阅读说明：本技术 一种快速自旋小卫星着陆器及其着陆方法 (Fast spinning small satellite lander and landing method thereof ) 是由 陆正亮 胡远东 廖文和 周雪霁 张翔 于 2020-05-29 设计创作，主要内容包括：本发明公开了一种快速自旋小卫星着陆器及其着陆方法,着陆器包括主承力框架结构以及位于主承力框架结构内的飞矛系统,飞矛系统包括系统壳体、位于系统壳体内的推进系统和至少一组飞矛组件和绳索组件,飞矛组件包括飞矛头部、飞矛主体,绳索组件包括走线筒、绳索和绳索卷筒机构,飞矛头部位于飞矛主体的前端,飞矛主体的外部设置有弹簧挡片,绳索储存于走线筒内,绳索的前端与飞矛主体连接、后端与绳索卷筒机构连接。本发明功能密度高,工作安全可靠,不会对主探测器构成安全隐患,能够独立自主地完成特定的科学任务,在小行星着陆探测领域具有一定的实用价值和指导意义。(The invention discloses a fast autorotation moonlet lander and a landing method thereof, wherein the lander comprises a main bearing frame structure and a flying spear system positioned in the main bearing frame structure, the flying spear system comprises a system shell, a propelling system positioned in the system shell, at least one group of flying spear components and a rope component, the flying spear components comprise a flying spear head and a flying spear main body, the rope component comprises a wire feeding cylinder, a rope and a rope winding cylinder mechanism, the flying spear head is positioned at the front end of the flying spear main body, a spring catch is arranged outside the flying spear main body, the rope is stored in the wire feeding cylinder, the front end of the rope is connected with the flying spear main body, and the rear end of the rope is connected with the rope. The invention has high function density, safe and reliable work, can not form potential safety hazard to the main detector, can independently and autonomously complete specific scientific tasks, and has certain practical value and guiding significance in the field of asteroid landing detection.)

1. A fast spinning minisatellite lander is characterized in that the lander comprises a main bearing frame structure and a flying spear system (7) positioned in the main bearing frame structure, the flying spear system (7) comprises a system housing (16), a propulsion system located within the system housing (16) and at least one set of a flying spear assembly and a tether assembly, the flying spear assembly comprises a flying spear head (21) and a flying spear main body (23), the rope assembly comprises a wire feeding cylinder (26), a rope (24) and a rope winding mechanism (27), the flying spear head (21) is positioned at the front end of the flying spear main body (23), a spring catch (22) is arranged outside the flying spear main body (23), the rope (24) is stored in the wire feeding barrel (26), the front end of the rope (24) is connected with the flying spear body (23), and the rear end of the rope (24) is connected with the rope winding drum mechanism (27).

2. The rapid gyrocompass lander as claimed in claim 1, wherein the propulsion system is located in the middle of the system housing (16), the flight spear assembly and tether assembly comprising a plurality of sets of the flight spear assembly and tether assembly surrounding the propulsion system, each set of the flight spear assembly being located within a flight spear launch barrel (20) of the system housing (16).

3. The fast spinning moonlet lander of claim 2, wherein the flight spear assembly and tether assembly comprise three sets, one of the flight spear assemblies being mounted in the positive direction of the lander with respect to the ground, the other two sets being mounted at an angle to the one set.

4. The fast spinning microsatellite lander according to claim 2 wherein the propulsion system comprises a charge holder (25), a propellant charge (17), a combustion chamber (14), a charge baffle (15), a laval nozzle (13), an ignition charge (19) and a safety mechanism (18), the propellant charge (17), the charge baffle (15) and the laval nozzle (13) are mounted on the charge holder (25), the safety mechanism (18) is connected between the ignition charge (19) and the propellant charge (17), the charge baffle (15) is arranged between the propellant charge (17) and the combustion chamber (14), and the laval nozzle (13) is located at the end of the combustion chamber (14).

5. The fast spinning minisatellite lander as recited in claim 4, wherein said main force-bearing frame structure is in the form of an octagonal prism structure comprising an octagonal structural upper main frame (1), a structural middle main frame (2), a structural lower main frame (3) and eight support rods (5) interconnecting the structural upper main frame (1), the structural middle main frame (2), and the structural lower main frame (3).

6. A fast spinning moonlet lander according to claim 5, characterised in that a separation mechanism docking ring (4) is mounted on the structural main frame (1).

7. A fast spinning minisatellite lander according to claim 5 wherein a cylindrical boss (6) is radially provided on the apex angle of said structural upper main frame (1), structural middle main frame (2) and structural lower main frame (3).

8. The rapid autorotation small satellite lander according to claim 1 is characterized in that the flying spear system (7) is positioned in a flying spear system cabin on the axis position in the main force bearing frame structure, the main force bearing frame structure further comprises a loading cabin and a comprehensive electronic cabin which are positioned around the flying spear system cabin, the loading cabin is internally provided with a working load of the lander, and the comprehensive electronic cabin is internally provided with a satellite processing module (10), a power supply distribution module (9) and a communication module (8).

9. The rapid spinning minisatellite lander according to claim 8, wherein a body-on-body solar cell array (11) is installed on the outer sidewall of the lander, a sun sensor probe (28) is installed on each of the opposite sky surface and four side panels of the lander, and a pair of UHF medium gain antennas (29) is installed on each of the opposite sky surface and two side panels of the lander.

10. Method for landing a fast spinning minisatellite lander according to any one of claims 1 to 9 wherein said method comprises the steps of:

the method comprises the following steps: the main probe hovers, and the lander is released: setting separation speed of a lander and countdown time between separation of the lander and launching of a flying spear, enabling a main detector to enter a hovering state after reaching a selected landing place and hovering height according to a set detection flow, sending a lander separation signal when reaching a landing opportunity, starting to execute separation action after a separation mechanism of the lander receives the signal, providing separation speed and spinning speed for the lander, and immediately starting to perform transverse and longitudinal orbit transfer avoidance operation after the lander is separated and released by the main detector;

step two: the lander launches a flying spear: after separation and release, the lander is powered on and a timer is started to count down for carrying out flying spear launching operation, after the countdown is finished, when the lander detects that light current exists, a flying spear system (7) launches towards the surface of the asteroid in a recoilless launching mode, the ground pointing state of the lander is comprehensively judged by utilizing a gyroscope and an accelerometer, and the landing reliability is improved;

step three: after the flying spear assembly is anchored on the surface of the asteroid, the rope (24) is gradually straightened due to the rotation motion of the asteroid, then the lander can slowly collide to the surface of the asteroid and then is bounced, if the action is repeated, the rope (24) finally provides a centripetal force, the lander flies around the asteroid, the flying period is consistent with the rotation period of the asteroid, the effect of approximate hovering is achieved, and then the lander withdraws the rope (24) through the rope reel mechanism (27) and gradually approaches the surface of the asteroid, and the soft landing is completed.

Technical Field

The invention belongs to the technical field of asteroid landing detection, and particularly relates to a fast spinning moonlet lander and a landing method thereof.

Background

The asteroid is a celestial body which moves around the sun, has smaller volume and mass than planets, and has unique physical and chemical properties which have important scientific significance for revealing the origin and evolution of the solar system. Since NASA emission Galileo number in US 10.1989, asteroid exploration is emerging and rapidly develops into one of the hot spots of deep space exploration. The white paper book of '2016 aerospace of China' published in 2016 and 12 months in China shows that the deep space exploration task of five years in the future clearly proposes to develop asteroid exploration activities.

Compared with planets such as moon, mars and the like, the asteroid has the characteristics of weak surface attraction, unknown medium characteristics and the like, so the technical attack of the asteroid lander mainly focuses on solving the problems of rebound, drift, drifting after landing for a long time and the like in a microgravity environment. In addition, asteroid landers often carry over other scientific functions, such as sampling, probing, etc.

At present, landers designed mostly rely on the gravity field of small planets to realize free landing, such as msascott lander of tennons No. 2. However, the gravitational field of the fast spinning asteroid is very weak and is not enough to provide centripetal acceleration for the free object on the surface of the asteroid, and at the moment, if a free landing mode similar to an MSASCOT (multiple-island assisted aircraft) lander is adopted, the lander can be bounced off from the surface after falling on the surface of the asteroid, and a specific scientific task is difficult or impossible to complete.

A paper is published by Zhao Shi Jun et al of Harbin university of industry in Nanjing university of aerospace, and an anchor system of a minor planet lander is introduced, wherein the anchor system adopts a chain type anchoring mode and consists of four parts, namely an anchoring unit, a winding unit, an unlocking unit and a wire rope unit. When the lander starts to land, the initiating explosive device is ignited after the anchor system detects the trigger signal, the anchor body in the anchoring unit is pushed out at a high speed and is driven into the surface of the asteroid, and meanwhile, the winding unit tightens the thread rope in the thread rope unit to realize the anchoring of the lander on the surface of the asteroid. However, when the anchor body deviates from the incident orbit, impact is generated on the lander, the landing stability is affected, and only unidirectional anchoring force can be provided, so that the lander is easy to tip over.

Disclosure of Invention

The invention aims to provide a quick spinning small satellite lander and a landing method thereof, which are suitable for small planets with high spinning speed and weak gravitational field and insufficient centripetal acceleration for free objects on the surface.

In order to achieve the purpose, the technical scheme adopted by the invention is as follows:

the utility model provides a quick spin moonlet lander, includes main load frame construction and is located main load frame construction flies the lance system in, it includes the system housing, is located to fly the lance system propulsion system in the system housing and at least a set of lance subassembly and the rope subassembly that flies, fly the lance subassembly including flying lance head, flying the lance main part, the rope subassembly is including walking a line section of thick bamboo, rope and rope reel mechanism, it is located the front end that flies the lance head flies the lance main part, the outside that flies the lance main part is provided with spring catch, the rope is stored in walking a line section of thick bamboo, and the front end and the flying lance main part of rope are connected, the rear end is connected with rope reel mechanism.

Further, propulsion system is located middle part in the system casing, fly lance subassembly and rope subassembly include the multiunit, and the multiunit fly lance subassembly and rope subassembly surround propulsion system's circumference, every group flies the lance subassembly and is located the system casing fly in the lance launch canister.

Further, the flying spear assembly and the rope assembly comprise three groups, wherein one group of flying spear assembly is installed along the positive direction of the lander to the ground, and the other two groups of flying spear assemblies are installed at an included angle with the one group of flying spear assembly.

Further, propulsion system includes the charge seat, launches the medicine, combustion chamber, keeps off the medicine board, laval spout, ignition powder, safety mechanism, install launch medicine, fender medicine board and laval spout on the charge seat, be connected with safety mechanism between ignition powder and the launch medicine, it sets up between launch medicine and combustion chamber to keep off the medicine board, laval spout is located the end of combustion chamber.

Furthermore, the main bearing frame structure is in an octagonal prism structure form and comprises an octagonal upper main frame, a structural middle main frame, a structural lower main frame and eight support rods for connecting the upper main frame, the structural middle main frame and the structural lower main frame with one another.

Furthermore, a separation mechanism butt joint ring is installed on the main frame structurally.

Furthermore, a cylindrical boss is arranged on the top corners of the upper main frame, the middle main frame and the lower main frame in the structure along the radial direction.

Further, the flying spear system is located in the flying spear system cabin position on the axis position in the main bearing frame structure, still including being located the loading cabin position and the comprehensive electronics cabin position around the flying spear system cabin position in the main bearing frame structure, install the work load of lander in the loading cabin position, install astrology processing module, power distribution module and communication module in the comprehensive electronics cabin position.

Furthermore, a body-mounted solar cell array is mounted on the outer side wall of the lander, a sun sensor probe is mounted on the opposite-to-sky surface and the four side panels of the lander respectively, and a pair of UHF medium gain antennas is mounted on the opposite-to-sky surface and the two opposite side panels of the lander respectively.

The landing method of the fast spinning small satellite lander comprises the following steps:

the method comprises the following steps: the main probe hovers, and the lander is released: setting separation speed of a lander and countdown time between separation of the lander and launching of a flying spear, enabling a main detector to enter a hovering state after reaching a selected landing place and hovering height according to a set detection flow, sending a lander separation signal when reaching a landing opportunity, starting to execute separation action after a separation mechanism of the lander receives the signal, providing separation speed and spinning speed for the lander, and immediately starting to perform transverse and longitudinal orbit transfer avoidance operation after the lander is separated and released by the main detector;

step two: the lander launches a flying spear: after the separation and the release, the lander is powered on and a timer is started to count down to carry out the flying spear launching operation, after the countdown is finished, when the lander detects that the photocurrent exists, the flying spear system launches to the surface of the asteroid in a recoilless launching mode, the ground pointing state of the lander is comprehensively judged by utilizing a gyroscope and an accelerometer, and the landing reliability is improved;

step three: after the flying spear assembly is anchored on the surface of the asteroid, the rope is gradually straightened due to the autorotation motion of the asteroid, then the lander can slowly collide to the surface of the planet and then is bounced off, if the operation is repeated, the rope finally provides centripetal force, the lander flies around the asteroid, the flying period is consistent with the autorotation period of the asteroid, the effect of approximate hovering is achieved, then the lander withdraws the rope through the rope reel mechanism and gradually approaches the surface of the planet, and soft landing is completed.

Compared with the prior art, the invention has the remarkable advantages that:

(1) the invention has simple and reliable structural design, reasonable cabin layout, high functional density and capability of completing specific scientific tasks in a smaller space;

(2) the cooperation among all the functional cabins is good, the functional cabins have better independence, and the operation can be independently finished after the separation and the release without the need of providing excessive resource support by a main detector;

(3) any operation in normal use of the invention can not form potential safety hazard to the main detector, and the invention has good operability and repeatability;

(4) the flying spear system has multiple insurance measures, and ensures the safety and stability of the work of the flying spear system. For example, the flying spear system is designed with a safety plug to ensure the physical isolation of the ignition charge from the propellant charge, and the spinning state is judged by monitoring the current of the photocell and combining with the MEMS inertial measurement unit as the precondition for the transmission of the flying spear system. In addition, the three flying spears in the flying spear system are arranged at an angle, and the emission is mutually backup, so that the mutual interference generated by the parallel emission of the three flying spears is avoided, and the probability of anchoring the flying spears on the surface of the asteroid is improved;

(5) the invention adopts a passive attitude stabilization mode of mechanically separating spinning, only depends on the separating mechanism to provide separated linear velocity and spinning angular velocity, does not have complex control processes of a sensor, an actuating mechanism, a control algorithm and the like, and has higher reliability.

Drawings

Fig. 1 is a main bearing structure diagram of the fast spinning asteroid lander.

FIG. 2 is a layout diagram of the configuration of the fast spinning asteroid lander of the invention.

FIG. 3 is an external view of the fast spinning asteroid lander of the present invention.

Fig. 4 is a schematic transmission diagram of the flying spear system of the fast spinning asteroid lander.

Fig. 5 is a perspective view of the installation of the flying spear system of the fast spinning asteroid lander.

FIG. 6 is a top view of the installation of the fast spinning asteroid lander flight spear system of the present invention.

FIG. 7 is a tail structure diagram of the flying spear system of the fast spinning asteroid lander.

FIG. 8 is a head structure diagram of the flying spear system of the fast spinning asteroid lander of the invention.

FIG. 9 is a schematic diagram of the fast spinning asteroid lander flight spear assembly of the present invention.

FIG. 10 is a schematic cross-sectional view of the fast spinning planetary lander flying spear system of the present invention.

FIG. 11 is a schematic diagram of the landing process of the fast spinning asteroid lander of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following describes the implementation of the present invention in detail with reference to specific embodiments.

As shown in fig. 1-10, a fast spinning moonlet lander adopts an octagonal prism structure, and comprises a main bearing frame structure and a flying spear system 7 positioned in the main bearing frame structure, wherein the flying spear system 7 comprises a system shell 16, a propulsion system positioned in the system shell 16, and at least one set of flying spear assembly and rope assembly, the flying spear assembly comprises a flying spear head 21 for penetrating into the surface of a planet, a flying spear main body 23, the rope assembly comprises a wire feeding cylinder 26, a rope 24 and a rope winding cylinder mechanism 27, the flying spear head 21 is positioned at the front end of the flying spear main body 23, the flying spear main body 23 is externally provided with a spring baffle 22 for providing reverse grabbing force after the flying spear is anchored into the surface of the planet, the rope 24 is stored in the wire feeding cylinder 26, the front end of the rope 24 is connected with the flying spear main body 23, the rear end is connected with the rope winding cylinder mechanism 27, the wire feeding drum 26 mainly plays a role of protecting the rope 24 from being burnt by high-temperature and high-pressure gas at the initial stage of the flying spear launching and storing the rope 24 before launching, and the rope winding drum mechanism 27 is driven by a brushless servo motor with a reduction gearbox and mainly recovers the rope 24 after the flying spear is anchored on the surface of the asteroid.

Further, the propulsion system is located in the middle of the system housing 16, and the flight spear assembly and the tether assembly comprise a plurality of sets of the flight spear assembly and the tether assembly surrounding the propulsion system, each set of the flight spear assembly being located within the flight spear barrel 20 of the system housing 16.

Further, combine fig. 4, the flight spear subassembly and rope subassembly include three groups, and one of them group of flight spear subassembly is installed to the ground positive direction along the lander, other two sets of flight spear subassemblies with one of them group of flight spear subassembly becomes 5 contained angles and installs in order to avoid three flight spear parallel emission to produce mutual interference, improves the probability that the flight spear anchors into the asteroid surface.

Further, with reference to fig. 10, the propulsion system includes a charging seat 25, a propellant powder 17, a combustion chamber 14, a powder blocking plate 15, a laval nozzle 13 for adjusting and controlling the magnitude and direction of the thrust force, an ignition powder 19, and a safety mechanism 18, the propellant powder 17, the powder blocking plate 15, and the laval nozzle 13 are installed on the charging seat 25, the safety mechanism 18 is connected between the ignition powder 19 and the propellant powder 17 to achieve physical isolation therebetween, so as to prevent ignition error of the ignition powder 19 from causing ignition of the propellant powder 17, the powder blocking plate 15 is disposed between the propellant powder 17 and the combustion chamber 14, and the laval nozzle 13 is located at the end of the combustion chamber 14.

Further, the main bearing frame structure is in an octagonal prism structure form and comprises an octagonal structural upper main frame 1, a structural middle main frame 2, a structural lower main frame 3 and eight support rods 5 which connect the structural upper main frame 1, the structural middle main frame 2 and the structural lower main frame 3 with each other, a separating mechanism butt-joint ring 4 is installed on the structural upper main frame 1 and is used for butt-joint with a separating mechanism on a main detector, when a lander is positioned in the separating mechanism, the separating mechanism butt-joint ring 4 is contacted with a compression spring in the separating mechanism, a cylindrical boss 6 is radially arranged on the top corners of the structural upper main frame 1, the structural middle main frame 2 and the structural lower main frame 3, the cylindrical boss 6 is positioned in a spiral groove in the separating mechanism, when the lander is separated from the main detector, the separating mechanism unlocks the spring to work, and ejects the lander out of the separating mechanism, the lander rotates in the spiral groove through the cylindrical boss 6 until completely separated, and overload is directly acted on a structural frame of the lander through a spring inside the separating mechanism.

Further, combine fig. 2, it is located to fly lance system 7 fly in the lance system cabin position on the axis position in the main load frame structure, still including being located the load cabin position and synthesizing the electron cabin position that fly lance system cabin position is all around in the main load frame structure, install normal position measuring loads such as gravimeter, radiometer, miniature camera in the load cabin position, be the main load that realizes the scientific research task, synthesize and install astrology processing module 10, power distribution module 9 and communication module 8 in the electron cabin position, connect through the PC104 connector each other.

Furthermore, a body-mounted solar cell array 11 is installed on the outer side wall of the lander, a design mode that 16 batteries 18650 are formed in a series mode of 8-to-2 batteries is adopted by a storage battery module 12, a sun sensor probe 28 is installed on the opposite sky surface and four side panels of the lander respectively, the difference between the installation angles of the four side panels is 90 degrees, the installation angles of the four side panels are used for determining the attitude of the lander and providing data support for detecting the rotation parameters of the asteroid, and a pair of UHF medium gain antennas 29 are installed on the opposite sky surface and the two opposite side panels of the lander respectively and are used for communicating with a main detector.

The lander is divided into three stages from the beginning of soft landing to the completion of soft landing, as shown in fig. 11:

a. the main detector hovers and releases the lander. In order to avoid the collision between the landing device and the main detector during separation and the possible damage to the main detector caused by high-speed gas flow generated by the landing device in the flying lance launching process, the main detector is provided with transverse and longitudinal orbit changing and avoiding time by adopting a mode of controlling the separation speed of the landing device and setting countdown time from the separation of the landing device to the launching of the flying lance. The main detector enters a hovering state after reaching the selected landing place and hovering height according to a set detection flow, and sends a lander separation signal to a separation mechanism on the main detector when reaching the landing opportunity. The separating mechanism starts to execute separating action after receiving the signal, the unlocking spring ejects the lander, the lander rotates along the spiral groove in the separating mechanism to be completely separated, and separating speed and spinning speed are obtained. And immediately after the lander is released, the main detector starts to perform transverse and longitudinal track changing evasion operations.

b. The lander launches the flight spear. After the main detector is separated, the lander is electrified, namely, a timer is started to count down and the flying spear launching phase is entered. The flying spear system adopts a non-recoil launching mode to avoid the lander from having larger recoil and bring larger impact to the flying spear anchoring asteroid. The surface of the lander is provided with a body-mounted solar cell array 11, and whether the cell slice generates photocurrent or not can be continuously detected after the lander is powered on. After the countdown is finished, the lander detects the existence of the photocurrent as a precondition for the transmission of the flying spear system, so as to avoid serious consequences caused by the mistaken electrification of the lander when the lander is not separated from the main detector. In addition, the lander is separated, the possibility of inaccurate pointing exists, and risks are brought to the landing operation, so that the ground pointing state of the lander is comprehensively judged by using a gyroscope and an accelerometer, and the landing reliability is improved.

c. The flying spear is anchored to the asteroid surface and the reel mechanism 27 retracts the rope 24. After the flying spear is anchored on the surface of the asteroid, the rope 24 can be gradually straightened due to the rotation motion of the asteroid, then the lander can slowly collide to the surface of the asteroid and then be bounced off, if the action is repeated, the rope 24 finally provides centripetal force, the lander flies around the asteroid, and the flying period is consistent with the rotation period of the asteroid, so that the effect of approximate hovering is achieved. The lander will then retract the rope 24 through the internal rope reel mechanism 27, approaching the planet surface gradually, completing a soft landing.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.