CN113044247A - Extraterrestrial planet landing device - Google Patents
Extraterrestrial planet landing device Download PDFInfo
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- CN113044247A CN113044247A CN202110246345.5A CN202110246345A CN113044247A CN 113044247 A CN113044247 A CN 113044247A CN 202110246345 A CN202110246345 A CN 202110246345A CN 113044247 A CN113044247 A CN 113044247A
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- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 238000005070 sampling Methods 0.000 claims abstract description 47
- 210000002414 leg Anatomy 0.000 claims description 45
- 239000000523 sample Substances 0.000 claims description 35
- 210000000689 upper leg Anatomy 0.000 claims description 17
- 230000009471 action Effects 0.000 claims description 6
- 210000000629 knee joint Anatomy 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 abstract description 7
- 238000005527 soil sampling Methods 0.000 abstract description 4
- 239000002689 soil Substances 0.000 description 11
- PEDCQBHIVMGVHV-UHFFFAOYSA-N Glycerine Chemical compound OCC(O)CO PEDCQBHIVMGVHV-UHFFFAOYSA-N 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000446 fuel Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035939 shock Effects 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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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
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Abstract
The application discloses extraterrestrial planet landing gear includes: the landing device comprises a detector body and a plurality of leg type landing walking mechanisms, wherein the leg type landing walking mechanisms are annularly arranged on the detector body; and a plurality of sampling mechanisms are arranged, and the sampling mechanisms are rotationally connected to the leg type landing walking mechanism. The system can realize the active buffering, walking and lunar soil sampling functions of the planetary detector, realize the soft landing and the stable walking movement on uneven ground of the detector through the multi-group leg type landing walking mechanism, and enlarge the detection range. Meanwhile, the sampling mechanism is integrated at the tail end of the leg type landing walking mechanism, and an additional mechanical arm for sampling required by the conventional detector is omitted, so that the launching load and the launching cost are reduced.
Description
Technical Field
The application belongs to the technical field of deep space exploration and spacecraft mechanisms, and particularly relates to an extraterrestrial planet landing device.
Background
The landing and detection of extraterrestrial celestial bodies is an important application in the field of aerospace research. The current cost of launching an extraterrestrial celestial body probe is very high due to the large amount of fuel required to get rid of the earth's gravity in order to reach the extraterrestrial celestial body. Therefore, attempts have been made to reduce the emission load and the constituent elements of the system as much as possible while ensuring the completion of the basic functions of the detector.
From the 50-60 s of the last century to date, mankind has launched tens of landing probes into celestial bodies of the moon, Venus, Mars. These detectors are largely classified into stationary and mobile types. The fixed detector is represented by a Mars lander No. 1 Weijing in America, adopts 4 fixed triangular supports to realize stable landing, and carries out soil sampling and detection through a long-handle-shaped mechanism, but the fixed detector cannot move once falling, the sampling range is very limited, and the landing mechanism has no active degree of freedom and cannot adapt to rugged topography.
The movable detector is represented by a Mars train in American opportunity and a moon lander in Chang' e III in China, and consists of the lander and the movable detector. After the lander realizes soft landing on the planet surface, a wheel type mobile detector (such as a lunar vehicle, a mars vehicle and the like) can move nearby, and sampling and detection are carried out by installing a special mechanical arm. Such detectors require assembly of multiple systems including landers and mobile detectors, reduce overall reliability, increase launch loads, and wheel-type mobile detectors have difficulty spanning rugged terrain.
For example, chinese patent publication No. CN 110667893 a discloses a six-degree-of-freedom active landing buffer device for a spacecraft and a control method thereof, and specifically discloses that the buffer device is composed of a platform and buffer legs. The platform is connected with 3 sets of buffering legs with consistent states and simultaneously bears the structural weight of the spacecraft. The damping leg has 3 degrees of freedom. When the spacecraft lands on a rugged ground in any posture, the buffer device calculates the buffer force and moment required by the spacecraft body according to the posture and the speed of the spacecraft body. The prior art solutions described above, while having cushioned landing and balancing capabilities on uneven ground, are not capable of moving and walking.
Chinese patent publication No. CN 104943875 a discloses a walking moon soft landing mechanism. Publication No. CN 105127975 a discloses a walking robot having a landing buffer function. The two schemes both comprise a platform and 4 groups of buffer legs, wherein the buffer legs have three active degrees of freedom, are driven by three lead screws respectively and can stretch out and draw back, so that the tail ends of the legs can move freely in space; through the terminal sensor and the body posture sensor, the body posture can be adjusted by each leg, and walking is realized. However, in order to realize environment sampling, an additional set of mechanical arm and driving elements thereof still need to be installed, and the existing driving mechanism of the leg cannot be utilized, so that the redundancy of the driving device is caused, and the emission load is increased.
In summary, in the existing planetary probe solution, the landing buffer and the traveling device do not have the soil sampling function, and the sampling mechanism needs to be additionally installed, so that the redundancy of the driving device is caused, the transmitting load is increased, and the transmitting cost is significantly increased.
Disclosure of Invention
In view of the above disadvantages or shortcomings of the prior art, the present application provides an extraterrestrial planet landing device, which can implement active buffering, walking and lunar soil sampling functions of a planet detector, and implement soft landing and stable walking movement on uneven ground of the detector through a plurality of sets of leg type landing and walking mechanisms, thereby expanding the detection range. Meanwhile, the sampling mechanism is integrated at the tail end of the leg type landing walking mechanism, and an additional mechanical arm for sampling required by the conventional detector is omitted, so that the launching load and the launching cost are reduced.
In order to solve the technical problem, the application is realized by the following technical scheme:
the application provides an extraterrestrial planet landing device, includes:
the detector body is provided with a plurality of probes,
a plurality of leg type landing walking mechanisms are arranged on the detector body in an annular mode;
and a plurality of sampling mechanisms are arranged, and the sampling mechanisms are rotationally connected to the leg type landing walking mechanism.
Optionally, the above-mentioned extraterrestrial planetary landing gear, wherein the leg landing gear comprises: the detector comprises a hip connecting rod, a thigh connecting rod and a shank connecting rod, wherein the hip connecting rod is connected with the detector body through a first rotating assembly, the thigh connecting rod is connected with the hip connecting rod through a second rotating assembly, and the shank connecting rod is connected with the thigh connecting rod through a third rotating assembly.
Optionally, the above-mentioned extraterrestrial planetary landing gear, wherein the first rotating assembly comprises: the hip connecting rod is rotatably connected with the detector body through the first rotating pair, and the hip connecting rod can rotate around the first rotating pair under the driving action of the first servo motor.
Optionally, the above-mentioned extraterrestrial planetary landing gear, wherein the second rotating assembly comprises: and the thigh connecting rod is rotatably connected to the hip connecting rod through the second rotating pair, and can rotate around the second rotating pair under the driving action of the second servo motor.
Optionally, the above-mentioned extraterrestrial planetary landing gear, wherein the third rotating assembly comprises: and the lower leg connecting rod is rotatably connected to the thigh connecting rod through the third rotating pair and is driven by the third servo motor to rotate around the knee joint and turn over. Optionally, the above-mentioned extraterrestrial planetary landing apparatus further includes: the toe is connected with the shank connecting rod and is of a spherical, hemispherical or disc-shaped structure.
Optionally, the above-mentioned extraterrestrial planetary landing gear, wherein the sampling mechanism comprises: the shovel comprises a shovel and a storage part, wherein a bearing part of the shovel is communicated with the storage part.
Optionally, in the above-mentioned extraterrestrial planetary landing gear, the sampling mechanism is rotatably connected to the leg landing gear through a fourth rotating assembly.
Optionally, in the above-mentioned extraterrestrial planetary landing gear, the fourth rotating assembly includes: the sampling mechanism is rotationally connected to the leg type landing walking mechanism through the fourth revolute pair and driven by the fourth servo motor to rotate around the shank connecting rod.
The detector body is also provided with a sample collecting part.
Compared with the prior art, the method has the following technical effects:
the system can realize soft landing on the rugged ground and the posture adjustment of the platform, and can walk on the rugged ground to expand the detection range; the sampling mechanism has been integrated on this application, can use the leg as the arm, to the planet soil sample, the sample scope is big and nimble, and the structure is light and handy compact to practiced thrift extra arm sampling system, reduced transmission load and cost.
Each leg type landing walking mechanism has three active degrees of freedom, and the three active degrees of freedom can be realized through the first rotating assembly, the second rotating assembly and the third rotating assembly, so that the tail end of the leg type landing walking mechanism can move to any point of a three-dimensional space in a working space.
The toe in the application has isotropy, can adapt to various terrains, provides certain buffering and vibration absorbing functions, can increase the contact area with the ground and reduce subsidence generated during landing or walking.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1: the structure schematic diagram of the extraterrestrial planet landing device in the embodiment of the application;
FIG. 2: the structure of the leg landing and walking mechanism in one embodiment of the present application is schematically illustrated;
FIG. 3: the structure of the sampling mechanism in an embodiment of the present application is schematically illustrated.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In one embodiment of the present application, as shown in fig. 1, an extraterrestrial planetary landing apparatus comprises:
the probe body 10 is provided with a plurality of probes,
a plurality of leg landing traveling mechanisms 20, wherein the leg landing traveling mechanisms 20 are annularly arranged on the probe body 10;
a plurality of sampling mechanisms 30 are provided, and the sampling mechanisms 30 are rotatably connected to the leg type landing and walking mechanism 20.
The embodiment realizes the sampling functions of active buffering, walking, soil and the like of the planetary detector, realizes soft landing and stable walking movement of the detector on uneven ground through the plurality of leg type landing walking mechanisms 20, and enlarges the detection range; meanwhile, by integrating the sampling mechanism 30 on the leg type landing walking mechanism 20, the mechanical arm for sampling which is additionally required on the conventional detector is eliminated, so that the launching load and the launching cost are reduced.
Wherein the probe body 10 is further provided with a sample collection part 40. The sample collection portion 40 may be a frame, a circle, or the like, for receiving a sample of soil, such as soil, dug by the sampling mechanism 30. The probe can then be used to analyze a sample, such as soil, using various analytical instruments carried by the probe. Optionally, in this embodiment, the probe body 10 may further include an attitude sensor, a communication element, a power supply element, a propulsion device or other devices.
In the present embodiment, as shown in fig. 1 and 2, the leg type landing gear 20 includes: the hip link 21 is connected with the detector body 10 through a first rotating assembly, the thigh link 22 is connected with the hip link 21 through a second rotating assembly, and the shank link 23 is connected with the thigh link 22 through a third rotating assembly.
Optionally, a plurality of (e.g., 4 or more) leg landing gear units 20 are uniformly arranged at equal angles around the probe body 10. Each leg landing gear 20 has three active degrees of freedom, which can be achieved by the first rotating assembly, the second rotating assembly and the third rotating assembly, so that the tip of the leg landing gear 20 can move to any point in the three-dimensional space of the working space.
The first rotating assembly includes: a first revolute pair 51 and a first servomotor 52, wherein the hip link 21 is rotatably connected to the probe body 10 via the first revolute pair 51, and the hip link 21 is rotatable about the first revolute pair 51 by the driving of the first servomotor 52.
The second rotating assembly includes: a second rotary pair 61 and a second servo motor 62, wherein the thigh link 22 is rotatably connected to the hip link 21 via the second rotary pair 61, and the thigh link 22 can rotate around the second rotary pair 61 under the driving action of the second servo motor.
The third rotating assembly includes: the third revolute pair 71 is used for rotationally connecting the shank link 23 to the thigh link 22, and the third servomotor 72 is used for driving the shank link 23 to rotate through a link or a toothed belt, so that the shank link 23 can rotate around a knee joint and can be overturned to realize a singular configuration, namely, a configuration in which an included angle between the thigh link 22 and the shank link 23 is 0 degree.
Optionally, this embodiment further includes: the toe 24 is connected with the shank connecting rod 23, and the toe 24 is in a spherical, hemispherical or disc-shaped structure. The toe 24 is isotropic, can conform to a variety of terrains, and provides some cushioning and shock absorption. Meanwhile, the contact area with the ground can be increased, and subsidence generated during landing or walking is reduced. The specific structure of the toe 24 is merely exemplary and not intended to limit the scope of the present application, and those skilled in the art will be motivated to substitute other shapes.
As shown in fig. 3, in the present embodiment, the sampling mechanism 30 includes: a shovel 31 and a storage part 32, wherein the carrying part of the shovel 31 is communicated with the storage part 32. The shovel 31 is used to shovel a sample such as soil, and the shoveled sample may be temporarily stored in the storage unit 32.
Optionally, the sampling mechanism 30 is rotatably connected to the leg landing gear 20 via a fourth rotating assembly.
Wherein the fourth rotating assembly includes: a fourth revolute pair 81 and a fourth servo motor 82, wherein the sampling mechanism 30 is rotatably connected to the leg type landing gear 20 via the fourth revolute pair 81, and is driven by the fourth servo motor 82 so that the sampling mechanism 30 can rotate around the lower leg link 23. When the sampling mechanism 30 is turned to the same direction as the toe 24 of the leg type landing gear 20, the shovel 31 is located outside the toe 24 so that it can dig a sample such as soil. It should be noted that the sampling mechanism 30 should be rotated to avoid interference with the toe 24.
Alternatively, in this embodiment, the sampling mechanism 30 may be mounted on any one of the leg landing gear 20, and the number of the sampling mechanisms is not limited. Generally, 1-2 pieces of the powder can be installed to reduce the emission weight.
The working principle of the embodiment is as follows:
1) a landing buffering stage: each leg type landing and traveling mechanism 20 is in an initial standing posture, and the probe body 10 is in free fall with the propulsion device turned off above the target position. After the toe 24 of the leg type landing mechanism contacts the surface of the planet, the motor drives the tail end to contract upwards, and the supporting force required by buffering is applied, so that soft landing is finally realized. The leg type landing walking mechanism 20 controls the magnitude of each leg supporting force according to the data of the attitude sensor on the probe body 10, and adjusts the body attitude. At this time, the sampling mechanism 30 is retracted, and the shovel 31 is opposite to the toe 24, so that the toe 24 of the leg type landing gear 20 can effectively contact the surface of the planet.
2) A walking stage: the leg type landing and running mechanisms 20 are sequentially lifted up in a certain period of time, and a reasonable foot-landing point is selected in the forward direction to fall down. The centre of gravity of the probe body 10 is always located within the support polygon formed by the ends of the non-lifted legs. In this way, the walking movement of the detector can be realized. At this time, the sampling mechanism 30 is retracted, and the shovel 31 is opposite to the toe 24, so that the toe 24 of the leg type landing gear 20 can effectively contact the surface of the planet.
3) A sampling stage: the servo motor on the sampling mechanism 30 rotates to align the shovel 31 with the toe 24. At this time, the leg type landing and walking mechanism 20 is controlled to move to the vicinity of the sampling target, and the shovel 31 can shovel to the soil. Then, the fourth servo motor 82 of the sampling mechanism 30 rotates to make the storage part 32 open upwards, so that the soil in the shovel 31 can fall into the storage part 32 under the action of the gravity of the planet, and sampling is completed.
4) A sample transfer stage: the thigh link 22 of the legged landing gear 20 is raised, and the shank link 23 is rotated and flipped around the third revolute pair 71. At this time, the fourth servo motor 82 of the sampling mechanism 30 is controlled to always open the storage part 32 of the sampling mechanism 30 upward, thereby preventing the samples such as soil from dropping. Finally, the leg type landing and running mechanism 20 is controlled to move to the vicinity of the sample collection unit 40 above the probe body 10, the fourth servo motor 82 of the sampling mechanism 30 is rotated again, and the sample such as soil in the storage unit 32 is poured into the sample collection unit 40, thereby completing the sample transfer.
In the description of the present application, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, removably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
In this application, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact of the first and second features, or may comprise contact of the first and second features not directly but through another feature in between. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "left", "right", and the like are used based on the orientations and positional relationships shown in the drawings only for convenience of description and simplification of operation, and do not indicate or imply that the referred device or element must have a specific orientation, be configured and operated in a specific orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
The above embodiments are merely to illustrate the technical solutions of the present application and are not limitative, and the present application is described in detail with reference to preferred embodiments. It will be understood by those skilled in the art that various modifications and equivalent arrangements may be made in the present invention without departing from the spirit and scope of the present invention and shall be covered by the appended claims.
Claims (10)
1. An extraterrestrial planet landing apparatus, comprising:
the detector body is provided with a plurality of probes,
a plurality of leg type landing walking mechanisms are arranged on the detector body in an annular mode;
and a plurality of sampling mechanisms are arranged, and the sampling mechanisms are rotationally connected to the leg type landing walking mechanism.
2. The extra-terrestrial planetary landing gear of claim 1, wherein the legged landing gear comprises: the detector comprises a hip connecting rod, a thigh connecting rod and a shank connecting rod, wherein the hip connecting rod is connected with the detector body through a first rotating assembly, the thigh connecting rod is connected with the hip connecting rod through a second rotating assembly, and the shank connecting rod is connected with the thigh connecting rod through a third rotating assembly.
3. The extraterrestrial planetary landing gear of claim 2, wherein the first rotation assembly comprises: the hip connecting rod is rotatably connected with the detector body through the first rotating pair, and the hip connecting rod can rotate around the first rotating pair under the driving action of the first servo motor.
4. The extraterrestrial planetary landing gear of claim 2, wherein the second rotating assembly comprises: and the thigh connecting rod is rotatably connected to the hip connecting rod through the second rotating pair, and can rotate around the second rotating pair under the driving action of the second servo motor.
5. The extraterrestrial planetary landing gear of claim 2, wherein the third rotating assembly comprises: and the lower leg connecting rod is rotatably connected to the thigh connecting rod through the third rotating pair and is driven by the third servo motor to rotate around the knee joint and turn over.
6. The extraterrestrial planetary landing apparatus according to any one of claims 2 to 5, further comprising: the toe is connected with the shank connecting rod and is of a spherical, hemispherical or disc-shaped structure.
7. The extraterrestrial planetary landing apparatus of any one of claims 1 to 5, wherein the sampling mechanism comprises: the shovel comprises a shovel and a storage part, wherein a bearing part of the shovel is communicated with the storage part.
8. The extraterrestrial planetary landing gear of any one of claims 1 to 5, wherein the sampling mechanism is rotatably coupled to the legged landing gear via a fourth rotation assembly.
9. The extraterrestrial planetary landing gear of claim 8, wherein the fourth rotating assembly comprises: the sampling mechanism is rotationally connected to the leg type landing walking mechanism through the fourth revolute pair and driven by the fourth servo motor to rotate around the shank connecting rod.
10. The extraterrestrial planet landing apparatus of any one of claims 1 to 5, wherein the probe body is further provided with a sample collection portion.
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| CN202110246345.5A CN113044247A (en) | 2021-03-05 | 2021-03-05 | Extraterrestrial planet landing device |
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| CN202110246345.5A CN113044247A (en) | 2021-03-05 | 2021-03-05 | Extraterrestrial planet landing device |
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2021
- 2021-03-05 CN CN202110246345.5A patent/CN113044247A/en active Pending
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