pawl hook 39 is under the action of the torsion springs and presses on the ratchet teeth of the pawl teeth 34, and the support cylinder 35 is prevented from rebounding due to the reaction force of the stroke pressure spring 33.
The present invention has not been described in detail, partly as is known to the person skilled in the art.
Claims (5)
1. A landing support mechanism of a minor planet lander is characterized by comprising an unfolding locking mechanism (1), a cantilever structure (2) and a landing buffer (3);
the unfolding locking mechanism (1) comprises a torsion spring fixing seat (11), a bearing box (12), a driving force spring (14), a first connecting rod (15), a second connecting rod (16), an angle beam (17), an end frame (18), a lock hook limiting support (19), a lock hook (110), an angle beam torsion spring (111) and a lock hook torsion spring (112);
one side of the end frame (18) is connected with the bearing box (12) through a rotating shaft, a driving force spring (14) penetrates through the rotating shaft and is pressed on the bearing box (12) through a torsion spring fixing seat (11), one end of a first connecting rod (15) is rotatably connected with the end frame (18) through a pin, the other end of the first connecting rod is rotatably connected with one end of a second connecting rod (16) through a pin, and the other end of the second connecting rod (16) is provided with an arc-shaped structure and is installed on the inner wall of the bearing box (12) through the rotating shaft; one corner of the corner beam (17) is arranged on the inner wall of the bearing box (12) through a rotating shaft and presses the corner beam torsion spring (111), the other corner of the corner beam (17) is externally tangent to an arc structure at the end part of the second connecting rod (16) through a cylindrical structure, the third corner of the corner beam (17) is embedded in a locking hook (110) groove through the cylindrical structure, and the end part of the locking hook (110) is fixed with the bearing box (12) through the rotating shaft and is provided with a locking hook torsion spring (112); the lock hook limiting support (19) is arranged on two sides of the lock hook (110) and used for limiting the lock hook (110);
the cantilever structure (2) is a space truss structure, one end of the cantilever structure is connected with the end frame (18), and the other end of the cantilever structure is provided with a landing buffer (3); when landing, the landing buffer (3) plays a buffer role.
2. The landing support mechanism of an asteroid lander is characterized in that when an asteroid lands, the restraint of the end frame (18) is released, the end frame (18) moves clockwise under the action of the driving force spring (14), the end frame (18) drives the first connecting rod (15) and the second connecting rod (16) to move, when the arc-shaped structure of the second connecting rod (16) moves to be separated from the angle beam (17), the angle beam (17) is subjected to the active anticlockwise rotating moment of the angle beam torsion spring (111), and the angle beam (17) rotates anticlockwise until the angle beam falls into the inner groove of the arc-shaped structure of the second connecting rod (16); when the angle beam (17) starts to move, the locking hook (110) is driven to rotate anticlockwise by the contact of the cylindrical structure and the locking hook (110) until the cylindrical structure is separated from the groove surface of the locking hook (110); after the lock hook (110) is separated from the restraint of the angle beam (17), the clockwise motion is carried out under the action of a lock hook torsion spring (112), the lock hook (110) locks the frame of the end frame (18), and the locking of the end frame (18) is realized.
3. The landing support mechanism of the asteroid landing gear, according to claim 1 or 2, is characterized in that the landing buffer (3) comprises a spring sleeve (31), a stroke pressure spring (33), pawl teeth (34), a support cylinder (35), a pawl hook (39), a spring fixing seat (310), a spring catch (311), an outer cylinder (312) and an outer cylinder cover plate (313);
the outer cylinder cover plate (313) is arranged on the side surface of the outer cylinder (312) to form a hollow structure; the spring fixing seat (310) is connected with the supporting cylinder (35), one end of the supporting cylinder (35) is inserted into a hollow structure formed by the outer cylinder (312) and the outer cylinder cover plate (313), and the spring fixing seat (310) is symmetrical about the central axis of the supporting cylinder (35) and is arranged in the middle of the supporting cylinder (35); the spring retaining pieces (311) are symmetrically fixed at the bottom of the outer cylinder (312) and are respectively positioned at the port of the spring sleeve (31); the spring sleeves (31) are fixed on the outer cylinder (312) and symmetrically arranged; the stroke compression springs (33) are respectively arranged in the spring sleeves (31), the end parts of the stroke compression springs (33) are arranged on the spring fixing seats (310) and are pressed tightly through spring blocking pieces (311) fixed at the bottom of the outer cylinder (312), and openings are formed in the spring blocking pieces (311) and used for the spring fixing seats (310) to move through; the ratchet teeth (34) are fixed on the supporting cylinder (35) along the longitudinal direction and form a ratchet mechanism together with the ratchet hook (39) and the torsion spring; the pawl hook (39) is mounted on the outer cylinder cover plate (313) through a torsion spring.
4. The landing support mechanism of the asteroid landing gear, according to claim 3, is characterized in that when the landing gear contacts the ground, the support cylinder (35) contacts the ground and is subjected to the action of ground support reaction force, the outer cylinder (312) and the outer cylinder cover plate (313) move downwards, the spring fixing seat (310) compresses the stroke compression spring (33) to absorb energy in a buffering mode, the pawl hook (39) is connected with the pawl tooth (34) and a torsion spring beside the pawl hook (39) to serve as a ratchet mechanism, when the outer cylinder (312) moves, the pawl hook (39) and the outer cylinder (312) move together, the pawl hook (39) is subjected to the action of the torsion spring to press against the ratchet of the pawl tooth (34), and the support cylinder (35) is prevented from rebounding due to the reaction force of the stroke compression spring (33).
5. The landing support mechanism of the asteroid landing gear, according to claim 4, is characterized in that the cantilever structure (2) is made of four aluminum metal plates which are connected to four sides of the space truss structure through hinge points and are subjected to weight reduction treatment.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911108094.3A CN110861789B (en) | 2019-11-13 | 2019-11-13 | Landing support mechanism of asteroid lander |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911108094.3A CN110861789B (en) | 2019-11-13 | 2019-11-13 | Landing support mechanism of asteroid lander |
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| CN110861789A CN110861789A (en) | 2020-03-06 |
| CN110861789B true CN110861789B (en) | 2021-03-26 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112027116B (en) * | 2020-08-07 | 2021-12-14 | 南京航空航天大学 | Soft landing device with terrain self-adaptive capability and landing buffering method thereof |
| CN112478203B (en) * | 2020-10-30 | 2022-04-12 | 北京空间机电研究所 | Recovery landing system suitable for large-load manned spacecraft |
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| US6299107B1 (en) * | 1998-12-04 | 2001-10-09 | Honeybee Robotics, Ltd. | Spacecraft capture and docking system |
| CN102167166A (en) * | 2011-03-31 | 2011-08-31 | 哈尔滨工业大学 | Attached mechanism of small star lander |
| CN105659758B (en) * | 2009-09-08 | 2013-05-08 | 北京空间飞行器总体设计部 | One detector Landing Buffer mechanism |
| CN104627390A (en) * | 2014-12-18 | 2015-05-20 | 北京空间机电研究所 | Mars exploration landing buffer device |
| CN104743136A (en) * | 2015-03-03 | 2015-07-01 | 北京空间机电研究所 | Unfolding and locking mechanism |
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2019
- 2019-11-13 CN CN201911108094.3A patent/CN110861789B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6299107B1 (en) * | 1998-12-04 | 2001-10-09 | Honeybee Robotics, Ltd. | Spacecraft capture and docking system |
| CN105659758B (en) * | 2009-09-08 | 2013-05-08 | 北京空间飞行器总体设计部 | One detector Landing Buffer mechanism |
| CN102167166A (en) * | 2011-03-31 | 2011-08-31 | 哈尔滨工业大学 | Attached mechanism of small star lander |
| CN104627390A (en) * | 2014-12-18 | 2015-05-20 | 北京空间机电研究所 | Mars exploration landing buffer device |
| CN104743136A (en) * | 2015-03-03 | 2015-07-01 | 北京空间机电研究所 | Unfolding and locking mechanism |
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