Lander foot structure with plantar pattern

Abstract

The application discloses a lander foot structure with a foot bottom pattern, comprising a servo electric cylinder and a landing system foot end, the landing system foot end comprising an upper part, a ground contact foot pad and other components, the upper part foot pad is made of a metal rubber material with a porosity gradient distribution, and is constructed into a structure through a laser selective melting technology, and is matched with a reinforcing rib to realize stress redistribution; the foot pad is integrated with a multi-scale topological optimization and a functional modularization, the foot pad is divided into two functional units to disperse stress, prolongs the service life of components, the bottom surface of the ground contact foot pad is provided with a mixed pattern to regulate a friction coefficient, the lander can stably stay on a special-shaped terrain, and can actively cross a complex medium surface together with a landing leg to expand a detection space; when staying on a slope surface, components are coordinately adjusted to accurately constrain an attitude, and safety and stability are ensured; after staying, a spring insertion rod and a telescopic liquid bag are reset to overcome reset obstacles, improve maneuverability, and when the foot pad is separated, the foot pad shakes off lunar dust to maintain performance.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lander, in particular to a lander foot structure with foot bottom pattern. BACKGROUND

[0002] With the extension of deep space exploration to complex terrain environment, the existing lander foot system is facing the dual challenges of motion function loss and terrain adaptability deficiency. The traditional rigid foot pad causes contact stress overrun and lunar dust subsidence risk due to discrete support effect, while the semi-rigid foot pad improves the contact interface through local deformation, but has the problems of insufficient dynamic response bandwidth and motion-carrying decoupling difficulty. Especially, there is no adaptive scheme for the multi-degree-of-freedom motion mechanism composed of servo cylinders, which leads to the difficulty of the existing mobile landing platform to realize the coordinated control of foot end driving and terrain self-adaptation; large load often does not need high frequency long distance movement, and the existing wheeled and mechanical leg type mobile devices are difficult to realize the stay operation in microgravity, high pulverization environment, especially on slope terrain.

[0003] Therefore, a lander foot structure with foot bottom pattern is proposed. SUMMARY

[0004] The purpose of the present application is to provide a lander foot structure with foot bottom pattern, which solves the technical problem of the existing lander foot system difficult to stay on slope terrain through multi-scale topological optimization design and functional modular integration.

[0005] To achieve the above purpose, the present application provides the following technical scheme: a lander foot structure with foot bottom pattern, comprising:

[0006] The servo cylinder is composed of three jointly controlled cylinders, and the lower end of the output rod of the main cylinder is provided with a spherical shape;

[0007] The landing system foot end cooperates with the ball of the lower end of the servo cylinder to realize the spherical hinge connection at the output end of the servo cylinder;

[0008] The landing system foot end comprises an upper foot pad, a plurality of hydraulic pipes are movably connected to the circumferential side of the servo cylinder main cylinder through the hinge assembly, and an output rod is slidably arranged in each hydraulic pipe, the ball end of the output rod is hingedly connected to the inside of the adapter ball seat, the adapter ball seat is fixed to the upper annular surface of the upper foot pad along the axial annular array, a hydraulic liquid channel is formed in the axial position of the adapter ball seat, a hydraulic valve channel is formed in the axial position of the inside of the output rod, the port of the hydraulic liquid channel towards the upper foot pad is connected to the shunt liquid channel formed in the inside of the foot rod connecting module through a pipeline, the shunt liquid channel is connected to the telescopic liquid bag fixed to the bottom surface of the upper foot pad, the lower end of the telescopic liquid bag is fixed to the ground-touching foot pad, and the upper surface of the ground-touching foot pad is fixed with at least one spring plug and at least one isolation sleeve along the axial annular array on the circumferential side of the telescopic liquid bag, wherein a vibration plate is fixedly arranged in the lower part of the inside of the isolation sleeve, a magnetic attraction impact pipe is movably arranged in the upper part of the inside of the isolation sleeve through cooperation with the reset spring, and a magnetic attraction top rod is slidably arranged in the inside of the magnetic attraction impact pipe, the upper end of the magnetic attraction top rod is fixed to the bottom surface of the upper foot pad, and the bottom surface of the ground-touching foot pad is integrally provided with a sole mixed pattern.

[0009] Preferably, the upper foot pad is made of a metal rubber material with a porosity gradient distribution, a three-dimensional through-pore structure is constructed by a laser selective melting technology, and the hollow internal reinforcing structure is achieved by a six-directional radial distribution of connecting module reinforcing ribs with a thickness of 1 / 3 of the height of the foot pad to realize stress redistribution under dynamic load, the inside of the upper foot pad is integrally provided with an assembly table at the center position of the intersection of the connecting module reinforcing ribs, the upper surface of the assembly table is provided with a positioning groove and a group of screw holes arranged in an axial annular array, and the positioning groove and the group of screw holes are connected to the foot rod connecting module through cooperation with a countersunk internal hexagonal screw for high-precision detachable connection, and the inside of the foot rod connecting module is provided with a spherical pair connecting groove.

[0010] Preferably, the two ends of the hydraulic liquid channel are respectively through the axial position of the upper foot pad and the ball joint groove of the adapter ball seat, and the lower port of the hydraulic valve channel is arranged in a fan-shaped radial manner according to the same direction inclination deflection direction of the upper foot pad along the lower end of the servo cylinder.

[0011] Preferably, the shunt liquid channel is distributed in an umbrella shape, the outer shunt hole of the shunt liquid channel is arranged in the same amount as the adapter ball seat, and the radius of the main hole of the shunt liquid channel is greater than the radius of the outer shunt hole.

[0012] Preferably, the spring plug and the isolation sleeve are arranged at a distance from each other, the spring plug is composed of a plug and a spring sleeved on the plug, and the upper end of the plug is slidably inserted into the insertion hole formed in the bottom surface of the upper foot pad.

[0013] Preferably, the upper end of the magnetic attraction pipe penetrates the isolation sleeve, and the lower part of the magnetic attraction pipe is provided with a magnet.

[0014] Preferably, the space below the upper part of the foot pad, the spring insertion rod, the isolation sleeve and the telescopic liquid bag above the ground contact foot pad is isolated from the external environment by the isolation sleeve.

[0015] Preferably, the sole mixed pattern comprises a circumferential radial main pattern and a central annular protrusion, the thickness of the main pattern is 1 / 14-1 / 13 of the height of the foot pad, and the outer edge of the main pattern adopts an equilateral triangle array structure with an apex angle of 60°, and a composite circular arc-isosceles trapezoidal-circular topological unit is constructed in the middle region.

[0016] Compared with the prior art, the application has the following beneficial effects:

[0017] 1、The present application decomposes the lander foot pad into two functional units, foot rod connecting module and metal rubber composite foot pad, by setting servo electric cylinder and foot end of landing system, and disperses the two part stresses of ball pair and sole, so as to effectively prolong the service cycle of components through stress dispersion mechanism, and at the same time, the mixed pattern design is adopted on the bottom surface of the ground contact foot pad, the balance between enhancing the ground adhesion and keeping flexible movement is realized by regulating the friction coefficient, and the sliding threshold is ensured to be always in the safe movement interval, so as to ensure that the lander can realize stable residence on the special-shaped terrain, and cooperate with the landing leg mechanism based on the electromechanical servo action system, so as to realize active penetration of the load on the complex medium surface such as lunar soil and Mars weathering layer, and expand the load detection space.

[0018] 2、The present application cooperates the servo cylinder and the foot end of the landing system, when the foot end of the landing system stays on the slope, the servo cylinder main cylinder ball end cooperates with the foot rod connection module posture activity, drives the ground contact foot pad to adapt to the deflection of the lunar terrain curvature, and stably contacts the lunar surface, in this process, the hydraulic pipe deflects with the servo cylinder, pulls or pushes the output rod to offset, and changes the communication area of the hydraulic valve channel according to the position of the slope when offsetting, at the same time, the gravity of the lander makes the upper part and the ground contact foot pad close to each other, and the internal liquid of the telescopic liquid bag enters the hydraulic pipe to discharge the output rod, the dynamic adjustment of this hydraulic system cooperates with the gravity of the lander and the terrain factors, can accurately cooperate to constrain the stay posture of the servo cylinder and the foot end of the landing system, enhances the stability of the lander when staying on the complex slope terrain, effectively avoids the problems of sliding and tilting of the foot pad caused by attitude out of control during the staying process, ensures the safety and reliability of the lander when staying on the slope, in addition, when moving after staying, the telescopic liquid bag will suck the safety liquid in the hydraulic pipe under the elastic reset action of the spring plug rod and the telescopic liquid bag, so that the output rod and the hydraulic pipe restore the initial state, ensure that the foot end of the landing system, the servo cylinder and the output rod reset in time, overcome the reset obstacles in the low gravity and high powder environment, improve the maneuverability and operation efficiency of the lander, at the same time, when the upper foot pad and the ground contact foot pad are separated, the magnetic attraction top rod will drive the magnetic attraction impact pipe to move up, and after breaking through the magnetic attraction force field, the magnetic attraction impact pipe resets to impact the vibration plate, so as to vibrate the moon dust attached to the mixed pattern on the sole and the lower surface of the ground contact foot pad, keep the foot pad clean, and maintain good performance. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a three-dimensional structure diagram of the present application Figure One ;

[0020] Figure 2 is a three-dimensional structure diagram of the present application Figure Two ;

[0021] Figure 3 is a three-dimensional structure diagram of the present application Figure One ;

[0022] Figure 4 is a three-dimensional structure diagram of the present application Figure Two ;

[0023] Figure 5 is a structure disassembly drawing of the present application

[0024] Figure 6 is a schematic view of the foot end of the landing system of the present application.

[0025] In the drawing:

[0026] 1, servo cylinder

[0027] 2, foot end of the landing system

[0028] 21, upper foot pad; 211, assembly platform; 212, connecting module reinforcing rib; 213, foot rod connecting module; 2131, shunt liquid channel; 214, adapter ball seat; 2141, hydraulic liquid path; 215, output rod; 2151, hydraulic valve channel; 216, hydraulic pipe;

[0029] 22, ground-touching foot pad; 221, spring plug rod; 222, isolation sleeve; 2221, vibration plate; 2222, magnetic attraction collision pipe; 2223, reset spring; 2224, magnetic attraction top rod; 223, telescopic liquid bag; 224, foot bottom mixed pattern; 23, isolation sleeve. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0031] Please refer to Figures 1 to 6 The present application provides a technical solution of a lander foot structure with foot bottom patterns:

[0032] A lander foot structure with foot bottom patterns comprises:

[0033] The servo electric cylinder 1 is composed of three electric cylinders controlled in association, and the lower end of the rod body output by the main electric cylinder is provided as a spherical body;

[0034] The landing system foot end 2 cooperates with the spherical body at the lower end of the servo electric cylinder 1 to perform spherical articulation at the output end of the servo electric cylinder 1;

[0035] The landing system foot end 2 comprises an upper foot pad 21, the upper foot pad 21 is made of a metal rubber material with a porosity gradient distribution, a three-dimensional through-pore structure is constructed by a laser selective melting technology, an internal hollow reinforcing structure realizes stress redistribution under dynamic load through six-directional radially distributed connecting module reinforcing ribs 212 with a thickness of 1 / 3 of the height of the foot pad, the internal part of the upper foot pad 21 is integrally provided with an assembly table 211 at the center position of the intersection of the connecting module reinforcing ribs 212, the upper surface of the assembly table 211 is provided with a positioning groove and a thread hole group arranged in an annular array along the axis, and the positioning groove and the thread hole group are matched with a countersunk internal hexagonal screw to realize high-precision detachable connection with a foot rod connecting module 213, the assembly table 211 and the foot rod connecting module 213 form an assembly tolerance of ±0.05mm, which ensures the interface stability under the coupling of multiple physical fields, the foot rod connecting module 213 is topologically optimized based on titanium alloy TC4, the peripheral side adopts a six-directional radially reinforced rib structure, the rib thickness gradient changes in the range of 1 / 4-1 / 3 of the diameter of the foot rod connecting module 213, and is matched with a circumferentially uniformly distributed standard thread hole group, so as to realize collaborative optimization of structural stiffness and moment of inertia, the internal part of the foot rod connecting module 213 is provided with a spherical pair connecting groove, and is matched with the spherical pair connecting groove and the spherical body of the output end of the servo cylinder 1 to realize movable constraint connection, the spherical pair connecting groove of the foot rod connecting module 213 adopts a non-complete spherical surface design, the groove curvature radius and the spherical end of the servo cylinder 1 form a 0.05-0.1mm gap fit, establish the geometric constraint conditions of multi-degree-of-freedom motion, the servo cylinder 1 main cylinder side surface fit hinge assembly and 4n hydraulic pipe 216 active connection along the cylinder axis annular array distribution, wherein, n≧1, the inside of each hydraulic pipe 216 is provided as convex, and the convex space is provided with output rod 215 sliding seal, and the sliding range of output rod 215 is constrained, the output end of output rod 215 is also provided as spherical, and the spherical end is hingedly constrained in the inside of adapter ball seat 214, the adapter ball seat 214 is fixed on the upper ring surface of upper foot pad 21 according to the connection position and connection posture of output rod 215 and hydraulic pipe 216 with servo cylinder 1 along the axial annular array, and the axial position of adapter ball seat 214 is provided with L-shaped hydraulic fluid passage 2141, and the two ends of hydraulic fluid passage 2141 are respectively through to the axial position of upper foot pad 21 and the ball joint groove of adapter ball seat 214, the axial position in the inside of output rod 215 is provided with hydraulic valve channel 2151 corresponding to hydraulic fluid passage 2141, and the lower end of hydraulic valve channel 2151 is provided as fan-shaped radiation according to the same direction inclination deflection direction of upper foot pad 21 along the lower end of servo cylinder 1, the port of hydraulic fluid passage 2141 towards upper foot pad 21 is sealed and communicated with the outer shunt hole end of shunt liquid channel 2131 provided in the inside of foot rod connecting module 213 through aerospace level pipeline, shunt liquid channel 2131 is umbrella-shaped and dispersed, and the outer shunt hole channel communicated with adapter ball seat 214 is provided with adapter ball seat 214, and the main hole channel radius of shunt liquid channel 2131 is greater than the radius of outer shunt hole channel, shunt liquid channel 2131 is provided at the axial position in the inside of foot rod connecting module 213, and the lower end is communicated with telescopic liquid bag 223 fixed at the center position of the bottom surface of upper foot pad 21, telescopic liquid bag 223 is made of aerospace level material, and the lower end of telescopic liquid bag 223 is fixed with ground contact foot pad 22.

[0036] When the landing system foot end 2 is on the slope, the servo cylinder 1 main cylinder ball end matches the foot rod connection module 213 posture activity, drives the ground contact foot pad 22 to adapt to the deflection of the lunar terrain curvature, and stably contacts the lunar surface. During this process, the hydraulic pipe 216 deflects with the servo cylinder 1, pulls or pushes the output rod 215, makes it deviate, and the output rod 215 and the hydraulic pipe 216 are in the uphill position, and the communication area of the hydraulic valve 2151 is reduced; the output is separated in the downhill position, and the communication area is increased. The lunar lander gravity makes the upper foot pad 21 and the ground contact foot pad 22 close to each other, compresses the telescopic liquid bag 223, the liquid in the inside enters the hydraulic pipe 216 to exhaust pressure, cooperates to constrain the servo cylinder 1 and the landing system foot end 2, enhances the stability, at the same time, the spring plug rod 221 is compressed, the magnetic top rod 2224 is magnetically attracted to the magnetic impact pipe 2222; when moving after staying, the servo cylinder 1 lifts the landing system foot end 2, the spring plug rod 221 and the telescopic liquid bag 223 are elastically reset, the telescopic liquid bag 223 sucks the liquid in the hydraulic pipe 216, makes the output rod 215 and the hydraulic pipe 216 restore the initial state, ensures that the landing system foot end 2 and the servo cylinder 1 reset in time, and moves stably, at the same time, the upper foot pad 21 and the ground contact foot pad 22 are separated, the magnetic top rod 2224 drives the magnetic impact pipe 2222 to move upwards, the magnetic impact pipe 2222 resets and hits the vibration plate 2221, and the mixed pattern 224 on the sole and the lower surface of the ground contact foot pad 22 are vibrated to remove the lunar dust.

[0037] In summary, through the coordinated work of the servo cylinder 1 and the landing system foot end 2, when the landing system foot end 2 is on the slope, the servo cylinder 1 main cylinder ball end cooperates with the foot rod connection module 213 posture activity, drives the ground contact foot pad 22 to adapt to the deflection of the lunar terrain curvature, and stably contacts the lunar surface. In this process, the hydraulic pipe 216 deflects with the servo cylinder 1, pulls or pushes the output rod 215 to make it deviate, and changes the communication area with the hydraulic valve 2151 according to the slope position when deviating. At the same time, the lander gravity makes the upper foot pad 21 and the ground contact foot pad 22 close to each other, compresses the telescopic liquid bag 223, and the liquid in the telescopic liquid bag 223 enters the hydraulic pipe 216 to output the rod 215. The dynamic adjustment of this hydraulic system cooperates with the lander gravity and the terrain factors to accurately and cooperatively constrain the servo cylinder 1 and the landing system foot end 2. The stability of the landing system foot end 2 is enhanced when the landing system foot end 2 is on the complex slope terrain, which effectively avoids the problems of sliding and tilting of the foot pad during the residence process due to attitude out of control, and ensures the safety and reliability of the lander when the lander is on the slope. In addition, when moving after residence, the telescopic liquid bag 223 will suck the safety liquid in the hydraulic pipe 216 under the elastic reset action of the spring plug rod 221 and the telescopic liquid bag 223, so that the output rod 215 and the hydraulic pipe 216 return to the initial state, ensure that the landing system foot end 2 and the servo cylinder 1 reset in time, overcome the reset obstacles in the low gravity and high powder environment, improve the mobility and operation efficiency of the lander, and at the same time, when the upper foot pad 21 and the ground contact foot pad 22 are separated, the magnetic attraction top rod 2224 will drive the magnetic attraction impact pipe 2222 to move up, and after breaking through the magnetic attraction force field, the magnetic attraction impact pipe 2222 resets to impact the vibration plate 2221, so as to vibrate the lunar dust attached to the sole mixed pattern 224 and the lower surface of the ground contact foot pad 22, keep the foot pad clean, and maintain good performance.

[0038] As an embodiment of the present application, as Figure 2As shown, the upper surface of the ground-touching foot pad 22 is fixed with at least one spring plug 221 and at least one isolation sleeve 222 along the axial annular array on the side of the telescopic liquid bag 223, and the spring plug 221 and the isolation sleeve 222 are distributed at intervals. The spring plug 221 is composed of a plug and a spring sleeved on the plug, and the upper end of the plug is slidably inserted into the insertion hole defined on the bottom surface of the upper foot pad 21 in cooperation with the spring. The inside of the isolation sleeve 222 is provided with a convex space, and a net-shaped vibration plate 2221 is fixedly arranged below the convex space, and the inside of the isolation sleeve 222 is slidably constrained by a reset spring 2223 above the vibration plate 2221, and a magnetic impact pipe 2222 is arranged in the inside of the isolation sleeve 222. The upper end of the magnetic impact pipe 2222 penetrates out of the isolation sleeve 222, and a magnet is arranged in the inside of the magnetic impact pipe 2222 and isolated from the outside. A magnetic top rod 2224 is slidably inserted between the inside of the magnetic impact pipe 2222 and the magnet, the lower end of the magnetic top rod 2224 is provided with a magnet, and the upper end is fixed to the bottom surface of the upper foot pad 21. The space where the spring plug 221, the isolation sleeve 222 and the telescopic liquid bag 223 are located above the ground-touching foot pad 22 is isolated from the outside environment by the isolation sleeve 23. The bottom surface of the ground-touching foot pad 22 is integrally provided with a sole mixed pattern 224, which includes a circumferentially radiating main pattern and a central annular protrusion. The thickness of the main pattern is 1 / 14-1 / 13 of the height of the foot pad, and the outer edge of the main pattern adopts an equilateral triangle array structure with an apex angle of 60°, and a composite circular arc-equal leg trapezoid-circular topological unit is constructed in the middle region.

[0039] During operation, at the moment of landing, the servo cylinder 1 adjusts the attitude and speed of the lander, and the lower end of the main cylinder is connected to the foot rod connection module 213 through the spherical structure and the spherical pair connection groove, so that the foot end 2 of the landing system can flexibly adjust the angle to adapt to the terrain. The sole mixed pattern 224 on the bottom surface of the ground-touching foot pad 22 first touches the lunar surface. Since the outer edge of the main pattern is an equilateral triangle array and the middle part has a composite circular arc-equal leg trapezoid-circular topological unit, the anti-sinking property in a low-gravity high-powder soil environment can be enhanced, the tangential friction coefficient can be improved, and the lander can actively overcome obstacles and stay on a slope.

[0040] In summary, by setting the servo cylinder 1 and the foot end 2 of the landing system, the lander foot pad is divided into two functional units, the foot rod connecting part and the metal rubber composite foot pad. The two units disperse the stress of the ball pair and the two parts of the foot bottom, thereby effectively prolonging the service life of the components through the stress dispersion mechanism. At the same time, the bottom surface of the touchdown foot pad 22 adopts a mixed pattern design, which can achieve the balance between enhancing the grip and maintaining flexible movement by adjusting the friction coefficient. The depth and arrangement of the pattern are calculated by engineering, which can increase the friction resistance by about 30%-50% compared with the traditional non-pattern design, while ensuring that the sliding threshold is always in the safe movement interval, ensuring that the lander can be stably resident on the irregular terrain with a slope of ≤25°, and cooperating with the landing leg mechanism based on the electromechanical servo action system, the load can be actively penetrated on the complex medium surface such as lunar soil and Mars weathering layer, which expands the load detection space.

[0041] Working principle: When the lander lands, the servo cylinder 1 can adjust according to the attitude and speed of the lander. The spherical structure at the lower end of the main cylinder cooperates with the ball pair connecting groove of the foot rod connecting module 213, so that the foot end 2 of the landing system can flexibly adjust the angle to adapt to different landing terrains. At the same time, the bottom surface of the touchdown foot pad 22 contacts the lunar surface first. Because the main pattern thickness is 1 / 14-1 / 13 of the foot pad height, and the outer edge adopts an equilateral triangle array structure with a top angle of 60°, the composite circular arc-isosceles trapezoidal-circular topological unit in the middle area enhances the anti-sinking characteristics in the low-gravity high-powder environment, and establishes an optimized friction pair system to improve the tangential friction coefficient, thereby supporting the active obstacle crossing and slope residence functions of the lander. Among them, when the ratio of the array spacing to the triangle side length is 1:3 (the preferred parameter can be adjusted according to the actual situation), the continuous wedge effect can be formed, the sharp tip is preferentially penetrated into the powder layer to establish an initial support point, the triangle side produces lateral extrusion of the soil to form a dense area, and the arc structure guides the directional flow of the powder particles. The isosceles trapezoidal structure produces progressive soil compression, and the circular protrusion forms a discrete support point, and the three work together to build a multi-level bearing network.

[0042] And when the landing system foot end landing system foot end 2 is in slope residence, the posture of the servo cylinder 1 main cylinder ball end cooperating with the foot rod connecting module 213 will make the first contact with the moon surface, and the ground contact foot pad 22 will be deflected and adjusted according to the curvature of the moon surface, and will stably contact with the moon surface. During the adaptive activity adjustment of the servo cylinder 1, the hydraulic pipe 216 will be deflected, and will actively pull or push the hydraulic pipe 216, so that it is separated from the output rod 215 or shrinks. When the output rod 215 and the hydraulic pipe 216 are separated or shrunk, the output rod 215 will be offset to the servo cylinder 1 posture activity direction at the same time, wherein the shrunk output rod 215 and the hydraulic pipe 216 are in the uphill position of the residence slope, and the servo cylinder 1 ball end rotates along the internal ball pair connecting groove of the foot rod connecting module 213. At this time, the fan-shaped input port of the hydraulic valve 2151 opened at the lower end of the output rod 215 will gradually reduce the connected area from the positive connection state with the hydraulic fluid path 2141 (the connection port will be close to closed or closed at the maximum), and the output rod 215 and the hydraulic pipe 216 are separated and in the downhill position of the residence slope, and the servo cylinder 1 ball end rotates along the internal ball pair connecting groove of the foot rod connecting module 213. At this time, the fan-shaped input port of the hydraulic valve 2151 opened at the lower end of the output rod 215 will gradually increase the connected area from the positive connection state with the adapter ball seat 214. After the ground contact foot pad 22 is in contact with the moon surface, the gravity of the lander will be conducted to the landing system foot end 2 through the servo cylinder 1, and will cooperate with the moon to compress the upper foot pad 21 and the ground contact foot pad 22, so that the upper foot pad 21 and the ground contact foot pad 22 approach each other. The telescopic liquid bag 223 between the upper foot pad 21 and the ground contact foot pad 22 will be compressed, and then the safety liquid stored in the telescopic liquid bag 223 will enter the inside of the hydraulic valve 2151 through the shunt liquid channel 2131, the pipeline and the hydraulic fluid path 2141, and then will flow into the inside of the hydraulic pipe 216 through the hydraulic valve 2151, and will cooperate with the hydraulic pipe 216 to discharge the pressure of the output rod 215. Under the cooperative constraint of the servo cylinder 1 and the output rod 215 on the side of the hydraulic pipe 216, the residence posture of the servo cylinder 1 and the landing system foot end 2 will be shaped, so as to enhance the stability of the foot pad landing during the residence of the lander. At the same time, the spring plug rod 221 will be compressed, and the lower end of the magnetic attraction top rod 2224 will move downward along the inner wall of the magnetic attraction impact pipe 2222, and will be magnetically attracted with the magnet inside the magnetic attraction impact pipe 2222 at the lower end;

[0043] When moving after staying, as the servo electric cylinder 1 lifts the landing system foot end 2 upward, the compressed spring rod 221 and telescopic liquid bag 223 between the upper foot pad 21 and the ground contact foot pad 22 will quickly and elastically reset, wherein the reset telescopic liquid bag 223 will be sucked into the safety liquid inside the hydraulic pipe 216 through the bypass liquid channel 2131, the pipeline, the hydraulic liquid channel 2141 and the hydraulic valve channel 2151. As the safety liquid is extracted and under the action of the deadweight of the landing system foot end 2, the output rod 215 and the hydraulic pipe 216 in the stretched or compressed state will actively and quickly restore to their initial state, thereby avoiding the influence of factors that may hinder the reset of the landing system foot end 2 in a low-gravity and high-silt environment, ensuring that the landing system foot end 2 and the servo electric cylinder 1 can be restored to the initial connection state in time, so as to facilitate the functional stability of the lander when moving. The foot pads 22 are reset and separated, and the lower end of the magnetic top rod 2224 will drive the magnetic collision tube 2222 to move upward along the inner wall of the isolation sleeve 222, compressing the reset spring 2223, until the magnetic top rod 2224 is reset to the initial state (the magnetic attraction force of the lower end of the magnetic top rod 2224 on the magnetic collision tube 2222 is less than the restraining force of the isolation sleeve 222 and the reset spring 2223 on the magnetic collision tube 2222), and then the magnetic collision tube 22 Under the action of the reset spring 2223, 22 will quickly and elastically reset and collide with the vibration plate 2221, and the impact force of the lower end of the magnetic collision tube 2222 will be transmitted to the surface of the ground contact pad 22 through the isolation sleeve 222, and then transmitted to the mixed patterns 224 on the sole of the foot through the ground contact pad 22, to vibrate and remove the lunar dust that may be adsorbed between the mixed patterns 224 on the sole of the foot and on the lower surface of the ground contact pad 22, so as to prevent the lunar dust from affecting the normal movement of the lander foot pad.

[0044] It should be noted that after landing, if the current area is not the optimal area for conducting scientific operations or needs to be transferred after completing the task in this area, the landing leg equipped with the servo electric cylinder 1 can be used to realize the active crossing of the load across complex terrain through the extension and retraction movement of the landing leg and the differentiated friction torque generated by the anisotropy of the foot pad pattern.

[0045] It should be noted that after landing, if the target detection area is a slope, the lander can be moved to the slope area in the above manner. The foot pad designed with a mixed pattern has high adhesion and cooperates with the torque compensation algorithm of the servo system (torque compensation itself is already a conventional technical means in the control field. The specific implementation algorithm, such as the setting of compensation parameters, is within the scope of landing leg technology. This application only explains that the foot pad can cooperate with the algorithm to operate, so it will not be elaborated here), so that the load can be stably stationed on the slope.

[0046] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A lander foot structure having a plantar pattern, characterized by, The utility model relates to a landing system foot end (2) is matched with the ball of the lower end of servo electric cylinder (1) and carries out ball hinging at the output end of servo electric cylinder (1), wherein the landing system foot end (2) includes upper foot pad (21), and the peripheral surface of the main electric cylinder of servo electric cylinder (1) is movably connected with a plurality of hydraulic pipes (216) through hinge assembly, and the output rod (215) is movably arranged in the hydraulic pipe (216), the spherical end of output rod (215) is hingedly constrained in the inside of adapter ball seat (214), the adapter ball seat (214) is fixed on the upper annular surface of upper foot pad (21) along the axial annular array, and the axial position of adapter ball seat (214) is provided with hydraulic liquid path (2141), the axial position of output rod (215) is provided with hydraulic valve channel (2151), the port of hydraulic liquid path (2141) towards upper foot pad (21) is communicated with the shunt liquid channel (2131) in the inside of foot rod connecting module (213) through pipeline, the shunt liquid channel (2131) is communicated with the telescopic liquid bag (223) fixed on the bottom surface of upper foot pad (21), the lower end of telescopic liquid bag (223) is fixed with ground contact foot pad (22), and the upper surface of ground contact foot pad (22) is fixed with at least one spring plug rod (221) and at least one isolation sleeve (222) along the axial annular array on the peripheral side of telescopic liquid bag (223), wherein the lower part in the inside of isolation sleeve (222) is fixedly provided with vibration plate (2221), the inside of isolation sleeve (222) is movably constrained with magnetic attraction impact pipe (2222) through reset spring (2223) above vibration plate (2221), the inside of magnetic attraction impact pipe (2222) is movably inserted with magnetic attraction top rod (2224), the upper end of magnetic attraction top rod (2224) is fixed on the bottom surface of upper foot pad (21), and the bottom surface of ground contact foot pad (22) is integrally provided with foot bottom mixed pattern (224). The upper foot pad (21) adopts metal rubber material with porosity gradient distribution, and the hollow internal reinforcing structure is reinforced by the connecting module reinforcing rib (212) with a thickness of 1 / 3 of the height of the foot pad, so as to realize stress redistribution under dynamic load. The inside of the upper foot pad (21) is integrally provided with an assembly table (211) at the center position of the intersection of the connecting module reinforcing ribs (212), and the upper surface of the assembly table (211) is provided with a positioning groove and a screw hole group arranged in an axial annular array. The positioning groove and the screw hole group are matched with a countersunk internal hexagonal screw to realize high-precision detachable connection with the foot rod connecting module (213). The inside of the foot rod connecting module (213) is provided with a spherical pair connecting groove, and the spherical pair connecting groove is movably connected with the ball of the output end of the servo electric cylinder (1). ​ ​ 2. The foot structure of a lander with footprints according to claim 1, characterized in that: ​ 3. The foot structure of a lander with footprints according to claim 1, characterized in that: Two ends of the hydraulic liquid path (2141) are respectively through to the axial position of the upper foot pad (21) and the ball joint groove of the adapter ball seat (214), and the lower port of the hydraulic valve channel (2151) is set in a fan-shaped radial manner according to the same direction tilting deflection direction of the upper foot pad (21) along the lower end of the servo cylinder (1).

4. The foot structure of a lander having foot patterns according to claim 1, characterized in that: The shunt liquid channel (2131) is distributed in an umbrella shape, and the outer shunt hole communicating with the adapter ball seat (214) is arranged in the adapter ball seat (214) in an equal amount, and the main hole radius of the shunt liquid channel (2131) is greater than the radius of the outer shunt hole.

5. The foot structure of a lander having foot patterns according to claim 1, characterized in that: The spring insertion rod (221) and the isolation sleeve (222) are distributed in a mutual spacing manner, wherein the spring insertion rod (221) is composed of an insertion rod and a spring sleeved on the insertion rod, and the upper end of the insertion rod is slidably inserted into the insertion hole formed in the bottom surface of the upper foot pad (21).

6. The lander foot structure with a sole pattern according to claim 1, characterized in that: The upper end of the magnetic attraction impact pipe (2222) penetrates through the isolation sleeve (222), and the lower part inside the magnetic attraction impact pipe (2222) is isolated from the outside by a magnet.

7. The foot structure of a lander having footprints according to claim 1, wherein: The space where the spring insertion rod (221), the isolation sleeve (222) and the telescopic liquid bag (223) are located is isolated from the outside environment by the isolation sleeve (23).

8. The foot structure of a lander having foot patterns according to claim 1, characterized in that: The foot bottom mixed pattern (224) comprises a circumferential radial main pattern and a central annular protrusion, the thickness of the main pattern is 1 / 14-1 / 13 of the height of the foot pad, and the outer edge of the main pattern adopts an equilateral triangle array structure with a top angle of 60°, and a central region is constructed as a composite circular arc-isosceles trapezoidal-circular topological unit.

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