CN213800235U - Soft landing structure with terrain self-adaption and attitude self-recovery capabilities - Google Patents
Soft landing structure with terrain self-adaption and attitude self-recovery capabilities Download PDFInfo
- Publication number
- CN213800235U CN213800235U CN202022966789.XU CN202022966789U CN213800235U CN 213800235 U CN213800235 U CN 213800235U CN 202022966789 U CN202022966789 U CN 202022966789U CN 213800235 U CN213800235 U CN 213800235U
- Authority
- CN
- China
- Prior art keywords
- stage
- main body
- buffer mechanism
- primary
- guide rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000011084 recovery Methods 0.000 title claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 86
- 238000007789 sealing Methods 0.000 claims abstract description 9
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 13
- 229910052782 aluminium Inorganic materials 0.000 claims description 13
- 239000000463 material Substances 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 2
- 238000012876 topography Methods 0.000 abstract 1
- 230000003139 buffering effect Effects 0.000 description 7
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- AZDRQVAHHNSJOQ-UHFFFAOYSA-N alumane Chemical group [AlH3] AZDRQVAHHNSJOQ-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Images
Landscapes
- Vibration Prevention Devices (AREA)
Abstract
The utility model discloses a soft landing structure with terrain self-adaptation and posture self-recovery capability, belonging to the field of spacecrafts, comprising a three-level buffer mechanism, a two-level buffer mechanism, a one-level buffer mechanism and a bearing driving mechanism; the three-stage buffer mechanism comprises a support rod, a three-stage sealing cover, a three-stage main body, a three-stage guide rod and a spring leaf; the secondary buffer mechanism comprises a secondary main body, a secondary guide rod, an electromagnetic valve, a secondary through hole and a hollow rod; the primary buffer mechanism comprises a primary guide rod, a primary main body and a primary hole; the bearing driving mechanism comprises a bearing cylinder, a second motor, a first lead screw and a second lead screw. Compared with the prior art, the utility model discloses can independently adjust length in the first several seconds and realize the self-adaptation to the star table topography before touching to can realize the drive after accomplishing buffer function and transfer the appearance, obviously improve the security of star table landing process, improve the task success rate.
Description
Technical Field
The invention relates to an auxiliary structure of a spacecraft, in particular to a device with terrain self-adaption and attitude self-recovery capabilities, which is suitable for soft landing of the spacecraft.
Background
The landing form of the existing aircraft is an air bag, a compressible energy absorption mechanism, a mechanical buffer device and a buffer air bag, and the landing form of the existing aircraft mainly comprises the energy absorption mechanism, a connecting mechanism and a buffer mechanism. Most of the buffer mechanisms are cylindrical and internally-contained buffer mechanisms adopting honeycomb aluminum structures, but once the honeycomb aluminum is crushed, the honeycomb aluminum cannot be restored, so that the honeycomb aluminum cannot rebound and adjust the posture, the all-terrain adaptation cannot be realized, and the technical defects of complex structure, large self weight and inconvenience in control exist.
Disclosure of Invention
The technical task of the invention is to provide a soft landing mechanism with terrain self-adaption and posture self-recovery capability aiming at the defects of the prior art.
The technical scheme for solving the technical problem is as follows: a soft landing mechanism with terrain self-adaptation and attitude self-recovery capabilities is characterized in that: the device comprises a three-level buffer mechanism, a two-level buffer mechanism, a one-level buffer mechanism and a bearing driving mechanism; the three-stage buffer mechanism comprises a support rod, a three-stage sealing cover, a three-stage main body, a three-stage guide rod and a spring leaf; the three-stage main body is cylindrical, the far end of the three-stage main body is connected with a three-stage sealing cover with a middle hole, and spring elastic sheets which are symmetrically arranged are arranged on the inner wall of the three-stage main body; the supporting rod is a hollow rod, and the near end of the supporting rod is connected to the center of the third-stage sealing cover and communicated with the third-stage main body; the two third-stage guide rods are symmetrically connected to the near end face of the third-stage main body; the secondary buffer mechanism comprises a secondary main body, a secondary guide rod, an electromagnetic valve, a secondary through hole and a hollow rod; the secondary buffer mechanism is filled with a honeycomb aluminum material; the secondary main body is cylindrical, a top cover is arranged at the near end of the secondary main body, and strip-shaped bulges are arranged on the outer wall of the secondary main body; the top cover is provided with a second-stage through hole corresponding to the third-stage guide rod, and the third-stage guide rod is inserted into the second-stage through hole; the near end of the secondary guide rod is fixedly connected to the inner surface of the top cover; the inner wall of the secondary guide rod is provided with threads; ratchets which face to the near end and are matched with the spring pieces are symmetrically arranged on the outer surface of the secondary guide rod; two hollow rods and electromagnetic valves are symmetrically arranged at the near end of the top cover, and a movable valve core of each electromagnetic valve can penetrate through the outer wall of the top cover and be exposed on the surface of the secondary main body; the primary buffer mechanism comprises a primary guide rod, a primary main body and a primary hole; the primary main body comprises a base and a circular tube which are fixedly connected; the far end of the base is a table top with a central hole, and the outer wall of the base is provided with strip-shaped bulges; the caliber of the round pipe is smaller than that of the base, the pipe cavity is communicated with the central hole, and threads are arranged in the inner hole of the round pipe; the two primary guide rods are symmetrically arranged on the table top of the base; the primary hole is used for inserting the tertiary guide rod; the bearing driving mechanism comprises a bearing cylinder, a second motor, a first lead screw and a second lead screw; the bearing cylinder is cylindrical, and the near end of the bearing cylinder is provided with a top cap; the inner wall of the bearing cylinder is provided with a guide groove matched with the strip-shaped bulges on the outer walls of the secondary buffer mechanism and the primary buffer mechanism; the outer wall of the bearing cylinder is provided with a plurality of holes which are uniformly arranged relative to the position of the movable valve core of the electromagnetic valve; the second motor and the first motor are fixedly connected to two sides of the near end of the bearing cylinder; the second screw rod is positioned in the first screw rod and is linked with an output shaft of the second motor; the near end of the bearing cylinder is rotatably connected with a top cap of the bearing cylinder, and the far end of the bearing cylinder is in threaded connection with the inner wall of a secondary guide rod in the secondary buffer mechanism; the first lead screw is sleeved outside the second lead screw and is linked with an output shaft of the first motor; and the far end of the first lead screw is in threaded connection with the inner hole thread of the primary main body circular tube in the primary buffer mechanism.
Compared with the prior art, the invention has the following outstanding beneficial effects:
1. the invention comprises a buffer/drive integrated main strut assembly, can automatically adjust the length several seconds before touchdown to realize the self-adaptation to the star surface terrain, and can realize the drive posture adjustment after finishing the buffer function;
2. the bidirectional buffer component with the driving function can realize the adaptability of the lander to the instantaneous transverse speed of the ground contact, and the self-recovery of the posture of the lander is realized by matching with the main strut component after the buffering is finished;
3. the lander has reasonable structural design and reliable performance, can have the self-adaptive capacity to the non-deterministic star surface terrain and the star surface attitude adjusting capacity of the lander body after buffering, obviously improves the safety of the star surface landing process and improves the success rate of tasks.
Drawings
Fig. 1 is a schematic view of the structural assembly of the present invention.
Fig. 2 is a schematic structural diagram of a three-stage buffer mechanism of the invention.
FIG. 3 is a schematic view of the near end structure of the secondary buffer mechanism of the present invention.
Fig. 4 is a schematic view of the far end structure of the secondary cushioning mechanism of the present invention.
Fig. 5 is a schematic structural diagram of a primary buffer mechanism of the present invention.
Fig. 6 is a schematic view of the bearing driving mechanism of the invention.
Detailed Description
The invention is further described with reference to the drawings and the detailed description. For convenience of description, the main mechanism of the spacecraft is taken as a proximal direction and the opposite direction is taken as a distal direction, that is, the right side of fig. 1 is taken as a proximal direction and the left side is taken as a distal direction.
As shown in figure 1, the invention comprises a three-stage buffer mechanism 1, a two-stage buffer mechanism 2, a one-stage buffer mechanism 3 and a force bearing driving mechanism 4. The near end of the bearing driving mechanism 4 is connected with a main body mechanism of the spacecraft, the far end of the three-stage buffer mechanism 1 is used for connecting a landing foot, and the landing foot can be in various implementation forms, so that the limitation is not provided here and in fig. 1.
As shown in fig. 2, the three-stage buffer mechanism 1 includes a support rod 101, a three-stage cover 102, a three-stage main body 103, a three-stage guide rod 104, and a spring leaf 105. Mainly takes charge of connecting the buffering foot pad and buffering the locking after compression.
The three-stage main body 103 is cylindrical, the far end of the three-stage main body is connected with a three-stage sealing cover 102 with a middle hole, and spring elastic sheets 105 which are symmetrically arranged are arranged on the inner wall of the three-stage main body.
The supporting rod 101 is a hollow rod, the near end of the supporting rod is connected to the center of the three-stage sealing cover 102 and communicated with the three-stage main body 103, and the far end of the supporting rod is used for connecting landing feet.
The two tertiary guide rods 104 are symmetrically connected to the proximal end face of the tertiary main body 103.
As shown in fig. 3 and 4, the secondary buffer mechanism 2 includes a secondary main body 201, a secondary guide rod 202, a solenoid valve 203, a secondary through hole 204, and a hollow rod 205. The second-level buffer mechanism 2 is filled with a honeycomb aluminum material for landing buffering, plays a main buffering role, and plays a role in fixing the third-level buffer mechanism 1.
The secondary main body 201 is cylindrical, a top cover is arranged at the near end of the secondary main body, strip-shaped protrusions are arranged on the outer wall of the secondary main body, and the strip-shaped protrusions are embedded into guide grooves in the inner wall of the bearing driving mechanism 4 to play a role in guiding. The top cover is provided with a second-level through hole 204 corresponding to the third-level guide rod 104, and the third-level guide rod 104 is inserted into the second-level through hole.
The proximal end of the secondary guide rod 202 is fixedly connected to the inner surface of the top cover. The inner wall of the secondary guide rod 202 is threaded.
The outer surface of the secondary guide rod 202 is symmetrically provided with ratchets facing to the near end, and the ratchets are matched with the spring leaf 105 in the tertiary main body 103. When the three-level buffer mechanism is compressed, the three-level whole body moves towards the inside of the two levels, the spring elastic sheet 105 moves along the ratchet, when the compression stops, the spring elastic sheet 105 is clamped at the upper end of the ratchet, and therefore the spring elastic sheet cannot move outwards, and the three levels and the two levels are relatively fixed because the honeycomb aluminum is crushed and regarded as a solid.
Two hollow rods 205 are symmetrically arranged at the near end of the top cover, the electromagnetic valve 203 is arranged outside the hollow rods 205, and the movable valve core of the electromagnetic valve 203 can penetrate through the outer wall of the top cover to be exposed on the surface of the secondary main body 201.
As shown in fig. 5, the primary buffer mechanism 3 includes a primary guide rod 301, a primary main body 302, and a primary hole 303.
The primary body 302 includes a base and a tube that are fixedly coupled.
The far end of the base is a table top with a central hole, and the outer wall of the base is provided with strip-shaped bulges.
The caliber of the round pipe is smaller than that of the base, the pipe cavity is communicated with the central hole, and threads are arranged in the inner hole of the round pipe.
The two primary guide rods 301 are symmetrically arranged on the table top of the base and are used for being inserted into the hollow rods 205 in the secondary buffer mechanism 2. The primary hole 303 is used for inserting the tertiary guide bar 104.
As shown in fig. 6, the force bearing driving mechanism 4 includes a force bearing cylinder 401, a second motor 402, a first motor 403, a first lead screw 404, and a second lead screw 405.
The bearing cylinder 401 is cylindrical, and the near end is provided with a top cap. The inner wall of the bearing cylinder 401 is provided with a guide groove matched with the strip-shaped bulges on the outer walls of the secondary buffer mechanism 2 and the primary buffer mechanism 3. The outer wall of the bearing cylinder 401 is provided with a plurality of holes which are uniformly arranged relative to the position of the movable valve core of the electromagnetic valve 203, so that locking is realized.
The second motor 402 and the first motor 403 are fixedly connected to two sides of the proximal end of the bearing cylinder 401.
The second lead screw 405 is located inside the first lead screw 404 and is linked with the output shaft of the second motor 402. The near end of the buffer is rotatably connected with the top cap of the bearing cylinder 401, and the far end of the buffer is in threaded connection with the inner wall of the secondary guide rod 202 in the secondary buffer mechanism 2.
The first lead screw 404 is sleeved outside the second lead screw 405 and is linked with an output shaft of the first motor 403. The linkage can be belt transmission or gear transmission, and the belt transmission is adopted in the embodiment, the outer wall of the bearing cylinder 401 is provided with a window for placing a belt, and the motor is used for controlling the movement of the lead screw. The far end of the first lead screw 404 is in threaded connection with the inner hole thread of the first-level main body 302 round tube in the first-level buffer mechanism 3.
The structure is used for realizing the linkage of the motor of the bearing driving mechanism 4 with the secondary buffer mechanism 2 and the primary buffer mechanism 3, thereby changing the relative position.
The operation flow is as follows: in the initial working state, the three-stage buffer mechanism 1, the two-stage buffer mechanism 2 and the one-stage buffer mechanism 3 are all accommodated in the bearing cylinder 401 of the bearing driving mechanism 4, and the motor and the electromagnetic valve do not work.
A buffering stage: the second motor 402 starts to work to drive the belt pulley to rotate so as to drive the second lead screw 405 to rotate, and as the second lead screw 405 is in threaded connection with the second-stage guide rod 202, the second lead screw 405 rotates while the second-stage guide rod 202 extends out towards the far end, and the preliminary landing stage is started.
A descending stage: in the landing stage, after the landing foot pad contacts the ground, the three-stage buffer mechanism 1 starts to move towards the near end after receiving impact, the honeycomb aluminum in the secondary main body 201 is compressed, and the secondary guide rod 202 and the second lead screw 405 are locked by threads, so that the secondary buffer mechanism 2 and the force bearing driving mechanism 4 do not generate relative movement until the honeycomb aluminum is compacted, and the maximum part of kinetic energy is absorbed by the honeycomb aluminum. When the honeycomb aluminum is compressed, the spring elastic sheet 105 is continuously locked with the ratchet of the secondary guide rod 202. After the honeycomb aluminum is compacted, the ratchet and the spring elastic sheet 105 are locked, so the three-stage buffer mechanism 1 and the two-stage buffer mechanism 2 can be regarded as rigid bodies, and landing buffer is realized. After the honeycomb aluminum is compacted, the second motor 402 starts to work to drive the second lead screw 405 to rotate, so that the secondary buffer mechanism 2 and the bearing driving mechanism 4 move relatively, meanwhile, the electromagnetic valve 203 starts to work, the electromagnetic valve 203 pops up when inducing a hole in the outer wall of the bearing cylinder 401, and the second motor 402 moves to control the secondary buffer mechanism 2 to ascend, so that posture adjustment is realized. At this time, the relative positions of the three-stage buffer mechanism 1 and the two-stage buffer mechanism 2 and the bearing driving mechanism 4 are fixed.
It should be noted that while the invention has been described in detail with respect to specific embodiments thereof, it will be apparent to those skilled in the art that various obvious changes can be made therein without departing from the spirit and scope of the invention.
Claims (1)
1. A soft landing structure with terrain self-adaptation and attitude self-recovery capability is characterized in that: the device comprises a three-level buffer mechanism, a two-level buffer mechanism, a one-level buffer mechanism and a bearing driving mechanism; the three-stage buffer mechanism comprises a support rod, a three-stage sealing cover, a three-stage main body, a three-stage guide rod and a spring leaf; the three-stage main body is cylindrical, the far end of the three-stage main body is connected with a three-stage sealing cover with a middle hole, and spring elastic sheets which are symmetrically arranged are arranged on the inner wall of the three-stage main body; the supporting rod is a hollow rod, and the near end of the supporting rod is connected to the center of the third-stage sealing cover and communicated with the third-stage main body; the two third-stage guide rods are symmetrically connected to the near end face of the third-stage main body; the secondary buffer mechanism comprises a secondary main body, a secondary guide rod, an electromagnetic valve, a secondary through hole and a hollow rod; the secondary buffer mechanism is filled with a honeycomb aluminum material; the secondary main body is cylindrical, a top cover is arranged at the near end of the secondary main body, and strip-shaped bulges are arranged on the outer wall of the secondary main body; the top cover is provided with a second-stage through hole corresponding to the third-stage guide rod, and the third-stage guide rod is inserted into the second-stage through hole; the near end of the secondary guide rod is fixedly connected to the inner surface of the top cover; the inner wall of the secondary guide rod is provided with threads; ratchets which face to the near end and are matched with the spring pieces are symmetrically arranged on the outer surface of the secondary guide rod; two hollow rods and electromagnetic valves are symmetrically arranged at the near end of the top cover, and a movable valve core of each electromagnetic valve can penetrate through the outer wall of the top cover and be exposed on the surface of the secondary main body; the primary buffer mechanism comprises a primary guide rod, a primary main body and a primary hole; the primary main body comprises a base and a circular tube which are fixedly connected; the far end of the base is a table top with a central hole, and the outer wall of the base is provided with strip-shaped bulges; the caliber of the round pipe is smaller than that of the base, the pipe cavity is communicated with the central hole, and threads are arranged in the inner hole of the round pipe; the two primary guide rods are symmetrically arranged on the table top of the base; the primary hole is used for inserting the tertiary guide rod; the bearing driving mechanism comprises a bearing cylinder, a second motor, a first lead screw and a second lead screw; the bearing cylinder is cylindrical, and the near end of the bearing cylinder is provided with a top cap; the inner wall of the bearing cylinder is provided with a guide groove matched with the strip-shaped bulges on the outer walls of the secondary buffer mechanism and the primary buffer mechanism; the outer wall of the bearing cylinder is provided with a plurality of holes which are uniformly arranged relative to the position of the movable valve core of the electromagnetic valve; the second motor and the first motor are fixedly connected to two sides of the near end of the bearing cylinder; the second screw rod is positioned in the first screw rod and is linked with an output shaft of the second motor; the near end of the bearing cylinder is rotatably connected with a top cap of the bearing cylinder, and the far end of the bearing cylinder is in threaded connection with the inner wall of a secondary guide rod in the secondary buffer mechanism; the first lead screw is sleeved outside the second lead screw and is linked with an output shaft of the first motor; and the far end of the first lead screw is in threaded connection with the inner hole thread of the primary main body circular tube in the primary buffer mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022966789.XU CN213800235U (en) | 2020-12-10 | 2020-12-10 | Soft landing structure with terrain self-adaption and attitude self-recovery capabilities |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022966789.XU CN213800235U (en) | 2020-12-10 | 2020-12-10 | Soft landing structure with terrain self-adaption and attitude self-recovery capabilities |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN213800235U true CN213800235U (en) | 2021-07-27 |
Family
ID=76945235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022966789.XU Active CN213800235U (en) | 2020-12-10 | 2020-12-10 | Soft landing structure with terrain self-adaption and attitude self-recovery capabilities |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN213800235U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115095630A (en) * | 2022-06-27 | 2022-09-23 | 哈尔滨工业大学 | Flexible attachment buffer device based on mechanical spring expanding-honeycomb aluminum |
-
2020
- 2020-12-10 CN CN202022966789.XU patent/CN213800235U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115095630A (en) * | 2022-06-27 | 2022-09-23 | 哈尔滨工业大学 | Flexible attachment buffer device based on mechanical spring expanding-honeycomb aluminum |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11131361B2 (en) | Methods and apparatus for position sensitive suspension damping | |
| CN100491765C (en) | Lockout mechanism for a suspension system | |
| CN213800235U (en) | Soft landing structure with terrain self-adaption and attitude self-recovery capabilities | |
| US20010048049A1 (en) | Landing gear shock absorber with variable viscosity fluid | |
| CN108488288B (en) | Secondary structure inertial container with adjustable inertial mass coefficient | |
| CN102060106A (en) | Buffer landing leg for planet detector | |
| CN110748597A (en) | Composite shock absorber | |
| CN108071730B (en) | Active and passive damper | |
| CN112793811A (en) | Soft landing mechanism with terrain self-adaption and attitude self-recovery capabilities | |
| CN112874816B (en) | Landing buffer leg structure | |
| CN206170003U (en) | Novel nailing gun | |
| CN208678245U (en) | A kind of Inflated jump bar of range-adjustable | |
| CN108979097B (en) | Floor hammer for building indoor decoration | |
| CN104976178B (en) | Adjusting air cylinder | |
| CN109591955A (en) | A kind of glider with flexible ship bottom | |
| CN207748701U (en) | A kind of elevator safety pedestal with double buffering | |
| CN215351792U (en) | Damping device and treadmill | |
| US10710229B2 (en) | Impact hammer | |
| CN203146691U (en) | Vehicle shock absorber hydraulic buffering protective device | |
| CN218440878U (en) | Valve base with buffer function | |
| CN220302617U (en) | Motorcycle shock absorber | |
| CN216405708U (en) | Steel construction shock attenuation coupling mechanism | |
| CN220930040U (en) | Buffer gear and aircraft landing gear | |
| CN220320160U (en) | Self-locking damping block | |
| CN218662352U (en) | Limiting mechanism applied to undercarriage damping system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Zhao Jianhua Inventor after: Gong Zhenyu Inventor after: Jia Shan Inventor before: Gong Zhenyu Inventor before: Xue Ning |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220221 Address after: Jiangning District of Nanjing City, Jiangsu province 210016 General Road No. 29 Patentee after: Nanjing University of Aeronautics and Astronautics Address before: Nanjing University of Aeronautics and Astronautics, No. 29, Jiangjun Road, Jiangning District, Nanjing, Jiangsu 210016 Patentee before: Gong Zhenyu |