CN113071715A - Celestial body landing mechanism - Google Patents
Celestial body landing mechanism Download PDFInfo
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- CN113071715A CN113071715A CN202110488683.XA CN202110488683A CN113071715A CN 113071715 A CN113071715 A CN 113071715A CN 202110488683 A CN202110488683 A CN 202110488683A CN 113071715 A CN113071715 A CN 113071715A
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- 230000036544 posture Effects 0.000 claims abstract description 12
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- 238000005859 coupling reaction Methods 0.000 description 3
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- 230000005484 gravity Effects 0.000 description 3
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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
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Abstract
The invention discloses a celestial body landing mechanism, which comprises: the main node unit is mounted with a main engine and a first motor. And a plurality of sub-node units each having a landing leg mounted thereon. And a plurality of connection units each connecting each of the secondary node units to the primary node unit. The main engine drives the celestial body landing mechanism to lift. The first motor drives the plurality of secondary node sections to rotate relative to the primary node section. The connecting portion is provided with at least one of a first end portion connected with the main node portion and a second end portion connected with the auxiliary node portion, and the connecting portion is capable of moving in multiple degrees of freedom. When the celestial body landing mechanism lands, the plurality of secondary node portions land at the same or different postures and land on a small celestial body through the landing legs. According to the celestial body landing mechanism, the bounce during landing can be restrained to a certain extent, so that the celestial body landing mechanism can land stably.
Description
Technical Field
The invention relates to the technical field of deep space exploration, in particular to a celestial body landing mechanism.
Background
Solar system celestial bodies are celestial bodies that run around the sun but do not meet the conditions of planets and short planets. These celestial bodies include, for example, asteroids, comets, meteors, and other interplanetary substances. These small celestial bodies may be born at the beginning of solar system formation and undergo very little secondary chemical and geological evolution processes, thus retaining much of the initial information of the solar system. Therefore, the method has great significance for detecting the small celestial body.
Among the detection modes such as flying, circling, landing, etc., the most direct and effective mode is landing attachment detection. However, the small celestial body has the characteristics of weak gravity, irregular gravity distribution, dark star surface, uncertain environment, large measurement and control time lag at a long distance and the like. This makes it difficult for the landing mechanism to achieve robust attachment to these small celestial bodies. For example, in the case where the gravity of a small celestial body is weak, there is a possibility that the landing mechanism bounces several times when landing, and eventually falls on an area with poor lighting conditions. This can cause the landing mechanism to go to sleep quickly and lose signal, which in turn can cause the landing mission to fail.
Thus, a celestial landing mechanism that can be robustly attached is highly desirable.
Disclosure of Invention
The present invention is directed to solving at least one of the above problems to some extent. Therefore, the invention provides a celestial body landing mechanism which can be based on multi-intelligent cooperative control, so that the celestial body landing mechanism can land on a small celestial body stably.
A celestial landing mechanism according to one aspect of the present invention, comprising: the main node unit is mounted with a main engine and a first motor. And a plurality of sub-node units each having a landing leg mounted thereon. A plurality of connection portions, each of which connects each of the secondary node portions to the primary node portion. Wherein, the main engine drives the celestial body landing mechanism to lift. Wherein the first motor drives the plurality of secondary node sections to rotate relative to the primary node section. Wherein the connecting portion is provided so as to be movable in multiple degrees of freedom in at least one of a first end portion connected to the main node portion and a second end portion connected to the sub node portion. Wherein, when the celestial body landing mechanism lands, the plurality of secondary node parts land at the same or different postures and land on a small celestial body through the landing legs.
The celestial body landing mechanism has the following beneficial effects:
the plurality of auxiliary node parts are connected to the main node part through the connecting part with multiple degrees of freedom, so that the auxiliary node parts can be specifically adjusted according to the landing condition during landing, and the stress directions of the auxiliary node parts are inconsistent, so that the auxiliary node parts can be mutually restrained and the landing energy can be dissipated.
In some embodiments, the master node section comprises: a first mounting table to which the first motor is mounted; a first load platform connected to the first motor and driven by the first motor in a manner of rotating relative to the first mounting table; the first end is connected to the first load platform.
In some embodiments, the first end is configured to be moveable in multiple degrees of freedom, the first end comprising at least: a first yaw driving unit configured to swing the sub-node unit in parallel with the main node unit; a first pitch drive unit configured to vertically swing the sub-node unit with respect to the main node unit; and a first telescopic driving unit configured to extend and retract the sub-node unit away from or close to the main node unit with respect to the main node unit.
In some embodiments, the second end is configured to be movable in multiple degrees of freedom.
In some embodiments, each of the secondary node portions further includes an attitude control portion.
In some embodiments, the attitude control portion comprises an attitude control flywheel or a jet mechanism.
In some embodiments, a second mounting platform is provided on each secondary node portion, the landing leg being resiliently telescopically mounted to the second mounting platform.
In some embodiments, a first control unit is further mounted on the main node unit, and the first control unit cooperatively controls the main node unit and each of the secondary node units.
In some embodiments, a second control unit is mounted on each of the secondary node units, and the second control unit individually controls each of the attitude control units.
In some embodiments, a first control unit is further mounted on the main node unit, and the first control unit cooperatively controls the main node unit and each of the second control units.
Drawings
Figure 1 is a top view of one embodiment of the celestial landing mechanism of the present invention.
Figure 2 is a bottom view of the celestial landing mechanism of figure 1.
Fig. 3 is a partially enlarged view of a point a in fig. 1.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and larger, smaller, larger, etc. are understood as excluding the number, and larger, smaller, inner, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Fig. 1 and 2 are a top view and a bottom view of an embodiment of the celestial landing mechanism of the present invention, respectively, and fig. 3 is a partial enlarged view of a portion a in fig. 1. Referring to fig. 1 to 3, a celestial landing mechanism according to an aspect of the present invention includes: a main node unit 101, a plurality of sub-node units 102, and a plurality of connection units 103. The main node unit 101 includes a main engine 104 and a first electric motor 105. Each of the sub-node units 102 is mounted with a landing leg 106. Each connection unit 103 connects each secondary node unit 102 to the primary node unit 101. The main engine 104 drives the celestial landing mechanism to ascend and descend. The first motor 105 drives the plurality of sub-node sections 102 to rotate relative to the main node section 101. The connection portion 103 is provided so as to be movable in multiple degrees of freedom at least in one of a first end portion 107 connected to the main node portion 101 and a second end portion 108 connected to the sub node portion 102. When the celestial body landing mechanism lands, the plurality of sub node portions 102 land at the same or different postures, and land on a small celestial body by the landing legs 106.
In the present embodiment, since the plurality of secondary node portions 102 are connected to the primary node portion 101 through the multi-degree-of-freedom connecting portion 103, the secondary node portions 102 can be specifically adjusted according to the landing situation during landing, and since the force directions of the respective secondary node portions 102 are not uniform, the secondary node portions can be mutually restrained and dissipate the energy of landing, the celestial body landing mechanism of the present invention can suppress bouncing during landing to some extent, thereby landing more stably.
The master node unit 101 includes a first load platform 109, and the first load platform 109 is mounted with, for example, a master control center (hereinafter also referred to as "first control unit" for convenience of distinction) for cooperatively controlling the entire celestial body landing mechanism as a whole, and the first control unit (not shown) includes one of hardware such as a single chip microcomputer, a PLC, a microcomputer, and the like. Further, a storage medium (control program) for cooperatively controlling the master node unit 101, the slave node unit 102, and the like is stored in the hardware. The first loading platform 109 may be equipped with various sensing systems (not shown), scientific research devices (not shown), and the like. These sensing systems include, but are not limited to: various visual sensors such as a CCD, a smart camera, a laser radar, and the like. Such scientific devices include, but are not limited to, for example: sampling manipulators, digging manipulators, and the like. The first control unit cooperatively controls the main node unit 101 and each sub-node unit 102. Specifically, for example, the first control unit adjusts the attitude of the main node unit 101 in real time based on the real-time situation of the landing position detected by the sensing system, and also adjusts the attitude of each of the sub-node units 102 with respect to the main node unit 101 and/or the attitude of each of the sub-node units 102 itself, thereby landing each of the sub-node units 102 at the same or different attitude with respect to the main node unit 101 and/or landing each of the sub-node units at the same or different attitude.
Further, the master node section 101 includes a first mounting stage 110. The main engine 104 is mounted on the first mount table 110. The main engine 104 can provide speed increments perpendicular to the star table of the small celestial body, etc., to drive the celestial landing mechanism up and down as a whole.
The first motor 105 is also mounted to the first mounting stage 110. The first load platform 109 is coupled to an output shaft of the first motor 105 and is driven by the first motor 105 in a rotational manner relative to the first mounting platform 110. The first end 107 of the connecting portion 103 is connected to a first load platform 109. Specifically, the first load platform 109 is mounted to the first mounting stage 110 in a rotatable manner relative to the first mounting stage 110. The manner of rotation of the first load platform 109 relative to the first mounting platform 110 is not particularly limited, for example, the first load platform 109 and the first mounting platform 110 may be coupled by a gear transmission such as a planetary gear. The first motor 105 rotates the first load platform 109 through a gear transmission. This enables the first load platform 109 to rotate parallel to the first mount 110. This not only can provide a good field of view for the vision sensor, the antenna, the solar panel, etc. mounted on the first load platform 109, but also can improve the detection sensitivity of the sensing system mounted on the first load platform 109, thereby achieving better judgment of the landing environment before landing and adjusting the landing attitude according to the landing environment.
The secondary node portion 102 includes a plurality of secondary node portions 102, and the number of secondary node portions 102 is, for example, 3 or more, preferably 4. The secondary node part 102 is connected to the first load platforms 109 uniformly in the circumferential direction of the primary node part 101 by the connecting parts 103. This allows the first motor 105 to rotate the first load platform 109 parallel to the first mounting base 110, and the sub-node portions 102 to rotate together. This enables adjustment of the position and direction of the secondary node 102 when landing.
In some embodiments, in order to enable landing of each secondary node section 102 in the same or different attitudes with respect to the primary node section 101, the first end portion 107 is configured to be movable in multiple degrees of freedom, the first end portion 107 comprising at least: a first yaw driving unit 111, a first pitch driving unit 112, and a first telescopic driving unit 113. The first yaw driving unit 111 swings the sub-node unit 102 in parallel with the main node unit 101. The first pitch drive unit 112 swings the sub-node unit 102 up and down with respect to the main node unit 101. The first telescopic driving unit 113 extends and contracts the sub-node unit 102 away from or close to the main node unit 101 with respect to the main node unit 101.
Referring to fig. 3, specifically, the first yaw driving unit 111 includes, for example, a second motor 114 for yaw driving and a first joint 115. The first joint 115 is hinged at one end to the first load platform 109 and is swingable in parallel with respect to the first load platform 109. A second motor 114 is mounted to the first load platform 109. The second motor 114 is connected to the first joint 115, and drives the first joint 115 to swing in parallel with respect to the first load platform 109 (for convenience, the first joint 115 is described as swinging about the Y-axis). The first joint 115 sets an angle capable of swinging according to actual conditions. The control of the swing angle of the first joint 115 is not particularly limited, and the swing angle of the first joint 115 may be controlled by, for example, the second motor 114 in combination with a position sensor, an angle sensor, or an angle encoder of itself.
The first pitch drive unit 112 includes, for example, a third motor 116 for pitch drive and a second joint 117. One end of the second joint 117 is hinged to the other end of the first joint 115. The third motor 116 is attached to the first joint 115, and drives the second joint 117 to swing relative to the first joint 115 along the X axis perpendicular to the Y axis. The second joint 117 is provided with an angle capable of swinging according to actual conditions. The control of the swing angle of the second joint 117 is not particularly limited, and the swing angle of the second joint 117 may be controlled by, for example, coupling the third motor 116 to a position sensor, an angle sensor, or an angle encoder of itself.
The first telescopic driving unit 113 includes, for example, a fourth motor 118 for telescopic driving and a telescopic member 119 (see fig. 1 and 2 for assistance) which is extendable and retractable with respect to the second joint 117. A telescoping member 119 is slidably mounted to the second joint 117. A fourth motor 118 is mounted to the second joint 117. The fourth motor 118 and the telescopic member 119 are connected by one of, for example, a rack and pinion mechanism, a lead screw transmission mechanism, or a timing belt transmission mechanism, to drive the telescopic member 119 to telescopically slide relative to the second joint 117.
The secondary node portion 102 is connected to a telescopic member 119. Thus, the sub-node unit 102 can be driven by each motor to perform yaw, pitch, and expansion/contraction operations or a combination of these operations with respect to the main node unit 101. This makes it possible to adjust the attitude of the secondary node unit 102 with respect to the primary node unit 101 in accordance with actual conditions, thereby achieving more stable landing of the celestial landing mechanism.
In addition, although the example in which the first yaw driving unit 111 is connected to the first load platform 109, the first pitch driving unit 112 is connected to the first yaw driving unit 111, and the first telescopic driving unit 113 is connected to the first pitch driving unit 112 has been described above, the present invention is not limited to this. Those skilled in the art can perform rearrangement according to actual needs, for example, the first pitch drive unit 112 and the first load platform 109 may be connected, the first yaw drive unit 111 and the first pitch drive unit 112 may be connected, and the like.
Although the example in which the first end 107 of the connection unit 103 has three degrees of freedom (yaw, pitch, and extension) has been described above, the present invention is not limited to this, and for example, a rotation driving unit (not shown) may be provided at the first end 107 so that the sub node 102 can rotate with respect to the main node 101.
With continued reference to fig. 1, 2, in some embodiments, to enable each secondary node 102 to independently control the pose, the second end 108 is configured to be movable in multiple degrees of freedom. The second end 108 is not particularly limited as long as the posture of each sub node 102 itself can be controlled independently, and for example, the second end 108 may be provided with a ball head-shaped floating coupling device (not shown), and each sub node 102 may be coupled to the telescopic member 119 of the first telescopic driving unit 113 via these floating coupling devices. In addition, the second end 108 may also be provided with reference to the structure of the first end 107.
In some embodiments, in order to independently control the posture of each secondary node unit 102, a posture control unit 120 is further mounted on each secondary node unit 102. Specifically, each of the sub-node portions 102 is provided with a second mount 121 and a second load platform 122. The attitude control section 120 includes, for example, an attitude control flywheel 123, and the attitude control flywheel 123 can be designed with reference to, for example, the attitude control flywheel 123 already used in the satellite device. The attitude control flywheel 123 is attached to the second mount table 121, and causes each sub-node portion 102 itself to independently control the attitude. This enables the secondary node units 102 to land at different angles or at different times. Instead of the attitude control flywheel 123, for example, an air jet mechanism (not shown) having multiple degrees of freedom may be used in the attitude control unit 120.
A sub-control center (also referred to as a "second control unit" for convenience of distinction) for controlling the sub-node unit 102, for example, is also mounted on the second load platform 122. The second control unit (not shown) includes one of hardware such as a single chip microcomputer, a PLC, and a microcomputer. Further, these pieces of hardware have stored therein a storage medium (control program) for controlling the sub-master node unit 101 and controlling itself, for example. In addition, various sensing systems, scientific research devices, etc. may be mounted on the second loading platform 122. The second control unit individually controls each attitude control unit 120. Specifically, for example, the second control unit independently controls the attitude control flywheel 123 on the sub-node unit 102 based only on information from the own sensing system of the sub-node unit 102 mounted thereon and a command from the first control unit as a main control center. This can simplify the control flow of the second control unit and reduce data transmission between the second control unit and another control device.
Thus, the first control unit controls the postures of the main node unit 101 and the sub-node units 102 in a multi-intelligent cooperative manner in cooperation with the second control unit based on the real-time situation of the landing positions detected by the sensing systems of the main node unit 101 and the sub-node units 102, and causes the sub-node units 102 to land at the same posture or different postures with respect to the main node unit 101 and/or each of the sub-node units to land at the same posture or different postures.
Although the attitude control flywheel 123 has been described above as the attitude control unit 120, the present invention is not limited to this. The attitude control section 120 may also include a rotation drive section (not shown) provided at the second end section 108, and the like.
The configurations of the sub-node units 102 may be the same or different. The components mounted on the second load platforms 122 of the respective sub-node portions 102 may be the same or different.
In some embodiments, the landing legs 106 on each secondary nodal point 102 are each resiliently telescopically mounted to a second mounting stage 121 in order to cushion the landing of the celestial landing mechanism. Specifically, the landing leg 106 may be telescopically mounted to the second mounting stage 121 by a structure capable of cushioning, such as a spring (not shown). Thus, when the celestial body landing gear lands, the buffer of the landing leg 106 suppresses hard landing of the celestial body landing gear, and thus the celestial body landing gear can land more stably.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. Celestial body landing mechanism, its characterized in that includes:
a main node unit that carries a main engine and a first motor;
a plurality of sub-node units each having a landing leg mounted thereon;
a plurality of connection portions each connecting each of the secondary node portions to the primary node portion;
the main engine drives the celestial body landing mechanism to lift;
wherein the first motor drives the plurality of secondary node sections to rotate relative to the primary node section;
wherein the connecting portion is provided so as to be movable in multiple degrees of freedom in at least one of a first end portion connected to the main node portion and a second end portion connected to the sub node portion;
wherein, when the celestial body landing mechanism lands, the plurality of secondary node parts land at the same or different postures and land on a small celestial body through the landing legs.
2. The celestial landing mechanism of claim 1, wherein said primary node portion comprises:
a first mounting table to which the first motor is mounted;
a first load platform connected to the first motor and driven by the first motor in a manner of rotating relative to the first mounting table;
the first end is connected to the first load platform.
3. The celestial landing mechanism of claim 2, wherein said first end portion is configured for multiple degrees of freedom of movement, said first end portion comprising at least:
a first yaw driving unit configured to swing the sub-node unit in parallel with the main node unit;
a first pitch drive unit configured to vertically swing the sub-node unit with respect to the main node unit;
and a first telescopic driving unit configured to extend and retract the sub-node unit away from or close to the main node unit with respect to the main node unit.
4. A celestial landing mechanism of claim 2 or 3, wherein said second end portion is configured for multiple degree of freedom movement.
5. The celestial body landing mechanism of claim 4, wherein each of said sub-node units further includes an attitude control unit.
6. The celestial landing mechanism of claim 5, wherein the attitude control portion comprises an attitude control flywheel or a jet mechanism.
7. The celestial landing mechanism of claim 1, wherein each secondary nodal portion has a second mounting platform, and wherein the landing legs are resiliently and telescopically mounted to the second mounting platforms.
8. The celestial body landing mechanism of claim 1, wherein said main node unit further includes a first control unit for cooperatively controlling said main node unit and each of said sub-node units.
9. The celestial body landing mechanism of claim 5 or 6, wherein each of said sub-node units has a second control unit mounted thereon, and said second control unit individually controls each of said attitude control units.
10. The celestial body landing mechanism of claim 9, wherein said main node unit further includes a first control unit that cooperatively controls said main node unit and each of said second control units.
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| CN202110488683.XA CN113071715B (en) | 2021-04-30 | 2021-04-30 | Celestial body landing mechanism |
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| CN202110488683.XA CN113071715B (en) | 2021-04-30 | 2021-04-30 | Celestial body landing mechanism |
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| CN113071715B CN113071715B (en) | 2022-06-10 |
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| US11613386B1 (en) * | 2022-03-30 | 2023-03-28 | Jalal Bolouri | Vertical landing apparatus and method |
| CN117818914A (en) * | 2024-03-04 | 2024-04-05 | 哈尔滨工业大学 | Extraterrestrial celestial body detection and soft landing GNC distributed ground simulation device and method |
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| CN113071715B (en) | 2022-06-10 |
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