CN105422788B - Lander differential adaptive mechanism - Google Patents
Lander differential adaptive mechanism Download PDFInfo
- Publication number
- CN105422788B CN105422788B CN201510875005.3A CN201510875005A CN105422788B CN 105422788 B CN105422788 B CN 105422788B CN 201510875005 A CN201510875005 A CN 201510875005A CN 105422788 B CN105422788 B CN 105422788B
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- CN
- China
- Prior art keywords
- main
- differential
- rack
- lander
- adaptive mechanism
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/12—Differential gearings without gears having orbital motion
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H48/00—Differential gearings
- F16H48/05—Multiple interconnected differential sets
Abstract
The present invention provides a kind of lander differential adaptive mechanism, including main differential system, two secondary differential system, matrix, stand bar structure and the main racks being vertically disposed and secondary rack；The main differential system includes at least the master gear of two Synchronous Transmissions, two master gear Synchronous Transmissions, and each secondary differential system includes at least two pinions, two pinion Synchronous Transmissions in each secondary differential system；The position of each main rack and a secondary differential system is fixed, and each main rack is engaged with a master gear, and then is realized with the rotation of the master gear vertically to movement；The lower end of each secondary rack is all connected with a stand bar structure, and is engaged with a pinion, and then is realized with the rotation of the pinion vertically to movement.
Description
Technical field
The invention belongs to Space lander field, more particularly to a kind of lander differential adaptive mechanism.
Background technology
The mainstream category american apollo lander configuration of existing landing mechanism configuration, its main feature is that：Each landing leg is independently held
Be hit load, and every landing leg is strengthened not only but also long, landing leg folding when lander collapses, land leg expansion lock when lander works
It is fixed, it is complicated.The lander rises and falls landing localized ground, and requirement is tighter, and the length of heavy dependence landing leg is landed to reduce
Inclination angle.
At present there is an urgent need for a kind of ground it is adaptable, can self-aligning uniformly distributed load, can smooth out land landing mechanism.
The content of the invention
In order to solve the above technical problems, the present invention provides a kind of lander differential adaptive mechanism, including main difference
Speed system, two secondary differential system, matrix, stand bar structure and the main racks being vertically disposed and secondary rack；
The main differential system includes at least the master gear of two Synchronous Transmissions, and is fixed relative to described matrix position,
Each secondary differential system includes at least two pinions, and two pinions in each secondary differential system synchronously pass
It is dynamic；
The position of each main rack and a secondary differential system is fixed, each described in the main rack and one
Master gear engages, and then is realized with the rotation of the master gear vertically to movement；The lower end of each secondary rack is all connected with
One stand bar structure, and engaged with a pinion, and then realized with the rotation of the pinion vertically to shifting
It is dynamic.
Optionally, the main differential system further includes two main driving wheels, a main support and is sheathed on two main biographies
On the outside of driving wheel, the main transmission ring being driven between two main driving wheels is realized, two main driving wheels are articulated with the main support,
Each main driving wheel is coaxially affixed with a master gear, the main support by sliding pair and described matrix along vertically to
It is slidably connected.
Optionally, the main driving wheel is using one of cable pulley, belt wheel, synchronizing jugged belt wheel or sprocket wheel, the main biography
Rotating ring uses rope, steel wire rope, band, synchronous cog belt or chain accordingly.
Optionally, the master gear uses nut, and the main rack uses ball-screw or planetary ball leading screw.
Optionally, each secondary differential system further includes two auxiliary driving wheels, a secondary support and is sheathed on two
On the outside of auxiliary driving wheel, the auxiliary driving ring being driven between two auxiliary driving wheels is realized, two auxiliary driving wheels are articulated with the secondary branch
On frame, each auxiliary driving wheel is coaxially affixed with a pinion, the secondary support and the corresponding one main rack
It is affixed.
Optionally, the auxiliary driving wheel is using one of cable pulley, belt wheel, synchronizing jugged belt wheel or sprocket wheel, the secondary biography
Rotating ring uses rope, steel wire rope, band, synchronous cog belt or chain accordingly.
Optionally, the pinion uses nut, and the pair rack uses ball-screw or planetary ball leading screw.
Optionally, the main rack is connected with secondary rack by sliding pair with described matrix.
Optionally, the stand bar structure includes supporting leg and foot pad, and the foot pad is connected to the secondary tooth by the supporting leg
On bar.
Optionally, the supporting leg is hinged with foot pad.
In the present invention, for different stand bar structure, on the one hand using secondary differential system realize two stand bar structure it
Between differential gearing, on the other hand, two secondary differential systems are connected using main differential system, furthermore achieved that correspondence
Stand bar structure differential gearing, expansion description can be done in the embodiment of further mechanism below, therefrom
As it can be seen that the present invention provide really a kind of ground it is adaptable, can self-aligning uniformly distributed load, can smooth out landing landing mechanism.
Brief description of the drawings
Fig. 1 is the principle schematic of lander differential adaptive mechanism in one embodiment of the invention；
Fig. 2 a to Fig. 2 g are the schematic diagrames of land in one embodiment of the invention；
In figure, the main differential systems of 1-；11st, 12- master gears；13- main supports；14th, 15- main driving wheels；16- main transmission rings；
2nd, 3- pairs differential system；21st, 22,31,32- pinions；23rd, 33- secondary supports；24th, 25,34,35- auxiliary driving wheels；26th, 36- pairs
Transmission ring；The main racks of 4-；5- pair racks；6- stand bar structure；61- supporting legs；62- foots pad；7- matrixes.
Embodiment
Lander provided by the invention is carried out in detail with differential adaptive mechanism below with reference to Fig. 1, and Fig. 2 a to 2g
Thin description, it is optional embodiment of the present invention, it is believed that those skilled in the art do not change the present invention it is spiritual and interior
In the range of appearance, it can be modified and be polished.
Please comprehensive reference Fig. 1, and other accompanying drawings, the present invention provides a kind of lander differential adaptive mechanism, bag
Include main differential system 1, two secondary differential system 2 and 3, matrix 7, stand bar structure 6 and the main rack 4 being vertically disposed and secondary rack
5；
For the main differential system 1：
Please refer to Fig.1, the main differential system 1 includes at least the master gear 11 and 12 of two Synchronous Transmissions, described in two
11 and 12 Synchronous Transmission of master gear, the position of each main rack 4 and a secondary differential system 2 or 3 are fixed, each
The main rack 4 is engaged with a master gear 11 or 12, and then is realized vertically with the rotation of the master gear 11 or 12
To movement；And then the mobile change of side can be transferred to opposite side.
Furthermore, it is understood that in optional embodiment of the present invention, a to Fig. 2 g is please referred to Fig.2, the main differential system 1 is also
Including two main driving wheels, 14 and 15, main supports 13 and two outsides of main driving wheel 14,15 are sheathed on, realize two masters
The main transmission ring 16 being driven between drive 14,15, two main driving wheels 14,15 are articulated with 13 on the main support, here
This position for being hingedly defined as itself and main support 13 is relatively fixed, but main driving wheel 14,15 can realize the rotation around its axle center
Turn, each main driving wheel 14 or 15 is coaxial affixed with a master gear 11 or 12, the main support by sliding pair and
Described matrix 7 is along vertically to being slidably connected.
Further study carefully its details, in the further alternative scheme of the present invention, the main driving wheel 14 and 15 uses rope
One of wheel, belt wheel, synchronizing jugged belt wheel or sprocket wheel, the main transmission ring 16 is accordingly using rope, steel wire rope, band, synchronization
Toothed belt or chain.The master gear 11 and 12 uses nut, and the main rack 4 uses ball-screw or planetary ball leading screw.
In relation to the secondary differential system 2 and 3；
Each attached drawing is refer to, each secondary differential system 2 (3) includes at least two pinions 21 (31), 22
(32), two pinions 21 (31) in each secondary differential system 2 (3) and 22 (32) Synchronous Transmissions；Each secondary tooth
The lower end of bar 5 is all connected with a stand bar structure 6, and is engaged with a pinion 21,22,31 or 32, and then with
The rotation of the pinion 21,22,31 or 32 is realized vertically to movement.
In the further alternative embodiment of the present invention, each secondary differential system 2 (3) further includes two auxiliary driving wheels
24 (34) are sheathed on two auxiliary driving wheels 24 (34) with the outside of 25 (35), realizing respectively with 25 (35), a secondary support 23 (33)
The auxiliary driving ring 26 (36) being driven between two auxiliary driving wheels 24 (34) and 25 (35), two auxiliary driving wheels 24 (34) and 25
(35) be articulated with the secondary support 23 (33), each auxiliary driving wheel 24 (34) or 25 (35) with a pinion 21 or
22 is coaxial affixed, and the secondary support 23 is affixed with the corresponding one main rack 4 with 24.
Further study carefully its details, in the further alternative scheme of the present invention, the auxiliary driving wheel 24,25,34,35 is adopted
With one of cable pulley, belt wheel, synchronizing jugged belt wheel or sprocket wheel, the auxiliary driving ring 26,36 accordingly using rope, steel wire rope,
Band, synchronous cog belt or chain.The pinion 21,22,31,32 uses nut, the pair rack 5 using ball-screw or
Planetary ball leading screw.
In optional embodiment of the present invention, the main rack 4 and secondary rack 5 and main support 13 by sliding pair with
Described matrix 7 connects.
The related stand bar structure 6, please refers to Fig.2 a-2g, the stand bar structure 6 includes supporting leg 61 and foot pad 62, described
Foot pad 62 is connected on the secondary rack 5 by the supporting leg 61.Wherein, the supporting leg 61 and foot pad 62 are hinged.
Its related motion process, can illustrate and be described as：
Assuming that a certain foot pad 62 first lands, as the foot pad 62 of Fig. 2 a to the 2g leftmost sides first lands, institute's support reaction driving foot pad
62nd, supporting leg 61 and secondary rack 5 move up, and secondary rack 5 drives pinion 21 and auxiliary driving wheel 24 to rotate, and auxiliary driving wheel 24 is through auxiliary driving
Ring 26 is driven, and on the one hand drives auxiliary driving frame 23 to move up, and on the other hand drives auxiliary driving wheel 25 and pinion 22 to rotate, pinion
The corresponding secondary rack 5 of 22 drivings and supporting leg 61 and foot pad 62 move down, and complete the difference between two landing legs in secondary differential system 2
Speed transmission；At the same time, secondary support 23, which moves up, drives main rack 4 to move up, and drives master gear 11 and main driving wheel 14 to rotate, main
Drive 14 drives main transmission ring 16 to drive another main driving wheel 15 on main support 13 and master gear 12 to rotate, master gear
Another main rack 4 of 12 drivings and another secondary support 33 move down, and complete main differential system 1 between two secondary differential systems 2 and 3
Differential gearing；Correspondingly, moving down for another secondary support drives two other secondary rack 5 and its stand bar structure 6 to move down, with reference to
Land region celestial body surface appearance, completes the differential gearing between two landing legs in secondary differential system 3, so far, four landing legs
Between realize that differential is adaptively driven, complete adaptive land.
Fig. 2 a to 2g for specific celestial body surface appearance give its land process schematic, its principle all without departing from
The basic transmission and interactively that above procedure is embodied, so be not developed in details.
Therefore in the present invention, for different stand bar structure, on the one hand two branch are realized using secondary differential system
Differential gearing between leg structure, on the other hand, is connected two secondary differential systems using main differential system, further real
Showed the differential gearing of corresponding stand bar structure, finally, the present invention provide really a kind of ground it is adaptable, can be adaptively equal
Carry, the landing mechanism to land can be smoothed out.
Claims (10)
- A kind of 1. lander differential adaptive mechanism, it is characterised in that：Including main differential system, two secondary differential systems, bases Body, stand bar structure and the main rack being vertically disposed and secondary rack；The main differential system includes at least the master gear of two Synchronous Transmissions, two master gear Synchronous Transmissions, Mei Gesuo State secondary differential system and include at least two pinions, two pinion Synchronous Transmissions in each secondary differential system；The position of each main rack and a secondary differential system is fixed, each main rack and a main tooth Wheel engagement；The lower end of each secondary rack is all connected with a stand bar structure, and is engaged with a pinion.
- 2. lander as claimed in claim 1 differential adaptive mechanism, it is characterised in that：The main differential system further includes Two main driving wheels, a main support and it is sheathed on the outside of two main driving wheels, realizes the master being driven between two main driving wheels Transmission ring, two main driving wheels are articulated with the main support, and each main driving wheel is coaxial with a master gear Affixed, the main support is by sliding pair and described matrix along vertically to being slidably connected.
- 3. lander as claimed in claim 2 differential adaptive mechanism, it is characterised in that：The main driving wheel uses rope One of wheel, belt wheel, synchronizing jugged belt wheel or sprocket wheel, the main transmission ring is accordingly using rope, steel wire rope, band, synchronous gear Shape band or chain.
- 4. lander as claimed in claim 2 differential adaptive mechanism, it is characterised in that：The master gear uses nut, The main rack uses ball-screw or planetary ball leading screw.
- 5. lander as claimed in claim 1 differential adaptive mechanism, it is characterised in that：Each secondary differential system is also Including two auxiliary driving wheels, a secondary support and it is sheathed on the outside of two auxiliary driving wheels, realizes and be driven between two auxiliary driving wheels Auxiliary driving ring, two auxiliary driving wheels are articulated with the secondary support, each auxiliary driving wheel with a pinion Coaxial affixed, the secondary support and the corresponding one main rack are affixed.
- 6. lander as claimed in claim 5 differential adaptive mechanism, it is characterised in that：The auxiliary driving wheel uses rope One of wheel, belt wheel, synchronizing jugged belt wheel or sprocket wheel, the auxiliary driving ring is accordingly using rope, steel wire rope, band, synchronous gear Shape band or chain.
- 7. lander as claimed in claim 5 differential adaptive mechanism, it is characterised in that：The pinion uses nut, The pair rack uses ball-screw or planetary ball leading screw.
- 8. lander as claimed in claim 1 differential adaptive mechanism, it is characterised in that：The main rack and secondary rack are equal It is connected by sliding pair with described matrix.
- 9. lander as claimed in claim 1 differential adaptive mechanism, it is characterised in that：The stand bar structure includes supporting leg And foot pad, the foot pad are connected on the secondary rack by the supporting leg.
- 10. lander as claimed in claim 9 differential adaptive mechanism, it is characterised in that：The supporting leg is hinged with foot pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510875005.3A CN105422788B (en) | 2015-12-02 | 2015-12-02 | Lander differential adaptive mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510875005.3A CN105422788B (en) | 2015-12-02 | 2015-12-02 | Lander differential adaptive mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105422788A CN105422788A (en) | 2016-03-23 |
| CN105422788B true CN105422788B (en) | 2018-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510875005.3A Active CN105422788B (en) | 2015-12-02 | 2015-12-02 | Lander differential adaptive mechanism |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11613386B1 (en) | 2022-03-30 | 2023-03-28 | Jalal Bolouri | Vertical landing apparatus and method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6227494B1 (en) * | 1998-06-16 | 2001-05-08 | Lockheed Martin Corporation | Deployable spacecraft lander leg system and method |
| EP2340999A2 (en) * | 2010-01-04 | 2011-07-06 | Astrium GmbH | Landing device for spacecraft |
| CN102438906A (en) * | 2009-03-17 | 2012-05-02 | 阿斯特里姆有限公司 | Landing device for a space probe, and landing method for a probe provided with such a device |
| CN103879569A (en) * | 2014-04-08 | 2014-06-25 | 哈尔滨工业大学 | Swing rod and sliding block reciprocating type solar wing auxiliary turnover mechanism |
| CN104724302A (en) * | 2015-03-03 | 2015-06-24 | 北京空间机电研究所 | Lunar surface landing buffering device |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3301878B2 (en) * | 1994-12-28 | 2002-07-15 | 株式会社アイ・エイチ・アイ・エアロスペース | Space exploration vehicle |
-
2015
- 2015-12-02 CN CN201510875005.3A patent/CN105422788B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6227494B1 (en) * | 1998-06-16 | 2001-05-08 | Lockheed Martin Corporation | Deployable spacecraft lander leg system and method |
| CN102438906A (en) * | 2009-03-17 | 2012-05-02 | 阿斯特里姆有限公司 | Landing device for a space probe, and landing method for a probe provided with such a device |
| EP2340999A2 (en) * | 2010-01-04 | 2011-07-06 | Astrium GmbH | Landing device for spacecraft |
| CN103879569A (en) * | 2014-04-08 | 2014-06-25 | 哈尔滨工业大学 | Swing rod and sliding block reciprocating type solar wing auxiliary turnover mechanism |
| CN104724302A (en) * | 2015-03-03 | 2015-06-24 | 北京空间机电研究所 | Lunar surface landing buffering device |
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| Publication number | Publication date |
|---|---|
| CN105422788A (en) | 2016-03-23 |
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