CN114802823A - Cat-configuration-simulated moon lander based on variable stiffness buffer and landing method thereof - Google Patents
Cat-configuration-simulated moon lander based on variable stiffness buffer and landing method thereof Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
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Abstract
The invention provides a cat-like configuration moon lander based on a variable stiffness buffer and a landing method thereof. When the cat foot simulating pad, the metatarsal cat leg simulating structure and the radius cat leg simulating structure touch the ground, the variable stiffness buffers are driven by the structures to work, and the lander is buffered and decelerated through the pulling/pressing motion of the variable stiffness buffers. Meanwhile, in the landing process, the rigidity of the variable rigidity buffer is adjusted to complete the buffer force and the integral attitude control of the lander, and finally the lander is landed safely and stably. The invention can be widely applied to various spaceflight landers and has the advantages of good buffering effect, wide landing range, controllable landing attitude and the like.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a cat-like configuration moon lander based on a variable stiffness buffer and a landing method thereof.
Background
When the unmanned lunar exploration plan of three-step walking of winding, falling and returning in China is finished, the basic idea of building the unmanned lunar scientific research station is also provided. The existing mature passive soft landing technology adopts a landing buffer mechanism, most of which can realize locking before landing, can not be adaptively adjusted according to the fluctuation condition of the lunar surface, and the magnitude of the buffer force in the landing process can not be adaptively and actively changed along with the change of the impact load, so that the future lunar exploration safe landing requirement can not be met, an active soft landing method must be broken through, the buffer force performance can be actively adjusted according to the impact mechanical property in the landing process, and the stability of the equipment attitude can be ensured. The layout and the configuration of the lander determine that the performance of the buffer method can be fully exerted, determine the basic performance of the mechanism, and are one of the core research contents of the landing buffer mechanism.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a cat-like configuration moon lander based on a variable stiffness buffer and a landing method thereof.
The invention provides a cat-like configuration moon lander based on a variable stiffness buffer, which comprises a lander body, a pair of front legs and a pair of rear legs, wherein the front legs and the rear legs are connected to the lander body.
The front leg comprises a scapula cat-like leg structure, a humerus cat-like leg structure, a radius cat-like leg structure and a variable stiffness buffer, wherein the landing body is hinged with the scapula cat-like leg structure through a pin shaft, and the scapula cat-like leg structure is hinged with the humerus cat-like leg structure through a pin shaft; the cat leg structure is imitated to scapula is equipped with the spacing hole of second, and the spacing hole of the second on the cat leg structure is imitated to scapula articulates respectively has variable rigidity buffer FS and becomes rigidity buffer FD, and variable rigidity buffer FS and the buffer FD that becomes rigidity are put respectively with two sides of the cat leg structure is imitated to the humerus, and variable rigidity buffer FS hinges through the round pin axle with the cat leg structure is imitated to the radius, and there is the spacing hole of second and the cat leg structure is imitated to the humerus and becomes rigidity buffer FD and hinge through the round pin axle in the cat leg structure is imitated to the radius.
The rear leg comprises a femur cat-like leg structure, a tibia cat-like leg structure, a metatarsus cat-like leg structure and a variable-rigidity buffer, wherein the landing body is hinged with the femur cat-like leg structure through a pin shaft, the femur cat-like leg structure is hinged with the tibia cat-like leg structure through a pin shaft, a second limiting hole is formed in the femur cat-like leg structure, a variable-rigidity buffer HS and a variable-rigidity buffer HD are respectively hinged with the second limiting hole in the femur cat-like leg structure, the variable-rigidity buffer HS and the variable-rigidity buffer HD are respectively arranged on two sides of the tibia cat-like leg structure, the variable-rigidity buffer HS is hinged with the metatarsus cat-like leg structure through a pin shaft, and the metatarsus cat-like leg structure is hinged with the tibia cat-like leg structure and the variable-rigidity buffer HD through a pin shaft by the second limiting hole.
Further improved, the variable stiffness buffer is an existing magnetorheological fluid buffer.
The improved cat foot pad has the advantages that the bottoms of the radius cat leg imitating structure and the metatarsal cat leg imitating structure are respectively hinged with a cat foot imitating pad, and the hinged parts are provided with torsional springs, so that a certain buffering effect is achieved during buffering landing.
In a further improvement, the lander body is provided with an acceleration sensor, an angle sensor for measuring a pitch angle and an angle sensor for measuring a roll angle.
The further improvement is that the length ratio of the scapula cat leg imitating structure to the humerus cat leg imitating structure to the radius cat leg imitating structure is 571:912:852, and the length ratio of the femur cat leg imitating structure to the tibia cat leg imitating structure to the metatarsus cat leg imitating structure is 892:912: 562.
The invention also provides a landing method of the cat-like configuration moon lander based on the variable stiffness buffer, when the lander lands, the foot pad of the front leg firstly touches the ground, the acceleration variation, the pitch angle and the roll angle of the lander are obtained through the sensor, the buffer force control is carried out on the eight variable stiffness buffers distributed on the front leg and the rear leg, the damping force of the variable stiffness buffers on the front landing leg and the rear landing leg is adjusted according to different landing postures, the optimal landing posture is realized, and the resetting of the landing leg state is realized through the variable stiffness buffers after the landing is finished.
The method specifically comprises the following steps:
1) when the lander lands, the foot pad of the front leg firstly touches the ground, the variable stiffness buffer provides damping force due to the action of viscous force of magnetorheological fluid, the piston and the piston rod are decelerated, and the pitch angle of the lander is changed;
2) as the piston rod gradually extends into the main cylinder, the volume in the cylinder body is reduced, at the moment, the magnetorheological fluid pushes the air valve to compress nitrogen in the nitrogen compensation air chamber to provide volume compensation, and meanwhile, the gas in the compensation air chamber exerts pressure on the air valve to provide a part of damping force to decelerate the piston and the piston rod;
3) the voltages of coils in eight variable stiffness buffers on the four landing legs are controlled through the acceleration, the acceleration variation, the pitch angle and the roll angle measured by the machine body, so that the yield stress of magnetorheological fluid and the damping force of each landing leg are controlled, the attitude of the lander is adjusted through controlling and adjusting the damping force of each landing leg, the overload of the lander is reduced, and the lander is prevented from falling in the landing process;
4) after landing is finished, the coils of the landing legs stop applying voltage, the nitrogen in the nitrogen compensation air chamber is compressed, the pressure intensity of the nitrogen is greater than the initial pressure intensity, and under the action of the pressure intensity of the nitrogen, the air valve drives the magnetorheological fluid to push the piston and the piston rod to extend out of the main cylinder, so that the resetting of the landing leg state is realized.
The invention has the beneficial effects that:
1. the design of the landing legs imitating cat legs is adopted, the damping force of each landing leg is adjusted according to the motion state of the lander in the landing process, the robustness of the lander is improved, and the lander can land in a complex and unknown area;
2. the yield stress change of the variable-stiffness buffer based on the magnetorheological fluid under the action of a non-magnetic field is a reversible process, and compared with the traditional aluminum honeycomb lander, the variable-stiffness buffer cannot be reused after being crushed;
3. the lander provided by the invention can control and adjust the buffering effect of the front and rear buffering units along with the change of the land height and the landing pitch angle, and realizes stable landing in a complex lunar surface environment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a left side view of the landing gear of the present invention;
FIG. 2 is a top view of the landing gear of the present invention;
FIG. 3 is a schematic view of the front leg of the present invention;
FIG. 4 is a schematic rear leg of the present invention;
FIG. 5 is a schematic view of a variable stiffness bumper;
FIG. 6 is a front cross-sectional view of a variable stiffness bumper;
fig. 7 is a schematic view of the overall structure of the present invention.
In the figure, 1-lander body, 2-femur cat-like leg structure, 3-variable stiffness buffer, 4-tibia cat-like leg structure, 5-metatarsus cat-like leg structure, 6-buffer spring, 7-cat-like foot pad, 8-scapula cat-like leg structure, 9-humerus cat-like leg structure and 10-radius cat-like leg structure. When 7-imitated cat foot pad, 5-metatarsus imitated cat leg structure, 10-radius imitated cat leg structure, 11-main cylinder, 12-piston, 13-coil, 14-main cylinder end cover, 15-piston rod and 16-imperforate main cylinder end cover.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 7, the invention provides a cat-like configuration moon lander based on a variable stiffness buffer, which comprises a lander body 1, a femur cat-like leg structure 2, a variable stiffness buffer 3, a tibia cat-like leg structure 4, a metatarsal cat-like leg structure 5, a buffer spring 6, a cat-like foot pad 7, a scapula cat-like leg structure 8, a humerus cat-like leg structure 9 and a radius cat-like leg structure 10.
The length of the scapula cat-like leg structure is 571mm, the length of the humerus cat-like leg structure is 912mm, the length of the radius cat-like leg structure is 852mm, the length of the femur cat-like leg structure is 892mm, the length of the tibia cat-like leg structure is 912mm, and the length of the metatarsus cat-like leg structure is 562 mm.
The landing body is hinged with the scapula cat leg simulating structure, and the landing body is hinged with the femur cat leg simulating structure.
The imitated cat leg structure of scapula is hinged with the imitated cat leg structure of humerus, a second limiting hole is formed in the imitated cat leg structure of scapula and used for being hinged with a variable stiffness buffer FS and a variable stiffness buffer FD, the variable stiffness buffer FS and the variable stiffness buffer FD are respectively arranged on two sides of the imitated cat leg structure of humerus, the variable stiffness buffer FS is hinged with the imitated cat leg structure of radius, and a second limiting space exists in the imitated cat leg structure of radius and is hinged with the imitated cat leg structure of humerus and the variable stiffness buffer FD.
The femur cat-like leg structure is hinged with the tibia cat-like leg structure, a second limiting hole is formed in the femur cat-like leg structure and used for being hinged with a variable stiffness buffer HS and a variable stiffness HD, the variable stiffness buffer HS and the variable stiffness HD are respectively arranged on two sides of the tibia cat-like leg structure, the variable stiffness buffer HS is hinged with the metatarsus cat-like leg structure, and the metatarsus cat-like leg structure is hinged with the tibia cat-like leg structure and the variable stiffness HD through the second limiting hole.
The variable stiffness buffer is shown in fig. 5 and 6, and comprises a main cylinder end cover 16 without holes, a main cylinder end cover 14, a main cylinder 11, a piston 12, a piston rod and a connecting piece; the main cylinders are hollow cylinders with upper and lower openings;
the main cylinder end cover is fixedly connected with the upper end of the main cylinder; a plurality of sliding grooves parallel to the axis of the main cylinder are uniformly arranged on the inner wall of the main cylinder between the end cover of the main cylinder and the first through hole in the circumferential direction, and sliding blocks are arranged in the sliding grooves.
The air valve is in a circular sheet shape, the periphery of the air valve is fixedly connected with the sliding blocks in the sliding grooves in the inner wall of the main cylinder, the air valve can freely slide up and down along the inner wall of the main cylinder, a closed space is formed by the air valve, the inner wall of the main cylinder and the end cover of the main cylinder, and air for supplementing the volume is filled in the closed space.
The imperforate main cylinder end cover is fixedly connected with the lower end of the main cylinder, and a second through hole for the piston rod to pass through is formed in the center of the imperforate main cylinder end cover.
The piston is arranged in the main cylinder, and the main cylinder is provided with a stop convex ring used for limiting the movement range of the piston on the inner wall below the first through hole and the inner wall above the second through hole.
One end of the piston rod is fixedly connected with the lower end face of the piston, and the other end of the piston rod penetrates through the second through hole to be connected with the connecting sheet.
And a sealing ring is arranged between the second end cover and the piston rod.
The radius cat leg simulating structure and the metatarsus cat leg simulating structure are hinged to the cat foot simulating pad respectively, wherein a torsional spring is arranged at the hinged position, and a certain buffering effect is achieved during buffering landing.
The air valve, the inner wall of the main cylinder and the first end cover form a closed space, and the filled air is preferentially nitrogen to form a nitrogen compensation air chamber, the nitrogen compensation air chamber has certain initial pressure, the piston is guaranteed to push the magnetorheological fluid to smoothly flow in the main cylinder, the compression lost is avoided, and the buffer efficiency is reduced.
One better scheme is that the existing magnetorheological fluid buffer is adopted, the piston adopts a ferromagnetic core with a coil 13, an annular groove is arranged on the ferromagnetic core, three sliding grooves are uniformly arranged on the inner wall of the main cylinder between the first end cover and the first through hole in the circumferential direction, and buffer springs are arranged at the joints of the foot pad, the metatarsal cat leg simulation structure and the radius cat leg simulation structure; when no current is loaded on the coil, the air valve pushes the magnetorheological, the piston and the piston rod to move under the action of the nitrogen pressure, so that the landing leg state is reset, and the landing leg can be reused.
As shown in fig. 2, the invention provides a lander based on landing legs of the invention, which comprises a lander body and four landing legs, wherein the four landing legs are arranged around the lander body in a hinged manner, the lander body is provided with an acceleration sensor, an angle sensor for measuring a pitch angle and an angle sensor for measuring a roll angle, and the lander is subjected to buffer force control on eight variable stiffness buffers distributed on front/rear legs by the aid of acceleration, acceleration variation, the pitch angle and the roll angle of the lander, so that the lander is suitable for complex landing conditions and is prevented from overturning.
As shown in fig. 1, when the lander lands, the foot pad of the front leg firstly touches the ground to drive the piston rod and the piston to extend into the main cylinder, and when the piston pushes the magnetorheological fluid in the cylinder body to pass through the narrow gap of the main cylinder, the viscous force of the magnetorheological fluid provides a damping force to decelerate the piston and the piston rod. Through the change of the pitch angle, the maximum buffer force of the variable stiffness buffers of the front leg and the rear leg of the lander is changed, and the damping force of the variable stiffness buffers on the front leg and the rear leg of the lander can be adjusted according to different landing postures, so that the optimal landing posture is realized.
Along with the piston rod gradually deepening in the master cylinder, the volume in the cylinder body reduces, and magnetorheological suspensions promote the gas valve and compress nitrogen gas in the nitrogen gas compensation air chamber this moment, provide volume compensation. Meanwhile, the gas in the compensation gas chamber exerts pressure on the gas valve, a part of damping force is provided, and the piston rod are decelerated.
Under the action of a magnetic field generated by the coil and the ferromagnetic core, the magnetorheological fluid can rapidly change the yield stress within millisecond time, so that the damping force of the landing leg is changed; and the change is reversible, and when no voltage is applied and no magnetic field is generated, the normal flowing state is changed back.
The voltage on the coils in the eight variable stiffness buffers on the four landing legs is controlled through the acceleration, the acceleration variation, the pitch angle and the roll angle measured by the machine body, and further the yield stress of the magnetorheological fluid and the damping force of each landing leg are controlled. The attitude of the lander is adjusted by controlling and adjusting the damping force of each landing leg, the overload of the lander is reduced, and the lander is prevented from falling in the landing process.
After landing, the coils of the landing legs stop applying voltage, the nitrogen in the nitrogen compensation air chamber is compressed, the pressure intensity of the nitrogen is greater than the initial pressure intensity, and under the action of the nitrogen pressure, the air valve drives the magnetorheological fluid to push the piston and the piston rod to extend out of the main cylinder, so that the resetting of the landing leg state is realized, and the next landing can be carried out.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, for the apparatus embodiment, the above is only a preferred embodiment of the present invention, and since it is basically similar to the method embodiment, it is described simply, and the relevant points can be referred to the partial description of the method embodiment. The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily made by those skilled in the art within the technical scope of the present invention will be covered by the present invention without departing from the principle of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (7)
1. The utility model provides an imitative cat configuration moon lander based on variable rigidity buffer which characterized in that: comprises a lander body, a pair of front legs and a pair of rear legs which are connected on the lander body;
the front leg comprises a scapula cat-like leg structure, a humerus cat-like leg structure, a radius cat-like leg structure and a variable stiffness buffer, wherein the landing body is hinged with the scapula cat-like leg structure through a pin shaft, and the scapula cat-like leg structure is hinged with the humerus cat-like leg structure through a pin shaft; the scapula cat-like leg structure is provided with a second limiting hole, the second limiting hole on the scapula cat-like leg structure is respectively hinged with a variable stiffness buffer FS and a variable stiffness buffer FD, the variable stiffness buffer FS and the variable stiffness buffer FD are respectively arranged at two sides of the humerus cat-like leg structure, the variable stiffness buffer FS and the radius cat-like leg structure are hinged through a pin shaft, and the radius cat-like leg structure is hinged with the humerus cat-like leg structure and the variable stiffness buffer FD through the pin shaft by the second limiting hole;
the rear leg comprises a femur cat-like leg structure, a tibia cat-like leg structure, a metatarsus cat-like leg structure and a variable stiffness buffer, wherein the landing body is hinged with the femur cat-like leg structure through a pin shaft, the femur cat-like leg structure is hinged with the tibia cat-like leg structure through a pin shaft, a second limiting hole is formed in the femur cat-like leg structure, a variable stiffness buffer HS and a variable stiffness buffer HD are respectively hinged with the second limiting hole in the femur cat-like leg structure, the variable stiffness buffer HS and the variable stiffness buffer HD are respectively arranged on two sides of the tibia cat-like leg structure, the variable stiffness buffer HS is hinged with the metatarsus cat-like leg structure through a pin shaft, and the metatarsus cat-like leg structure is hinged with the tibia cat-like leg structure and the variable stiffness buffer HD through a pin shaft by the second limiting hole.
2. The cat-like configuration moon lander based on variable stiffness buffer of claim 1, wherein: the variable stiffness buffer is a magnetorheological fluid buffer.
3. The cat-like configuration moon lander based on variable stiffness buffer of claim 1, wherein: the bottoms of the radius cat-like leg structure and the metatarsal cat-like leg structure are respectively hinged with a cat-like foot pad, and the hinged part is provided with a torsion spring.
4. The cat-like configuration moon lander based on variable stiffness buffer of claim 1, wherein: the lander body is provided with an acceleration sensor, an angle sensor for measuring a pitch angle and an angle sensor for measuring a roll angle.
5. The cat-like configuration moon lander based on variable stiffness buffer of claim 1, wherein: the length ratio of the scapula cat-like leg structure to the humerus cat-like leg structure to the radius cat-like leg structure is 571:912:852, and the length ratio of the femur cat-like leg structure to the tibia cat-like leg structure to the metatarsus cat-like leg structure is 892:912: 562.
6. A landing method of a simulated cat configuration moon lander based on a variable stiffness buffer is characterized in that: when the lander lands, the foot pad of the front leg firstly touches the ground, the acceleration variation, the pitch angle and the roll angle of the lander are obtained through the sensor, the buffer force control is carried out on the eight variable stiffness buffers distributed on the front leg and the rear leg, the damping force of the variable stiffness buffers on the front landing leg and the rear landing leg is adjusted according to different landing postures, the optimal landing posture is realized, and the resetting of the landing leg state is realized through the variable stiffness buffers after the landing is finished.
7. The method for landing a lander on a simulated cat configuration moon based on a variable stiffness buffer as claimed in claim 6, is characterized by comprising the following steps:
1) when the lander lands, the foot pad of the front leg firstly touches the ground, the variable stiffness buffer provides damping force due to the action of viscous force of magnetorheological fluid, the piston and the piston rod are decelerated, and the pitch angle of the lander is changed;
2) as the piston rod gradually extends into the main cylinder, the volume in the cylinder body is reduced, at the moment, the magnetorheological fluid pushes the air valve to compress nitrogen in the nitrogen compensation air chamber to provide volume compensation, and meanwhile, the gas in the compensation air chamber exerts pressure on the air valve to provide a part of damping force to decelerate the piston and the piston rod;
3) the voltages of coils in eight variable stiffness buffers on the four landing legs are controlled through the acceleration, the acceleration variation, the pitch angle and the roll angle measured by the machine body, so that the yield stress of magnetorheological fluid and the damping force of each landing leg are controlled, the attitude of the lander is adjusted through controlling and adjusting the damping force of each landing leg, the overload of the lander is reduced, and the lander is prevented from falling in the landing process;
4) after landing is finished, the coils of the landing legs stop applying voltage, the nitrogen in the nitrogen compensation air chamber is compressed, the pressure intensity of the nitrogen is greater than the initial pressure intensity, and under the action of the pressure intensity of the nitrogen, the air valve drives the magnetorheological fluid to push the piston and the piston rod to extend out of the main cylinder, so that the resetting of the landing leg state is realized.
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