JP7076639B2 - Landing gear and spacecraft - Google Patents

Description

The present invention relates to landing gears and spacecraft.

For a spacecraft that lands close to the surface of a celestial body or the seabed, in order to make the exploration mission successful, the attitude change due to the contact reaction force from the landing surface at the time of landing is suppressed to avoid falling during or after landing. There is a need to.

Patent Document 1 describes a landing device for an airframe that lands on the landing surface from a floating state, and has a joint portion coupled to the aircraft, an abutting portion that comes into contact with the ground when landing, and one end thereof as a joint portion. An initial stage before the shape memory alloy member is plastically deformed, comprising a cushioning portion including a shape memory alloy member that is coupled, the other end of which is coupled to the impact receiving portion, and plastically deforms when the impacted portion receives an impact. A landing device that remembers the shape is described.

Japanese Unexamined Patent Publication No. 2011-152919

In the landing device described in Patent Document 1, the shape memory alloy member is plastically deformed to buffer the contact reaction force, and the mechanical energy possessed by the spacecraft before landing is located in the structure of the machine body. It is stored as energy or dissipated as heat energy due to the damping characteristics of the shape memory alloy member or the friction of the landing surface. For this reason, there is a problem that if the attitude of the spacecraft changes in the process of converting the energy possessed by the spacecraft, it cannot be restored.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a landing gear and a spacecraft capable of restoring a posture change generated during landing.

In order to achieve the above object, the landing device according to the present invention includes a leg, a rotating body, a housing, a rack, a pinion gear, a second rotating body, and a second pinion gear . One end of the leg is in contact with the landing surface, and the leg moves linearly in the axial direction due to the force received from the landing surface. The rotating body rotates by converting the linear motion of the leg into a rotary motion. The housing accommodates the other end of the leg and rotatably holds the rotating body. The rack is connected to the other end of the leg and moves linearly with the linear motion of the leg. The pinion gear meshes with the rack. The second rotating body rotates by converting the linear motion in the axial direction, in which the leg moves by the force received from the landing surface, into a rotary motion. The second pinion gear meshes with the rack. The axis of rotation of the rotating body and the axis of rotation of the pinion gear are the same, the rotating body rotates with the rotation of the pinion gear, and the pinion gear rotates with the linear motion of the rack accompanying the linear motion of the legs. Converts the linear motion of the leg into the rotary motion of the rotating body. The axis of rotation of the second rotating body and the axis of rotation of the second pinion gear are the same, the second rotating body rotates with the rotation of the second pinion gear, and the legs receive the force from the landing surface. The rack is selectively meshed with the pinion gear or the second pinion gear by tilting with respect to the housing and tilting the legs with respect to the housing.

According to the present invention, it is possible to provide a landing gear and a spacecraft capable of restoring a posture change generated during landing by rotating a rotating body by a force received by a leg from a landing surface.

Top view showing the configuration of the spacecraft equipped with the landing gear according to the first embodiment. Side view showing the configuration of the spacecraft equipped with the landing gear according to the first embodiment. Sectional drawing which shows the structure of the landing gear which concerns on Embodiment 1. Sectional drawing which shows the falling state of the landing gear which concerns on Embodiment 1. A cross-sectional view showing a state in which the first leg of the landing gear according to the first embodiment is in contact with the landing surface. A cross-sectional view showing a state in which the landing gear is raised after the first leg of the landing gear according to the first embodiment comes into contact with the landing surface. Cross-sectional view showing a state in which the posture of the landing gear according to the first embodiment is changed by the fall prevention torque. Sectional drawing which shows the state which the landing gear which concerns on Embodiment 1 landed on the landing surface A perspective view showing a first rotating body included in the landing gear according to the first embodiment. A perspective view showing a first rotating body included in the landing gear according to the second embodiment. The figure which shows the 1st upper rotating body, the 1st lower rotating body, and the periphery thereof provided with the landing gear which concerns on Embodiment 3. The figure which shows the 1st upper rotating body, the 1st lower rotating body, and the periphery thereof in the state where the 1st rack of Embodiment 3 is tilted inward of the housing. The figure which shows the 1st upper rotating body, the 1st lower rotating body, and the periphery thereof in the state which the 1st rack of Embodiment 3 is tilted to the outside of a housing. The figure which shows the 1st rotating body which the landing gear which concerns on Embodiment 4 has, and its periphery. The figure which shows the 1st rotating body which the landing gear which concerns on Embodiment 5 has, and its periphery.

(Embodiment 1)
The configuration of the landing gear 100 according to the first embodiment of the present invention will be described with reference to FIGS. 1 to 3. The same or corresponding parts in the figure are designated by the same reference numerals. The landing gear 100 according to the first embodiment is a device mounted on the spacecraft 1 and landing the spacecraft 1 on the landing surface S.

FIG. 1 is a top view showing the configuration of the spacecraft 1 equipped with the landing gear 100 according to the first embodiment, and FIG. 2 is a side view thereof. As shown in FIGS. 1 and 2, in the landing device 100 mounted on the spacecraft 1, the first leg 110 _A , the second leg 110 _B , which come into contact with the landing surface S when the spacecraft 1 lands, Third leg 110 _C and fourth leg 110 _D , first leg 110 _A , second leg 110 _B , third leg 110 _C and fourth leg 110 _D , respectively. 1 Cylinder 120 _A , 2nd Cylinder 120 _B , 3rd Cylinder 120 _C and 4th Cylinder 120 _D , 1st Leg 110 _A , 2nd Leg 110 _B , 3rd Leg 110 _C and 1st A housing 150 for accommodating one end of each of the four legs 110 _D is provided.

FIG. 3 is a cross-sectional view showing the configuration of the landing gear 100 according to the first embodiment. FIG. 3 is a cross-sectional view taken along the line AA'in FIG. As shown in FIG. 3, the landing device 100 has a first rotating body 130 A and a second rotating body 130 _A , which rotate with the movements of the first leg 110 _A , the second leg 110 _B , and the third leg 110 _C , respectively. Rotating body 130 _B and the third rotating body 130 _C , and the first rotating shaft 140 which is the rotating axis of the first rotating body 130 _A , the second rotating body 130 _B , and the third rotating body 130 _C , respectively. _A , a second rotating shaft 140 _B and a third rotating shaft 140 _C are provided. The landing gear 100 also includes a fourth leg 110 _D , a fourth rotating body 130 _D , and a fourth rotating shaft 140 _D (not shown). The first leg 110 _A , the second leg 110 _B , the third leg 110 _C , and the fourth leg 110 _D are collectively referred to as the leg 110. The same applies to the cylinder 120, the rotating body 130, the rotating shaft 140, and other components.

The legs 110 are arranged so that one end is exposed inside the housing 150 and the other end is exposed from the housing 150, and the legs 110 can move linearly in the axial direction. The legs 110 can be formed in the shape of a bar, but are not limited to this. The first leg 110 _A , the second leg 110 _B , the third leg 110 _C , and the fourth leg 110 _D can each operate independently. The first leg 110 _A , the second leg 110 _B , the third leg 110 _C , and the fourth leg 110 _D are the first rack 111 _A , the second rack 111 _B , and the third rack 111 _C , respectively. And a fourth rack 111 _D. A gear surface is arranged on the rack 111, and meshes with a pinion gear 131 described later.

The cylinder 120 is applied to a main part of an internal combustion engine, a steam engine, a thrust engine, or the like, and is a tubular part that houses a fluid such as a gas or a liquid or a crushable solid such as a honeycomb. Inside the cylinder 120, a piston (not shown) reciprocates. The cylinder 120 is also referred to as a cylinder. The first cylinder 120 _A , the second cylinder 120 _B , the third cylinder 120 _C and the fourth cylinder 120 _D are the first leg 110 _A , the second leg 110 _B , the third leg 110 _C and They are arranged concentrically with the fourth leg 110 _D.

The rotating body 130 is connected to the rotating shaft 140 and rotates about the rotating shaft 140. The first rotating body 130 _A , the second rotating body 130 _B , the third rotating body 130 _C , and the fourth rotating body 130 _D are the first pinion gear 131 _A , the second pinion gear 131 _B , and the fourth rotating body 130 D, respectively. Includes 3 pinion gear 131 _C and 4th pinion gear 131 _D. The pinion gear 131 meshes with the rack 111 of the leg 110 to form a rack and pinion mechanism, and converts the linear motion of the leg 110 into the rotary motion of the rotating body 130. That is, the rotating body 130 rotates according to the linear motion of the leg 110.

The rotating shaft 140 is connected to the center of rotation of the rotating body 130 and is arranged in parallel with the diagonal line on the upper surface or the lower surface of the housing 150.

The housing 150 houses one end of the leg 110, a cylinder 120, a rotating body 130, a rotating shaft 140, and other components of the spacecraft 1 (not shown). The housing 150 is formed in a rectangular parallelepiped shape. The housing 150 can be made of metal, but is not limited thereto.

The operation of the landing gear 100 according to the first embodiment will be described with reference to FIGS. 4 to 8.

FIG. 4 is a cross-sectional view showing a falling state of the landing gear 100. As shown in FIG. 4, the spacecraft 1 falls toward the landing surface S according to the gravitational acceleration g. At this time, it is assumed that the spacecraft 1 is in a free-fall state in which the acting force is only gravity, and the spacecraft 1 has only a downward velocity and does not have a rotational angular velocity. Further, it is assumed that the legs 110 and the rotating body 130 are stationary with respect to the center of gravity G of the spacecraft 1.

FIG. 5 is a cross-sectional view showing a state in which the first leg 110 _A of the landing gear 100 is in contact with the landing surface S. As shown in FIG. 5, when the first leg 110 _A first contacts the raised portion of the uneven landing surface S, the first leg 110 _A receives the contact reaction force F from the landing surface S. When the first leg 110 _A receives the contact reaction force F, a tipping torque T is generated in the spacecraft 1. The direction of the overturning torque T is clockwise, and the magnitude can be expressed by L × F using the moment arm L.

When the first leg 110 _A receives the contact reaction force F from the landing surface S, the first leg 110 _A moves linearly toward the housing 150 in the axial direction of the first cylinder 120 _A. Along with the linear motion of the first leg 110 _A , the first rack 111 _A also linearly moves, and the first pinion gear 131 _A that meshes with the first rack 111 _A rotates, whereby the first rack 111 A rotates. The rotating body 130 _A rotates clockwise.

FIG. 6 is a cross-sectional view showing a state in which the landing gear 100 is raised after the first leg 110 _A of the landing gear 100 comes into contact with the landing surface S. As shown in FIG. 6, the contact reaction force F received by the first leg 110 _A and the overturning torque T generated in the spacecraft 1 cause the spacecraft 1 to rise from the landing surface S and change to the attitude of the spacecraft 1. Occurs. Here, the fall prevention torque N is generated in the direction of canceling the fall torque T due to the increase in the angular velocity accompanying the rotation operation of the first rotating body 130 _A.

FIG. 7 is a cross-sectional view showing a state in which the attitude of the landing gear 100 is changed by the fall prevention torque N. As shown in FIG. 7, the change in the attitude of the spacecraft 1 due to the overturning torque T is canceled by the overturning prevention torque N generated by the first rotating body _130A , and the spacecraft 1 is in the same state as shown in FIG. Return to horizontal state. In this state, the spacecraft 1 falls again according to the gravitational acceleration g.

FIG. 8 is a cross-sectional view showing a state in which the landing gear 100 has landed on the landing surface S. As shown in FIG. 8, the spacecraft 1 is in a horizontal state with the first leg 110 _A , the second leg 110 _B , the third leg 110 _C , and the fourth leg 110 _D (not shown) in contact with the ground. Land on the landing surface S.

By providing the above configuration, the landing gear 100 according to the first embodiment can restore the posture change generated in the landing by rotating the rotating body 130 by the force received by the landing gear S from the landing surface S. can.

Adopting active control including gas injection or reaction wheel by thruster and attitude control by control moment gyro etc. to restore the attitude change of the spacecraft during landing complicates the system and increases the weight of the spacecraft. there's a possibility that. The landing gear 100 according to the first embodiment can prevent the system from becoming complicated and reduce the weight of the spacecraft 1.

If the above active control is adopted, a time delay inherent in the control may occur, and sufficient attitude control may not be possible. The landing gear 100 according to the first embodiment makes it possible to reduce the time delay and restore more attitude changes.

(Embodiment 2)
The configuration of the landing gear 100 according to the second embodiment of the present invention will be described with reference to FIGS. 9 and 10. The rotating body 130 of the landing gear 100 according to the second embodiment has a clutch 132.

FIG. 9 is a perspective view showing a first rotating body _130A included in the landing gear 100 according to the first embodiment as a comparison target. As shown in FIG. 9, the first rotating body 130 _A and the first pinion gear 131 _A are bonded to each other with their rotation axes aligned, and the input to the first pinion gear 131 _A is directly the first. It has an integrated structure that is transmitted to the rotating body 130 _A of. This structure is the same for the four rotating bodies 130 and the pinion gear 131.

FIG. 10 is a diagram showing a first rotating body _130A included in the landing gear 100 according to the second embodiment. As shown in FIG. 10, the first rotating body 130 _A of the second embodiment is the same as the first rotating body 130 _A and the first pinion gear 131 _A with the first pinion gear 131 _A. A first clutch 132 _A having a rotating shaft of the above is provided. Similarly, the second rotating body 130 _B , the third rotating body 130 _C , and the fourth rotating body 130 _D have the second clutch 132 _B , the third clutch 132 _C , and the fourth clutch 132 _D , respectively. Be prepared. The clutch 132 is a mechanical device that arbitrarily intermittently transmits power from the pinion gear 131 to the rotating body, and the rotating body 130 and the pinion gear 131 are connected by the clutch 132. The clutch 132 of the second embodiment is a one-way clutch which is a clutch mechanism that transmits a rotational force to only one of them, and is also called a freewheel.

Similar to the first embodiment, when the first leg 110 _A first contacts the raised portion of the uneven landing surface S, the first leg 110 _A receives the contact reaction force F from the landing surface S. When the first leg 110 _A receives the contact reaction force F from the landing surface S, the first leg 110 _A moves linearly toward the housing 150 in the axial direction of the first cylinder 120 _A. Along with the linear motion of the first leg 110 _A , the first rack 111 _A also linearly moves, the first pinion gear 131 _A that meshes with the first rack 111 _A rotates, and the first pinion gear The rotation operation of 131 _A is transmitted by the first clutch 132 _A , and the first rotating body 130 _A rotates.

Even after the linear motion of the first rack 111 _A is completed, the first rotating body 130 _A can maintain the rotation even after the first clutch 132 _A is provided. At this time, due to the rotation of the first rotating body 130 _A through the first clutch 132 _A , regardless of the mechanical coupling between the housing 150 and the first rotating body 130 _A. The reaction force is not transmitted to the housing 150. Therefore, when the first rotating body 130 _A decelerates, the torque in the same direction as the overturning torque T is not transmitted to the spacecraft 1.

By providing the above configuration, the landing gear 100 according to the second embodiment can realize the same effect as the landing gear according to the first embodiment, and is the same as the overturning torque T generated when the rotating body 130 decelerates. It is possible to prevent the torque in the direction from being transmitted to the spacecraft 1, and to make the posture of the spacecraft 1 more stable at the time of landing.

(Embodiment 3)
The configuration of the landing gear 100 according to the third embodiment of the present invention will be described with reference to FIG. The landing gear 100 according to the third embodiment includes 4 to 8 rotating bodies including an upper rotating body 133 and a lower rotating body 134.

FIG. 11 is a diagram showing the first upper rotating body 133 _A , the first lower rotating body 134 _A , and their surroundings included in the landing gear 100 according to the third embodiment. As shown in FIG. 11, the first upper rotating body 133 _A and the first lower rotating body 134 _A are the first one indicated by an arrow along the first slider 160 _A fixed to the housing 150. They are arranged so as to be movable in the direction perpendicular to the leg _110A . The first upper rotating body 133 _A has a first upper pinion gear 135 _A , and the first lower rotating body 134 _A has a first lower pinion gear 136 _A. Inside the first slider 160 _A , a first upper pinion gear 135 _A and a first lower pinion gear 136 _A are arranged, and the rotation center of the first upper pinion gear 135 _A and the first one. The lower pinion gear _136A is located away from the center of rotation, not coaxially. A compression spring (not shown) is arranged between the first upper pinion gear 135 _A and the first lower pinion gear 136 _A , and the first upper pinion gear 135 _A and the first lower pinion gear 136 _A are arranged. Keeps the distance between the first upper pinion gear 135 _A and the first lower pinion gear 136 _A even as it moves inside the first slider 160 _A.

Similarly, the landing device 100 according to the third embodiment has a second upper rotating body 133 _B , a third upper rotating body 133 _C , a fourth upper rotating body 133 _D , and a second lower rotating body 134 _B. Third lower rotating body 134 _C and fourth lower rotating body 134 _D , second upper pinion gear 135 _B , third upper pinion gear 135 _C and fourth upper pinion gear 135 _D , second Lower pinion gear 136 _B , third lower pinion gear 136 _C and fourth lower pinion gear 136 _D , and second slider 160 _B , third slider 160 _C and fourth slider 160 _D. Be prepared.

The first rack 111 _A of the first leg 110 _A has gear surfaces arranged on both sides, and may mesh with each of the first upper pinion gear 135 _A and the first lower pinion gear 136 _A. It is possible. The first leg 110 _A is arranged so as to be able to tilt in the diagonal direction of the housing 150 with respect to the housing 150 by the force received from the landing surface S, and by tilting, the first upper pinion gear 135 A and the first upper pinion gear 135 _A and It selectively meshes with either one of the first lower pinion gears _136A .

The first cylinder 120 _A is arranged so as to be able to tilt in the diagonal direction of the housing 150 with respect to the housing 150, and even if the first leg 110 _A is tilted with respect to the housing, the first leg It is coaxial with the axis of 110 _A. This may be achieved by a rotatable joint or by configuring it with a flexible material.

The operation of the landing gear 100 according to the third embodiment will be described with reference to FIGS. 12 and 13.

FIG. 12 is a diagram showing the first upper rotating body 133 _A , the first lower rotating body 134 _A , and their surroundings in a state where the first rack 111 _A is tilted inward of the housing 150. As shown in FIG. 12, when the contact reaction force F generated by the contact of the first leg 110 _A with the landing surface S passes above the center of gravity G of the spacecraft, the first rack 111 _A is the housing 150. Tilt inward. In this state, the first rack 111 _A meshes with the first lower pinion gear 136 _A. The axis of rotation of the first lower pinion gear 136 _A does not necessarily have to reach the end of the first slider 160 _A , and the first rack 111 _A and the first lower pinion gear 136 _A It suffices if they are in mesh.

In the state shown in FIG. 12, a clockwise overturning torque T acts on the spacecraft 1 as in the first embodiment. The linear motion of the first leg 110 _A is converted into the rotational motion of the first lower rotating body 134 _A via the first rack 111 _A and the first lower pinion gear 136 _A. As the angular velocity of the first lower rotating body 134 _A increases, a counterclockwise fall prevention torque N is generated. The fall prevention torque N cancels out the fall torque T generated by the contact of the first leg 110 _A with the landing surface S, and the attitude of the spacecraft 1 can be maintained.

FIG. 13 is an enlarged view showing the first upper rotating body 133 _A , the first lower rotating body 134 _A , and their surroundings in a state where the first rack 111 _A is tilted to the outside of the housing 150. As shown in FIG. 13, when the contact reaction force F generated by the contact of the first leg 110 _A with the landing surface S passes under the lower part of the center of gravity G of the spacecraft, the first rack 111 _A is the housing 150. Tilt outward. In this state, the first rack 111 _A meshes with the first upper pinion gear 135 _A. The axis of rotation of the first upper pinion gear 135 _A does not necessarily have to reach the end of the first slider 160 _A , and the first rack 111 _A and the first upper pinion gear 135 _A are in mesh with each other. Just do it.

In the state shown in FIG. 13, a counterclockwise overturning torque T'appears on the spacecraft 1, contrary to the case of the first embodiment. The linear motion of the first leg 110 _A is converted into the rotational motion of the first upper rotating body 133 _A via the first rack 111 _A and the first upper pinion gear 135 _A. As the angular velocity of the first upper rotating body 133A increases, a clockwise fall prevention torque _N'is generated. The fall prevention torque N'cancels with the fall torque T'generated by the contact of the first leg 110 _A with the landing surface S, and the attitude of the spacecraft 1 can be maintained.

By providing the above configuration, the landing device 100 according to the third embodiment can realize the same effect as the landing device according to the first embodiment, and the rotating body that rotates is switched according to the reaction force acting on the shaft. By changing the direction of the torque generated by the rotation, the fall prevention torque N is generated in the direction opposite to the direction of the fall torque T regardless of the direction of the reaction force, and the posture of the spacecraft 1 can be maintained.

(Embodiment 4)
The configuration of the landing gear 100 according to the fourth embodiment of the present invention will be described with reference to FIG. The landing gear 100 according to the fourth embodiment includes a configuration in which a plurality of racks mesh with one pinion gear.

FIG. 14 is a diagram showing the first rotating body _130A included in the landing gear 100 according to the fourth embodiment and its surroundings. As shown in FIG. 14, the first rack 111 _A or the second rack 111 _B is arranged so as to be able to selectively mesh with the first pinion gear 131 _A.

The first rotating body 130 _A has a first rotating shaft having the same rotating shaft as the rotating shaft of the first rotating body 130 _A and the rotating shaft of the first pinion gear 131 _A with the first pinion gear 131 _A. The clutch 132 _A is provided. The first clutch 132 _A is a mechanical device that arbitrarily intermittently transmits power from the first pinion gear 131 _A to the first rotating body 130 _A , and the first rotating body 130 _A by the first clutch 132 _A. And the first pinion gear 131 _A are connected. The first clutch 132 _A of the fourth embodiment is a two-way clutch that switches between a neutral idling state, a forward drive state, and a reverse drive state according to the input direction. The first clutch 132 _A may include, but is not limited to, a cam surface having a regular polygonal shape that can be driven in both directions in which rollers are arranged on each cam surface.

When the first rack 111 _A meshes with the first pinion gear 131 _A , the linear motion of the first leg 110 _A causes the first rack 111 _A , the first pinion gear 131 _A , and the first clutch 132 _A. It is converted into the rotational operation of the first rotating body _130A via. Even after the linear motion of the first rack 111 _A is completed, the first rotating body 130 _A can maintain the rotation even after the first clutch 132 _A is provided. At this time, the rotational operation of the first rotating body 130 _A is not transmitted to the second rack 111 _B by passing through the first clutch 132 _A , and the housing 150 and the first rotating body are not transmitted to the second rack 111 B. The reaction force due to the rotation of the first rotating body 130 _A is not transmitted to the housing 150 regardless of the mechanical coupling with the 130 _A. Therefore, the second leg 110 _B does not move linearly due to the rotational movement of the first rotating body 130 _A , and when the first rotating body 130 _A decelerates, a torque in the same direction as the overturning torque N is searched for. It is not transmitted to the machine 1.

By providing the above configuration, the landing gear 100 according to the fourth embodiment can realize the same effect as the landing gear 100 according to the first embodiment, and has a configuration in which a plurality of racks mesh with one pinion gear. As a result, the number of rotating bodies mounted on the spacecraft 1 can be reduced, and the cost and weight of the spacecraft 1 can be reduced.

(Embodiment 5)
The landing gear 100 according to the fifth embodiment of the present invention will be described with reference to FIG. The landing gear 100 according to the fifth embodiment includes a piston crank mechanism instead of the rack and pinion mechanism.

FIG. 15 is a diagram showing the first rotating body _130A included in the landing gear 100 according to the fifth embodiment and its surroundings. As shown in FIG. 15, in the first leg 110 _A , the second leg 110 _B , and the third leg 110 _C of the fifth embodiment, the first rod 112 _A , the second rod 112 _B , and the third leg 110 C are used, respectively. 3 rods 112 _C are included. The fourth leg 110 _D (not shown) includes a fourth rod 112 _D. One end of the rod 112 is rotatably connected to the leg 110 and the other end is rotatably connected to a crankpin 137 described below.

The first rotating body 130 _A , the second rotating body 130 _B , the third rotating body 130 _C , and the fourth rotating body 130 _D have the first crankpin 137 _A and the second crankpin 137 _B , respectively. Includes a third crankpin 137 _C and a fourth crankpin 137 _D. The crankpin 137 is located at a portion of the rotating body 130 that is not the center of rotation and rotatably supports the other end of the rod 112.

The first leg 110 _A and the first cylinder 120 _A are arranged so as to be able to move linearly and tilt with respect to the housing 150 as the first rotating body 130 _A rotates. The same applies to the other three of the leg 110, the cylinder 120 and the rotating body 130.

Similar to the first embodiment, when the first leg 110 _A first contacts the raised portion of the uneven landing surface S, the first leg 110 _A receives the contact reaction force F from the landing surface S. When the first leg 110 _A receives the contact reaction force F from the landing surface S, the first leg 110 _A moves linearly toward the housing 150 in the axial direction of the first cylinder 120 _A. The first rod also operates with the linear motion of the first leg 110 _A , and the linear motion of the first leg 110 _A is the first due to the first rod 112 _A and the first crankpin 137 _A. It is converted into the rotation operation of the rotating body 130 _A of. As the angular velocity of the first rotating body 130 _A increases, a fall prevention torque N is generated.

By providing the above configuration, the landing gear 100 according to the fifth embodiment can realize the same effect as the landing gear according to the first embodiment.

In the first embodiment, it is assumed that the first leg 110 _A first contacts the raised portion of the uneven landing surface S, but the present invention is not limited to this. The second leg 110 _B , the third leg 110 _C or the fourth leg 110 _D may first come into contact with the landing surface S. Further, two or more of the legs 110 may come into contact with the landing surface S at the same time.

Further, although the description has been made as an object that the spacecraft 1 ascends once and then lands on the landing surface S in a horizontal state, the present invention is not limited to this. For example, after the first leg 110 _A comes into contact with the landing surface S and the spacecraft 1 rises, the third leg 110 _C may come into contact with the landing surface S and the spacecraft 1 may rise again. As the contact and ascent are repeated, the altitude at which the spacecraft 1 rises decreases due to the dissipation of mechanical energy including the friction between the leg 110 and the landing surface S, and finally the spacecraft 1 lands on the landing surface S. ..

Although the first rotating body 130 _A has been illustrated and described in the second embodiment, the configurations of the second rotating body 130 _B , the third rotating body 130 _C , and the fourth rotating body 130 _D are also the same. .. The same applies to other embodiments and other components other than the rotating body 130.

The embodiment of the present invention is not limited to the above, and can be modified. For example, the housing 150 is said to be formed in a rectangular parallelepiped shape, but the present invention is not limited to this. It may be formed by any number or shape of planes or curved surfaces.

The landing gear 100 is provided with, but is not limited to, the four legs of the first leg 110 _A , the second leg 110 _B , the third leg 110 _C , and the fourth leg 110 _D. It may be provided with 3 or less or 5 or more legs. The same applies to other components.

The landing gear 100 according to the fifth embodiment is provided with the rod 112, but the landing gear 100 is not limited thereto. The end of the leg 110 may be connected to the crankpin 137.

As a mechanism for changing the linear motion of the leg 110 to the rotary motion of the rotating body 130, a piston crank mechanism is shown instead of the rack and pinion mechanism, but the mechanism is not limited to this. Any mechanism including a cam may be used.

A plurality of embodiments may be combined. For example, the clutch 132 included in the landing gear 100 according to the second embodiment is connected to the first upper rotating body _133A and the first lower rotating body _134A provided in the landing gear 100 according to the third embodiment. Is also good. Similarly, it is possible to combine the configurations described in any of the plurality of embodiments.

The present invention allows for various embodiments and modifications without departing from the broad spirit and scope of the invention. Further, the above-described embodiments are for explaining the present invention, and do not limit the scope of the present invention. That is, the scope of the present invention is shown not by the embodiment but by the claims. And, various modifications made within the scope of the claims and within the scope of the equivalent invention are considered to be within the scope of the present invention.

The present invention can be used for landing gears and spacecraft.

1 ... spacecraft, 100 ... landing device, 110 ... leg, 110 _A ... first leg, 110 _B ... second leg, 110 _C ... third leg, 110 _D ... fourth leg, 111 ... rack, 111 _A ... 1st rack, 111 _B ... 2nd rack, 111 _C ... 3rd rack, 111 _D ... 4th rack, 112 ... rod, 112 _A ... 1st rod, 112 _B ... 2nd Rod, 112 _C ... 3rd rod, 112 _D ... 4th rod, 120 ... Cylinder, 120 _A ... 1st cylinder, 120 _B ... 2nd cylinder, 120 _C ... 3rd cylinder, 120 _D ... 4 cylinders, 130 ... rotating body, 130 _A ... first rotating body, 130 _B ... second rotating body, 130 _C ... third rotating body, 130 _D ... fourth rotating body, 131 ... pinion gear, 131 _A ... 1st pinion gear, 131 _B ... 2nd pinion gear, 131 _C ... 3rd pinion gear, 131 _D ... 4th pinion gear, 132 ... clutch, 132 _A ... 1st clutch, 132 _B ... second clutch, 132 _C ... third clutch, 132 _D ... fourth clutch 133 ... upper rotating body 133 _A ... first upper rotating body 133 _B ... second upper rotating body 133 _C ... Third upper rotating body, 133 _D ... Fourth upper rotating body, 134 ... Lower rotating body, 134 _A ... First lower rotating body, 134 _B ... Second lower rotating body, 134 _C ... Third lower rotating body, 134 _D ... Fourth lower rotating body, 135 ... Upper pinion gear, 135 _A ... First upper pinion gear, 135 _B ... Second upper pinion gear, 135 _C ... Third Upper pinion gear, 135 _D ... 4th upper pinion gear, 136 ... lower pinion gear, 136 _A ... 1st lower pinion gear, 136 _B ... 2nd lower pinion gear, 136 _C ... 3rd Lower pinion gear, 136 _D ... 4th lower pinion gear, 137 ... crank pin, 137 _A ... 1st crank pin, 137 _B ... 2nd crank pin, 137 _C ... 3rd crank pin, 137 _D ... 4th crank pin, 140 ... Rotating shaft, 140 _A ... 1st rotating shaft, 140 _B ... 2nd rotating shaft, 140 _C ... 3rd rotating shaft, 140 _D ... 4th rotating shaft, 150 ... Housing, 160 ... slider, 160 _A ... first slider, 160 _B ... second slider, 160 _C ... 3rd slider, 160 _D ... 4th slider, F ... contact reaction force, g ... gravity acceleration, G ... center of gravity, L ... moment arm, N, N'... fall prevention torque, S ... landing surface, T, T '… Overturning torque.

Claims (8)

A leg that has one end in contact with the landing surface and moves linearly in the axial direction due to the force received from the landing surface.
A rotating body that rotates by converting the linear motion of the leg into a rotary motion,
A housing that accommodates the other end of the leg and rotatably holds the rotating body,
A rack that is connected to the other end of the leg and operates linearly with the linear motion of the leg.
A pinion gear that meshes with the rack,
A second rotating body that rotates by converting an axial linear motion in which the leg moves by a force received from the landing surface into a rotary motion.
A second pinion gear that meshes with the rack .
The rotation axis of the rotating body and the rotation axis of the pinion gear are the same, and the rotating body rotates with the rotation of the pinion gear.
The pinion gear rotates by the linear motion of the rack accompanying the linear motion of the leg, so that the linear motion of the leg is converted into the rotary motion of the rotating body.
The rotation axis of the second rotating body and the rotation axis of the second pinion gear are the same, and the second rotating body rotates with the rotation of the second pinion gear.
The legs tilt with respect to the housing due to the force received from the landing surface, and the rack selectively meshes with the pinion gear or the second pinion gear due to the tilt of the legs with respect to the housing.
Landing gear. A clutch for connecting the rotating body and the pinion gear, and a second clutch for connecting the second rotating body and the second pinion gear are provided.
The clutch transmits the rotational movement of the pinion gear to the rotating body, and does not transmit the rotational movement of the rotating body to the pinion gear.
The second clutch transmits the rotational movement of the second pinion gear to the rotating body, and does not transmit the rotational movement of the rotating body to the second pinion gear.
The landing gear according to claim 1 . A leg that has one end in contact with the landing surface and moves linearly in the axial direction due to the force received from the landing surface.
A rotating body that rotates by converting the linear motion of the leg into a rotary motion,
A housing that accommodates the other end of the leg and rotatably holds the rotating body,
A rack that is connected to the other end of the leg and operates linearly with the linear motion of the leg.
A pinion gear that meshes with the rack,
A second leg with one end in contact with the landing surface ,
A second rack, which is connected to the other end of the second leg and operates linearly with the linear motion of the second leg, is provided.
The rotation axis of the rotating body and the rotation axis of the pinion gear are the same, and the rotating body rotates with the rotation of the pinion gear.
The pinion gear rotates by the linear motion of the rack accompanying the linear motion of the leg, so that the linear motion of the leg is converted into the rotary motion of the rotating body.
The pinion gear meshes with the second rack and
The pinion gear rotates by the linear motion of the second rack accompanying the linear motion of the second leg, so that the linear motion of the second leg is converted into the rotary motion of the rotating body.
Landing gear. The rotating body rotates in the same direction as the housing when the housing rotates about a contact point between the legs and the landing surface when the legs receive a force from the landing surface.
The landing gear according to any one of claims 1 to 3 . A clutch for connecting the rotating body and the pinion gear.
The landing gear according to any one of claims 1 to 4 . The clutch transmits the rotational movement of the pinion gear to the rotating body, and does not transmit the rotational movement of the rotating body to the pinion gear.
The landing gear according to claim 5 . The legs are rod-shaped,
The landing gear according to any one of claims 1 to 6 . A spacecraft provided with the landing gear according to any one of claims 1 to 7 .

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