A landing cushion system based on a three-period minimal surface

Abstract

The application belongs to the technical field of seabed lander, and particularly relates to a landing buffer system based on a three-period minimal surface, which comprises a base used for installing deep-sea application equipment, a buffer device with a top end fixed to the bottom of the base, a bottom end of the buffer device connected with a supporting leg, and a plurality of buffer devices circumferentially and equidistantly arranged on the bottom of the base, and a plurality of reverse thrust devices circumferentially and equidistantly arranged on the base and used for providing a recoil force when landing on the seabed. The buffer device has a TPMS porous structure and is made of a memory alloy with a three-period minimal surface structure, has a good energy absorption effect and a strong shock absorption effect, can reduce the quality while ensuring the strength by being arranged in a porous structure, can realize controllable deformation of the memory alloy through temperature adjustment, and can be filled with a magnetorheological fluid in the buffer device to control the rigidity and flexibility of the buffer structure by controlling the change of the magnetic field.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of subsea lander, and particularly relates to a landing buffer system based on a three-period minimal surface. BACKGROUND

[0002] Deep-sea landers (or subsea landers) are high-tech devices used to perform tasks in underwater environments, widely used in deep-sea exploration, seabed resource collection, scientific experiments and environmental monitoring, etc. With the development of deep-sea exploration technology, the demand for landers is growing, especially in tasks that require precise operations or long stays on the seabed. The particularity of the deep-sea environment, such as extremely high water pressure, low temperature, strong flow rate, and the complexity of the seabed topography, poses many challenges to the design and manufacture of such a lander. In these environmental conditions, the lander needs to have very strong pressure resistance, stability and efficient energy management capability. During landing and docking, the lander often experiences a large impact force and vibration, which comes from the contact between the lander and the seabed, or from the violent fluctuations of the water flow. In order to protect the structure and internal precision instruments of the lander from damage, a buffer and damping system becomes one of the key designs.

[0003] The role of the buffer and damping device in the deep-sea lander is very important. Deep-sea landers not only need to cope with complex underwater dynamic environments, but also need to maintain the integrity and functionality of the structure in extreme environments. The damping system effectively absorbs impact energy, reduces the huge impact caused by landing or encountering water flow fluctuations, and ensures that the lander successfully completes the task without being damaged. These damping systems usually rely on hydraulic, pneumatic or spring technologies to convert the impact from the seabed into heat energy or consume it in other ways. In particular, in the deep sea, the extremely high water pressure and lower temperature require the damping system not only to have strong energy absorption capacity, but also to ensure stability and reliability in long-term use. As deep-sea exploration and resource development continue to deepen, the design of the buffer and damping device is constantly optimized to adapt to more complex task requirements and more stringent environmental conditions.

[0004] Traditional buffer and damping devices have low strength, which does not meet the requirements of deep-sea exploration. If the strength of the buffer and damping device is increased, it will inevitably lead to an increase in its mass, making it inconvenient for transportation and maintenance.

[0005] TPMS is a surface structure with the smallest local surface area within a given boundary, which is often widely used as an energy absorber to reduce impact or explosive loads. The porous structure exhibits great application potential in various fields due to its unique characteristics. These structures not only have light weight, but also exhibit excellent mechanical properties due to their unique pore distribution. Therefore, we propose a landing buffer system based on a three-period minimal surface. SUMMARY

[0006] The application aims to provide a landing buffer system based on a three-period minimal surface to solve the above problems.

[0007] To achieve the above object, the application provides the following scheme.

[0008] A landing buffer system based on a three-period minimal surface comprises:

[0009] A base for mounting a deep-sea application device;

[0010] A buffer device, the top end of which is fixed to the bottom of the base, and the bottom end of which is connected with a support leg, and the buffer device is provided with a plurality of support legs which are circumferentially and equidistantly arranged on the bottom of the base;

[0011] A plurality of counter-impulse devices are circumferentially and equidistantly arranged on the base, and are used to provide a counter-impulse force when landing on the seabed.

[0012] Optionally, the buffer device comprises:

[0013] A mounting bracket, which is in an L-shaped structure, and the horizontal section of the mounting bracket is fixedly connected with the base;

[0014] A first connecting rod, one end of which is hingedly connected with the middle part of the mounting bracket, and the other end of the first connecting rod is hingedly connected with one end of a fourth connecting rod, and the fourth connecting rod is arranged in parallel with the vertical section of the mounting bracket;

[0015] A second connecting rod, one end of which is hingedly connected with the other end of the fourth connecting rod, and the second connecting rod is arranged in parallel with the first connecting rod, and the other end of the second connecting rod is hingedly connected with the bottom end of the vertical section of the mounting bracket;

[0016] A third connecting rod, which is in transmission connection with the fourth connecting rod, and the bottom end of the third connecting rod is connected with the support leg;

[0017] A buffer part, one end of which is hingedly connected with the middle part of the first connecting rod, and the other end of the buffer part is hingedly connected with the horizontal section of the mounting bracket.

[0018] Optionally, the third connecting rod is arranged in parallel with the fourth connecting rod, one end of a fifth connecting rod is hingedly connected with the top end of the third connecting rod, and the other end of the fifth connecting rod is hingedly connected at the hinged shaft of the fourth connecting rod and the first connecting rod;

[0019] One end of a triangular plate is hingedly connected with the middle part of the fourth connecting rod, the middle part of the triangular plate is hingedly connected at the hinged shaft of the fourth connecting rod and the second connecting rod, and the other end of the triangular plate is hingedly connected with one end of a transmission rod, and the other end of the transmission rod is hingedly connected at the hinged shaft of the mounting bracket and the first connecting rod.

[0020] Optionally, the buffer part comprises a damping buffer rod, the movable end of the damping buffer rod is hingedly connected with the middle part of the first connecting rod, and the fixed end of the damping buffer rod is hingedly connected with the middle part of the horizontal section of the mounting frame.

[0021] Optionally, the reverse thrust device comprises:

[0022] A reverse thrust bracket is fixedly connected with the edge of the base;

[0023] A motor is fixedly connected with the reverse thrust bracket, and the output shaft of the motor is connected with a blade.

[0024] Optionally, the supporting leg comprises a supporting leg mounting cylinder, the top end of the supporting leg mounting cylinder is connected with the bottom end of the third connecting rod;

[0025] A supporting leg piston is vertically slidably arranged in the supporting leg mounting cylinder, and the supporting leg mounting cylinder is limitedly matched with the supporting leg piston;

[0026] The bottom end of the supporting leg piston is fixedly connected with a supporting leg plate;

[0027] An elastic part is arranged between the supporting leg mounting cylinder and the supporting leg piston.

[0028] Optionally, the elastic part comprises a TPMS buffer structure and a spring which are coaxially arranged, the top end of the TPMS buffer structure and the spring is fixedly connected with the inner wall of the bottom part of the supporting leg mounting cylinder, the bottom end of the TPMS buffer structure and the spring is fixedly connected with the inner wall of the top part of the supporting leg piston, the TPMS buffer structure is made of memory alloy, and the TPMS buffer structure is coaxially arranged in the spring.

[0029] Compared with the prior art, the present application has the following advantages and technical effects:

[0030] In use, the deep-sea application equipment is installed on the base, after descending to the seabed, the descending speed of the base is first reduced by the reverse thrust device, then the landing is realized by the buffer device contacting the seabed, the buffer device has a TPMS porous structure, the energy absorption effect is good, the energy absorption capacity is improved, the damping effect is enhanced, and the quality is reduced while the strength is ensured by the porous structure. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments. Obviously, the drawings in the following description only some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor:

[0032] Figure 1 It is a structural schematic diagram of the present application.

[0033] Figure 2 Structure diagram of the buffer device of the present application;

[0034] Figure 3 Structure diagram of the reverse thrust device of the present application;

[0035] Figure 4 Structure diagram of the foot of the present application;

[0036] Figure 5 Structure diagram of the three-period minimal surface unit of the present application;

[0037] Figure 6 Buffer structure design flowchart of the TPMS structure of the present application;

[0038] Figure 7 Comparison chart of normalized energy absorption capacity of different TPMS structures of the present application;

[0039] Figure 8 Comparison chart of specific dissipated energy under cyclic loading of different TPMS structures of the present application;

[0040] 1, deep-sea application equipment; 2, base; 3, pump body; 4, heater; 5, reverse thrust device; 6, buffer device; 7, foot; 501, reverse thrust support; 502, motor; 503, blade; 601, mounting bracket; 602, first connecting rod; 603, transmission rod; 604, third connecting rod; 605, fourth connecting rod; 606, second connecting rod; 607, triangular plate; 608, fifth connecting rod; 609, damping buffer rod; 701, foot mounting cylinder; 702, foot piston; 703, TPMS buffer structure; 704, spring; 705, foot plate. DETAILED DESCRIPTION

[0041] The present embodiment proposes a buffer device combining three-period minimal surface (TPMS) structure, shape memory alloy, and magnetorheological damper, aiming to meet the impact absorption and dynamic buffering requirements of deep-sea landers in extreme environments. The device fully utilizes the lightweight, high-strength characteristics of TPMS structure and its complex pore distribution, achieving effective dispersion of the huge impact force during deep-sea landing and exhibiting excellent energy absorption performance and buffering effect. The design of TPMS structure enables it to provide efficient energy absorption under extreme load conditions, especially suitable for landers in deep-sea environments subjected to repeated actions of sea floor impact and buoyancy adjustment.

[0042] The introduction of memory alloy further enhances the recoverability of the buffer device. The core principle of memory alloy is based on the reversible phase change of martensite and austenite. When the memory alloy is in a low temperature state (martensite phase), stress loading will cause it to deform; and after heating above the phase change temperature (Af), the material can completely recover to the original shape. By reasonably designing the shape memory effect, the buffer device can achieve structural self-resetting after deep-sea landing impact, thereby ensuring the stable performance and high reusability of the device in multiple landing tasks.

[0043] In addition, the variable damping performance of the magnetorheological damper enables the device to accurately respond to complex load changes in deep-sea landing. Magnetorheological fluid is composed of tiny magnetic particles suspended in a base liquid, which is in a low viscosity, low resistance state when there is no magnetic field, and can flow freely; while under the action of a magnetic field, the magnetic particles quickly arrange into a chain structure, greatly increasing the viscosity and resistance. By adjusting the strength of the external magnetic field, the damping performance can be dynamically controlled to adapt to the changing landing conditions and impact strength in the deep-sea environment.

[0044] The present application integrates the high-efficiency energy absorption of TPMS structure, the shape memory effect and superelasticity of memory alloy, and the variable damping characteristics of magnetorheological damper, and designs a high-performance buffer device suitable for deep-sea lander. The device can effectively absorb the landing impact force in the deep-sea environment, and maintain high energy management and dynamic adaptability in multiple tasks, providing reliable technical support for deep-sea exploration tasks.

[0045] 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 a 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 labor fall within the scope of protection of the present application.

[0046] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0047] Reference Figures 1 to 8 The present application discloses a landing buffer system based on three-period minimal surface, comprising:

[0048] The base 2 is used for installing the deep-sea application device 1;

[0049] The buffer device 6 is fixed at the top of the base 2, and the bottom end of the buffer device 6 is connected with the supporting leg 7, and the buffer device 6 is provided with a plurality of and circumferentially equidistantly arranged at the bottom of the base 2;

[0050] The anti-pushing device 5 is provided with a plurality of anti-pushing devices 5, which are arranged on the base 2 at equal intervals in the circumferential direction, and are used to provide a recoil force when landing on the seabed.

[0051] In use, the deep-sea application device 1 is installed through the base 2, and after descending to the seabed, the base 2 is first lowered in speed by the anti-pushing device 5, and then landed by contacting the seabed through the buffer device 6. The buffer device 6 has a TPMS porous structure, which has good energy absorption effect, improves energy absorption capacity, enhances shock absorption effect, and reduces mass while ensuring strength by being provided with a porous structure.

[0052] Compared with the landing buffer using springs and damping rods in the prior art, the device can significantly improve the service life.

[0053] As an optional implementation, the buffer device 6 comprises:

[0054] The mounting bracket 601 is an L-shaped structure, and the horizontal section of the mounting bracket 601 is fixedly connected with the base 2;

[0055] The first connecting rod 602 is hingedly connected at one end to the middle part of the mounting bracket 601, and the other end of the first connecting rod 602 is hingedly connected with one end of the fourth connecting rod 605, and the fourth connecting rod 605 is arranged in parallel with the vertical section of the mounting bracket 601;

[0056] The second connecting rod 606 is hingedly connected at one end to the other end of the fourth connecting rod 605, and the second connecting rod 606 is arranged in parallel with the first connecting rod 602, and the other end of the second connecting rod 606 is hingedly connected with the bottom end of the vertical section of the mounting bracket 601;

[0057] The third connecting rod 604 is in transmission connection with the fourth connecting rod 605, and the bottom end of the third connecting rod 604 is connected with the supporting leg 7;

[0058] The buffer part is hingedly connected at one end to the middle part of the first connecting rod 602, and the other end of the buffer part is hingedly connected with the horizontal section of the mounting bracket 601.

[0059] As an optional implementation, the third connecting rod 604 is arranged in parallel with the fourth connecting rod 605, one end of the fifth connecting rod 608 is hingedly connected with the top end of the third connecting rod 604, and the other end of the fifth connecting rod 608 is hingedly connected at the hinged shaft of the fourth connecting rod 605 and the first connecting rod 602;

[0060] The middle part of the fourth connecting rod 605 is hingedly connected with one end of the triangular plate 607, the middle part of the triangular plate 607 is hingedly connected at the hinged shaft of the fourth connecting rod 605 and the second connecting rod 606, and the other end of the triangular plate 607 is hingedly connected with one end of the transmission rod 603, and the other end of the transmission rod 603 is hingedly connected at the hinged shaft of the mounting bracket 601 and the first connecting rod 602.

[0061] As an optional implementation, the buffer part includes a damping buffer rod 609, the movable end of the damping buffer rod 609 is hinged to the middle of the first connecting rod 602, and the fixed end of the damping buffer rod 609 is hinged to the middle of the horizontal section of the mounting frame 601.

[0062] The traditional landing buffer is hinged to the base 2 through the buffer when the support feet land, when the landing point is rugged, in order to ensure that the base 2 is horizontal, the length and angle of each support foot are different, at this time, the base 2 is easy to deviate from the preset landing point, and an error is generated, therefore, a kind of device is needed, which can ensure that the base 2 is not easy to deviate when vertically lifting even if the landing point is a rugged area.

[0063] In the buffer device 6, a first parallelogram structure is formed by the first connecting rod 602, the fourth connecting rod 605, the vertical section of the mounting frame 601 and the second connecting rod 606, a second parallelogram structure is formed by the fourth connecting rod 605, the third connecting rod 604, the fifth connecting rod 608 and the triangular plate 607, the transmission rod 603 is used for transmission between the two parallelogram structures, the support foot 7 is connected to the bottom of the third connecting rod 604, when the support foot 7 touches the bottom, the third connecting rod 604 rises, drives the triangular plate 607 to rotate, and simultaneously drives the second parallelogram structure to move, the triangular plate 607 pulls the transmission rod 603 to pull the mounting frame 601 to move and drive the first parallelogram structure to move, the displacements generated by the two parallelogram structures offset each other, finally, the third connecting rod 604 vertically moves, when the first connecting rod 602 moves, the damping buffer rod 609 is used for damping and buffering, thereby ensuring that the landing point does not deviate from the preset point when the base 2 lands.

[0064] As an optional implementation, the reverse thrust device 5 includes:

[0065] The reverse thrust bracket 501 is fixedly connected to the edge of the base 2;

[0066] The motor 502 is fixedly connected to the reverse thrust bracket 501, and the output shaft of the motor 502 is connected with the blade 503.

[0067] Before landing, the reverse thrust is generated by rotating the blade 503 through the motor 502, the descending speed of the base 2 is reduced, and the impact when landing is reduced.

[0068] As an optional implementation, the support foot 7 includes a support foot mounting cylinder 701, the top end of the support foot mounting cylinder 701 is connected with the bottom end of the third connecting rod 604;

[0069] The support foot mounting cylinder 701 is vertically slidably connected with the support foot piston 702, and the support foot mounting cylinder 701 is limitingly connected with the support foot piston 702;

[0070] The support foot plate 705 is fixedly connected to the bottom end of the support foot piston 702;

[0071] The elastic part is arranged between the foot mounting cylinder 701 and the foot piston 702.

[0072] As an optional embodiment, the elastic part comprises a TPMS buffer structure 703 and a spring 704 arranged coaxially, the top end of the TPMS buffer structure 703 and the spring 704 is fixed to the inner wall of the bottom of the foot mounting cylinder 701, the bottom end of the TPMS buffer structure 703 and the spring 704 is fixed to the inner wall of the top of the foot piston 702, the TPMS buffer structure 703 is made of a shape memory alloy, and the TPMS buffer structure 703 is arranged coaxially in the spring 704.

[0073] A partition is arranged between the TPMS buffer structure 703 and the spring 704, and the TPMS buffer structure 703 and the spring 704 simultaneously play a buffering role.

[0074] As an optional embodiment, the TPMS buffer structure 703 is made of a shape memory alloy with a three-period minimal surface structure, and the spring 704 is a common spring.

[0075] The spring 704 is sleeved outside the TPMS buffer structure 703.

[0076] One of the TPMS buffer structure 703 and the spring 704 serves as a main spring, and the other serves as a secondary spring. Since the shape memory alloy has a slow response capability, i.e., a low deformation efficiency, before the shape memory alloy reaches the ideal or target shape, the secondary spring can compensate for energy, thereby playing a secondary energy absorption role.

[0077] An inlet and an outlet are arranged on the side walls of the foot mounting cylinder 701 and the foot piston 702, respectively, for the inlet and outlet of heated seawater. Meanwhile, the TPMS buffer structure 703 is made of a shape memory alloy with a three-period minimal surface structure, and the deformation of the shape memory alloy can be controlled by temperature adjustment.

[0078] Embodiment 2:

[0079] As an optional embodiment, the heated pump water part comprises:

[0080] A pump body 3 is fixed to the base 2, and the water outlet end of the pump body 3 is communicated with the inlet arranged on the foot mounting cylinder 701 through a hose.

[0081] A heating part is arranged on one side of the pump body 3, the water outlet end of the heating part is communicated with the water inlet end of the pump body 3, the water inlet end of the heating part is communicated with the outside, and the heating part is used to increase the water temperature in the hose.

[0082] As an optional embodiment, the heating part comprises a heater 4, the water inlet end of the heater 4 is communicated with the outside, and the water outlet end of the heater 4 is communicated with the water inlet end of the pump body 3.

[0083] In this embodiment, when the device is submerged in the seabed, because the water pressure of the seabed is higher than that of the sea surface, the seawater can be pumped into the inside of the foot mounting cylinder 701 through the pump body 3, so that the foot mounting cylinder 701 is filled with seawater, thereby balancing the internal and external pressure difference. Then, the heater 4 heats the seawater, so that the temperature of the seawater entering the inside of the foot mounting cylinder 701 is higher than the external temperature. By controlling the temperature of the seawater entering the inside of the foot mounting cylinder 701, the deformation of the TPMS buffer structure 703 can be controlled.

[0084] As an additional embodiment, the heater 4 can be selected as an electromagnetic heating device. A copper pipe is connected to the water inlet end of the pump body 3, and an electromagnetic heating device is arranged outside the copper pipe. The water flowing through the copper pipe is quickly heated by the electromagnetic heating of the copper pipe, and then enters the corresponding component through the hose.

[0085] The hose is selected as a high-temperature and high-pressure pipe, and is wrapped with a heat preservation layer on the outside.

[0086] Embodiment 3:

[0087] As an additional embodiment, the TPMS buffer structure 703 is filled with a magneto-rheological fluid, and a cavity for installing an electromagnetic coil is arranged in the partition layer between the TPMS buffer structure 703 and the spring 704. When the electromagnetic coil is activated, the generated magnetic field causes the magneto-rheological fluid to solidify, thereby increasing the resistance. By adjusting the strength of the electromagnetic activation, the damping force of the damper can be accurately controlled, and the damping force can be adjusted in real time according to the demand.

[0088] The electromagnetic coil is in the form of a spring wire structure and is coaxially arranged outside the TPMS buffer structure 703.

[0089] The outside of the TPMS buffer structure 703 is wrapped with a flexible sheath, which can prevent the magneto-rheological fluid from overflowing and also does not hinder the deformation of the TPMS buffer structure 703. Due to the incompressible nature of the magneto-rheological fluid, the magneto-rheological fluid is filled in the TPMS buffer structure 703 but not completely filled, so that there is a space for the magneto-rheological fluid to flow inside the TPMS buffer structure 703 when it deforms.

[0090] Embodiment 4:

[0091] Regarding the selection of the TPMS configuration, the following steps can be referred to.

[0092] The parametric coordinates of the three-periodic minimal surface (TPMS) can be derived by the Weierstrass function. The geometric structure of the TPMS can be solved by the following mathematical expression:

[0093]

[0094] where Re is the coefficient obtained by calculating the value from the fixed point ω0 to a variable point ω. Through this form, the parametric coordinates of the TPMS surface can be obtained. Next, the geometric structure of the TPMS is derived using the level set approximation equation defined by the Fourier series. Where ω0 is a fixed complex number, defining the starting point of the integral, ω is the upper limit of the integral, and the variable τ used in the integral process defines the parameterization of the path, and the function R(τ) is closely related to the geometric structure of the TPMS (three-periodic minimal surface), which is used to describe the shape and thickness of the surface; in three-dimensional space, the parameters x, y, z represent the spatial coordinates of the TPMS, the polar angle θ describes the rotation angle in the polar coordinate system, and the parameter t is used to define the change path of a point on the surface.

[0095] The equation is as follows:

[0096]

[0097] where k is the reciprocal vector, α(k) is the phase shift, the structure factor F(k) is the amplitude related to a given k, and r is the vector of spatial position. Ψ(r) represents a periodic function used to describe a specific spatial three-periodic minimal surface (TPMS) structure. When the series is truncated to the leading term, a function φ composed of a combination of trigonometric functions is generated, which satisfies the following equation:

[0098] φ(x, y, z) = c,

[0099] where X = k·2π·x / l, Y = k·2π·y / l, Z = k·2π·z / l. l represents the macroscopic size of the entire surface, and k is the periodicity parameter. Through the above steps, the key geometric parameters required for the TPMS surface can be determined, thereby laying the foundation for the selection of the subsequent TPMS structure.

[0100] Table 1 Level set approximation equations of eight TPMSs

[0101]

[0102] The above eight TPMSs were subjected to mechanical compression tests, and TPMS lattices were prepared using 316L stainless steel powder as the raw material. Mechanical compression tests were conducted, and the specific details are as follows: three densities (20%, 30%, 40%) were used for each configuration to model. The specific c values for modeling are as shown in the table below.

[0103] Table 2 c values of eight TPMS lattices at three relative densities

[0104]

[0105]

[0106] Representative volume element (RVE) model was used to analyze the mechanical properties of TPMS lattice, i.e. Gibson-Ashby (G-A) model was used to analyze the experimental results. G-A model describes the relationship between mechanical properties and relative density, and links relative density with mechanical properties. The energy absorbed per unit volume W of TPMS results can be characterized as a function of relative density according to the classical honeycomb solid theory using a power law, as follows:

[0107]

[0108] where, σ y is the yield strength of the substrate, C i and n i (i = 1) are the geometric coefficients and the exponent fitted to the TPMS lattice, ρ * is the actual relative density.

[0109] When the fitting index n1 is 1, the lattice shows a standard tensile dominant deformation mode, and when n1 is 1.5, the lattice shows a standard bending dominant deformation mode. As can be seen from the figure, the n1 value of the eight TPMS lattices is in the range of 1.63-2.43, all greater than 1.5, showing a bending dominant deformation mode. It is worth noting that the bending dominant deformation mode is helpful for energy absorption. The bending dominant deformation mode is helpful for improving the energy absorption capacity, and therefore has important significance in practical applications.

[0110] The P, G, D, IWP four configurations in the above steps are subjected to cyclic loading test. TPU material is used for preparation;

[0111] The cyclic loading test is carried out, and the results show that the D lattice has the best energy dissipation capacity because it can withstand more axial stress.

[0112] The D configuration is selected as the main structure of the TPMS buffer. The energy-absorbing structure of the buffer device is designed, and the nickel-titanium alloy material is selected for its preparation.

[0113] Because the TPMS structure shows periodic symmetry in three independent directions, this symmetry can be reproduced by repeating the unit cell infinitely. The cylindrical model can be discretized by using the mapped mesh, and the TPMS unit with shape function distortion is used. Fill it in the mapped grid to form a cylindrical mapped structure.

[0114] The main control mode of the TPMS buffer structure based on the memory alloy material can be as follows:

[0115] The PWM control method is used to heat the TPMS buffer structure, that is, when the signal output by the PWM pulse is high level 1, the TPMS buffer structure is powered to heat; when the signal output by the PWM pulse is low level 0, the current of the TPMS buffer structure is disconnected, and the time of power-on and power-off of the TPMS buffer structure is controlled by adjusting the duty cycle of the PWM signal. When the TPMS buffer structure is powered on, the temperature rises by absorbing heat, and when the TPMS buffer structure is powered off, the temperature decreases by releasing heat. By controlling the power-on and power-off time, the temperature of the TPMS buffer structure is kept between Af and the limit temperature, so that the TPMS buffer structure can be kept in a deformable state.

[0116] Since the deformation efficiency of the memory alloy material is slow, on the basis of the PWM pulse heating control, the method of feeding heated seawater into the foot mounting cylinder 701 in embodiment 2 is used for auxiliary control, so as to further accelerate the deformation efficiency.

[0117] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only used to facilitate the description of the present application, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0118] The above-described embodiments are only used to describe the preferred modes of the present application, and do not limit the scope of the present application. Without departing from the design spirit of the present application, various modifications and improvements to the technical solutions of the present application made by those skilled in the art shall fall within the protection scope determined by the claims of the present application.

Claims

1. A landing cushion system based on a three-period minimal surface, characterized in that, The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1).

2. A landing cushion system based on a three-period minimal surface according to claim 1, characterized in that The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1).

3. A landing cushion system based on a three-period minimal surface according to claim 1, characterized in that: The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1) is landed on the sea bottom, the buffer device (6) and the anti -push device (5) can provide the buffer and the anti -push force for the deep sea application device (1). The utility model relates to a deep sea application device (1) buffer device (6) and anti -push device (5) are provided to the bottom of the base (2) of deep sea application device (1), when the deep sea application device (1 A foot mounting cylinder (701) is vertically slid with a foot piston (702) inside, and the foot mounting cylinder (701) is limitedly matched with the foot piston (702); A foot plate (705) is fixed at the bottom end of the foot piston (702); An elastic part is arranged between the foot mounting cylinder (701) and the foot piston (702).

4. A landing cushion system based on a three-period minimal surface according to claim 3, characterized in that: The elastic part comprises a TPMS buffer structure (703) and a spring (704) arranged coaxially, the top end of the TPMS buffer structure (703) and the spring (704) is fixed to the inner wall of the bottom of the foot mounting cylinder (701), the bottom end of the TPMS buffer structure (703) and the spring (704) is fixed to the inner wall of the top of the foot piston (702), the TPMS buffer structure (703) is made of memory alloy, and the TPMS buffer structure (703) is arranged coaxially in the spring (704).

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