A highly adaptive drop-off release device

Abstract

The application provides a highly adaptive landing cushioning device fixed at the bottom of a detection device, which is used for slowly releasing a landing assembly to the ground. The device comprises: a damping load-bearing assembly in a plate structure; a base in a rectangular plate structure fixed at the center of the damping load-bearing assembly; a damping system fixed on the base, which is used for controlling the falling speed and falling height of the landing assembly; a rope releasing system fixed on the base, which is used for slowly releasing a slow-release rope downward at a speed controlled by the damping system; the slow-release rope is fixed below the landing assembly; a separation system, which is used for fixing the landing assembly below the damping load-bearing assembly and separating the landing assembly from the damping load-bearing assembly at a set time. The application has the advantages that: the landing assembly can be controlled to have multiple slow-release stages, each slow-release stage has a different falling speed; and the landing assembly can be slowly released under different heights from the ground.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of aerospace technology and lunar deep space exploration, and particularly relates to a highly adaptive landing slow-release device. BACKGROUND

[0002] In the process of lunar exploration or other planet exploration, a detection device is often launched to land on the surface of the moon or other planets. After the detection device lands, the detection instrument at the bottom of the detection device needs to be slowly released to the ground of the moon or other planets. Since the hardness of the ground of the moon or other planets is unknown, the distance from the bottom of the detection device to the ground after the detection device lands is also not fixed, and the detection instrument can be sensitive to vibration. Therefore, the detection instrument needs to be slowly and stably landed to ensure that the detection instrument is not damaged. The existing slow-release device has the following problems when releasing the detection instrument:

[0003] 1. The detection instrument can have multiple relatively sharp coupling cones below, which are used to insert into the ground of the moon or other planets, to stabilize the detection instrument, and to well conduct the vibration of the moon or other planets to the detection instrument, facilitating the detection instrument to receive the vibration signal. However, the existing variable-speed motor-driven slow-release device is large in size and heavy in weight, and the detection device cannot provide enough installation space. The existing mature slow-release assembly using friction damping driver and gear damper can only achieve constant speed slow-release, and cannot provide enough power for the coupling cone to insert into the ground of the moon or other planets.

[0004] 2. The detection instrument and the detection device often need to be separated by using explosive cutting, but the impact generated by the explosive cutting can easily damage the vibration signal sensor inside the detection instrument. Therefore, a separation nut with small impact response can be selected to control the connection and separation of the detection instrument and the detection device. Unlike the explosive cutter, the separation nut needs the detection instrument and the detection device to quickly separate when the separation nut explosive cuts, to prevent the hooking and jamming of the screw and the nut and other parts during the separation process. However, the existing mature motor-driven slow-release device and slow-release assembly using friction damping driver and gear damper cannot meet the requirements.

[0005] 3. For safety considerations, the detection instrument needs to be slowly released within a small range, and the slow-release rope of the existing slow-release device will change position with the rotation of the winding shaft. The slow-release rope will rub against the threading hole through which it passes, which introduces the friction between the slow-release rope and the threading hole, which brings more uncertain factors to the slow-release speed analysis and control.

[0006] 4、Moon or other celestial surface uneven, ground soil loose degree and inconsistent with the expected factors will cause the actual landing height of the probe and the design value deviation. Therefore, the release device also needs to adapt to the change of landing height, and ensure that the coupling cone enters the soil at a controllable speed under different landing height conditions, to provide protection for the reliable landing of the probe instrument. SUMMARY

[0007] The purpose of the present application is to overcome the defects that the prior art cannot cope with the height-variable release descent and cannot provide controllable descent speed at different stages.

[0008] In order to achieve the above purpose, the present application provides a height-adaptive landing release device fixed at the bottom of the probe device, for releasing the landing assembly to the ground, the device comprising:

[0009] a damping load-bearing assembly in a plate structure;

[0010] a base in a rectangular plate structure fixed at the center of the damping load-bearing assembly;

[0011] a damping system fixed on the base for controlling the falling speed and falling height of the landing assembly;

[0012] a rope release system fixed on the base for releasing the release rope downward at a speed controlled by the damping system; the landing assembly is fixed below the release rope; and

[0013] a separation system for fixing the landing assembly below the damping load-bearing assembly and separating the landing assembly from the damping load-bearing assembly at a set time.

[0014] As an improvement of the above-mentioned release device, the damping system comprises:

[0015] a sliding groove located at the edge of the base close to one short side;

[0016] a sliding rail located in the sliding groove; the sliding groove limits the sliding rail to move only in the direction of the long side of the base;

[0017] a sliding support in a plate structure fixed on the sliding rail in a position perpendicular to the base; the surface of the sliding support is parallel to the short side of the base;

[0018] a damper fixed on the sliding support away from the center of the base;

[0019] A speed reducer is fixed on the slide support opposite to the damper. The speed reducer has a stop hole end with an inner polygonal hole feature. A transmission shaft extends outward from the center of the stop hole end. The transmission shaft has a polygonal structure. The axis of the transmission shaft is parallel to the long side of the base. The speed reducer cooperates with the damper to rotate the transmission shaft at a set speed.

[0020] A fine adjustment nut is fixed on the slide support below the speed reducer.

[0021] A fine adjustment motor is fixed on the base near the side of the slide support where the fine adjustment nut is fixed. The drive shaft of the fine adjustment motor extends a fine adjustment screw with external threads. The fine adjustment screw is threadedly connected with the fine adjustment nut.

[0022] When the fine adjustment motor works, it drives the fine adjustment nut, the slide support, the slide rail, the damper and the speed reducer to move along the long side of the base.

[0023] As an improvement of the above-mentioned slow release device, the rope system comprises:

[0024] A first support is fixed on the base near the slide support. The first support has a slow release screw hole penetrating through. The slow release screw hole has internal threads.

[0025] A second support is fixed on the base away from the slide support. The second support has a driven hole penetrating through.

[0026] A slow release rope drive shaft has a thick winding shaft in the middle. The side of the winding shaft has a helical groove type wire slot. One end of the winding shaft is coaxially connected with a driving shaft with a smaller diameter, and the other end is coaxially connected with a driven shaft with a smaller diameter. The driving shaft has a helical screw structure, and the pitch of the helical screw is equal to the pitch of the wire slot. The inside surface of the driving shaft is a hollow structure with a polygonal column, forming a first polygonal drive hole. The first polygonal drive hole accommodates the transmission shaft. The end of the driving shaft has a stop shaft end with an outer polygonal feature. The stop hole end accommodates the stop shaft end.

[0027] The first end of the slow release rope is fixed on the winding shaft, wound along the wire slot, and the second end is connected with the floor assembly after passing through the base.

[0028] In use, the driving shaft passes through the slow release screw hole of the first support and is threadedly connected with the slow release screw hole. The driven shaft passes through the driven hole of the second support. The axis of the slow release rope drive shaft is parallel to the long side of the base. The axis of the driving shaft is collinear with the axis of the transmission shaft.

[0029] As an improvement of the above-mentioned slow release device, the rope releasing system further comprises:

[0030] a tightening screw hole with internal thread on the base below the slow release rope driving shaft; and

[0031] a tightening screw post with hollow column structure with external thread threadedly connected with the tightening screw hole;

[0032] the second end of the slow release rope is lowered from the winding shaft and just passes through the center of the tightening screw post; the second end is connected with a tightening end, a first feature section and a driving end in sequence after passing through the tightening screw post; the diameter of the tightening end is larger than the diameter of the center hole of the tightening screw post; the driving end is connected with the landing assembly.

[0033] As an improvement of the above-mentioned slow release device, the rope releasing system further comprises:

[0034] a rope limiting rod extending from the top of the first support or the second support along the axial direction of the slow release rope driving shaft for pressing the slow release rope wound on the wire slot.

[0035] As an improvement of the above-mentioned slow release device, the rope releasing system further comprises: the end of the driven shaft has a recessed second polygonal driving hole.

[0036] As an improvement of the above-mentioned slow release device, the slow release rope is a Kevlar rope.

[0037] As an improvement of the above-mentioned slow release device, the separation system comprises:

[0038] a plurality of separation nuts uniformly distributed on and penetrating through the shock-absorbing load-bearing assembly; the separation nut has a pyrotechnic device and a petal-shaped distributed nut inside; and

[0039] a plurality of pull rods; one end of each of the pull rods is fixed in the petal-shaped distributed nut, and the other end is fixedly connected with the landing assembly.

[0040] As an improvement of the above-mentioned slow release device, the slow release device further comprises:

[0041] a range finder fixed at the bottom of the detection device.

[0042] As an improvement of the above-mentioned slow release device, the slow release device further comprises:

[0043] a umbilical cable fixing assembly fixed on the shock-absorbing load-bearing assembly and connected with a umbilical cable at the lower part; the umbilical cable passes out of the through hole on the shock-absorbing load-bearing assembly and is connected with the landing assembly.

[0044] Compared with the prior art, the application has the advantages that:

[0045] 1. The landing assembly can be controlled to have multiple slow-release stages, each with a different descent speed;

[0046] 2. The slow-release landing assembly can be adapted to different heights from the ground after the detection device lands;

[0047] 3. The slow-release device and the landing assembly are separated quickly and stably, avoiding the influence of vibration during separation on the sensors in the landing assembly;

[0048] 4. There is no contact between the slow-release rope and the threading hole below, so there is no friction, reducing the uncertainty factors caused by slow-release speed analysis and control. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 The slow-release device combination state diagram is shown;

[0050] Figure 2 The slow-release device separation state diagram is shown;

[0051] Figure 3 The three-stage slow-release principle diagram is shown;

[0052] Figure 4 The slow-release device combination diagram in the second slow-release state is shown;

[0053] Figure 5 The slow-release device combination diagram in the third slow-release state is shown;

[0054] Figure 6 The slow-release device explosion diagram is shown;

[0055] Figure 7 The winding shaft diagram is shown. DETAILED DESCRIPTION

[0056] The technical solutions of the application will be described in detail below with reference to the accompanying drawings.

[0057] As Figure 2 and Figure 3 shown, based on the problems of the above-mentioned detection instrument during the slow-release process, the following bottlenecks are encountered when the existing slow-release device is modified (taking the moon landing of a moonquake seismograph as an example):

[0058] First, the moon seismometer is a lunar base equipment (detection instrument) for measuring lunar seismic signals. It is internally provided with a vibration signal sensor sensitive to vibration. The seismic signal is transmitted to the sensor through the coupling cone 700, and the good contact between the coupling cone 700 and the lunar soil is the basis for stable and reliable signal transmission. Tests show that the good contact between the coupling cone 700 and the lunar soil needs the coupling cone 700 to quickly enter the lunar soil at a certain speed; on the other hand, the umbilical cable 900 is relatively hard under the condition of low temperature on the lunar surface and the thermal control coating, and the landing assembly 300 needs to be slowly lowered to ensure that the umbilical cable 900 is naturally unfolded, so as to avoid the interference of vibration signals in the natural state of other equipment in the detection device 01 during work. The existing variable speed motor driven slow release device is large in size and heavy in weight, and the detector cannot provide enough installation space; the existing mature slow release assembly using friction damping driver and gear damper can only realize constant speed slow release.

[0059] Second, the impact generated by the explosion of the explosive device is easy to cause damage to the internal vibration signal sensor of the moon seismometer. Therefore, the moon seismometer selects a separate nut with small impact response to control the connection and separation of the landing assembly 300 and the shock absorption load-bearing assembly 200. Unlike the explosive cutter, the separate nut needs the landing assembly 300 and the shock absorption load-bearing assembly 200 to be quickly separated at the time of explosion of the separate nut explosive device, so as to prevent the hooking and jamming of the screw rod, the nut and other parts during the separation process. The mature motor driven slow release device and the slow release assembly using friction damping driver and gear damper cannot meet the requirements.

[0060] Third, the detection device 01 requires the detection instrument 02 to be slowly released in the smallest range for safety consideration, that is, a fixed position threading hole is set, so that the detection instrument 02 is slowly released along the fixed direction shaft. The existing slow release device winding shaft can only make rotary motion, and the slow release rope will change position with the rotation of the winding shaft. The slow release rope will rub with the threading hole, which introduces the friction between the slow release rope and the threading hole, which brings more uncertain factors for slow release speed analysis and control.

[0061] Fourth, factors such as unevenness of the lunar surface, inconsistency between the loose degree of the lunar surface soil and the expected value, etc. will cause the actual lunar landing height of the detection device 01 to deviate from the design value, as shown in Figure 3 The lunar landing height error 24 may be + δH or - δH. Therefore, the slow release device also needs to adapt to the change of the lunar landing height, and ensure that the coupling cone can enter the lunar soil at a controllable speed under different lunar landing heights, so as to provide protection for the reliable lunar landing of the landing assembly 300.

[0062] As shown in Figure 1 , Figure 2As shown, the highly adaptive landing and slow-release device provided by the present application can include a slow-release assembly 100, a damping load-bearing assembly 200, a first separation nut 401, a second separation nut 402, a first pull rod 501, a second pull rod 502, an umbilical cable fixing assembly 800, and a range finder 03.

[0063] The damping load-bearing assembly 200 can be a plate structure, and the slow-release assembly 100, the first separation nut 401, the second separation nut 402, and the umbilical cable fixing assembly 800 can be fixedly installed on the upper part of the damping load-bearing assembly 200. The lower part of the damping load-bearing assembly 200 can be fixed to the landing assembly 300 through the first pull rod 501 and the second pull rod 502 in the initial state, and can be connected to the landing assembly 300 through the slow-release rope 4020 in the slow-release state. The first pull rod 501 and the second pull rod 502 can be connected to the damping load-bearing assembly 200 by cooperating with the first separation nut 401 and the second separation nut 402. The slow-release device is located below the detection device 01 and can be fixedly connected to the bottom deck of the detection device 01 through 16 installation holes uniformly distributed on the damping load-bearing assembly 200. The range finder 03 is also fixedly installed on the outside of the bottom deck of the detection device 01 and maintains a certain distance from the damping load-bearing assembly 200. The range finder 03 can be a laser range finder or other types of range finder. In other embodiments, there can be more groups of separation nuts and pull rods, and the number of installation holes can be less than or more than 16.

[0064] After the detection device 01 lands, the detection device 01 can provide a driving current to the first separation nut 401 and the second separation nut 402. The first separation nut 401 and the second separation nut 402 can be driven by the explosive force of the internal initiating explosive to open the petal-shaped nut, so that the first pull rod 501 and the second pull rod 502 are pulled out from the inside of the nut, thereby separating the landing assembly 300 from the damping load-bearing assembly 200. The landing assembly 300 can slowly land through the slow-release rope 4020 under the control of the slow-release assembly 100, the coupling cone 700 is inserted into the lunar soil, the gel assembly 600 is in contact with the soil, and the slow-release of the landing assembly 300 is completed. The first separation nut 401, the second separation nut 402, the first pull rod 501, and the second pull rod 502 together constitute a separation system.

[0065] The umbilical cable 900 can be connected to the umbilical cable fixing assembly 800 at one end and fixedly connected to the landing assembly 300 at the other end. During the slow-release process, the umbilical cable 900 can be slowly deployed with the landing assembly 300. The umbilical cable 900 can be a link for communication, energy supply, control, and data transmission between the detection device 01 and the landing assembly 300.

[0066] As shown in Figure 4 , Figure 5 , Figure 6 and Figure 7As shown, the slow-release assembly 100 can include a base 3010, a damper 1020, a sliding support 1010, a speed reducer 1030, a fine-tuning motor 2010, a fine-tuning nut 2020, a first bracket 3020, a second bracket 3022, a tightening stud 3030, a slow-release rope drive shaft 4010, and a slow-release rope 4020.

[0067] The base 3010 can be a rectangular plate structure and can be fixed at a central position above the vibration-damping load-bearing assembly 200. The edge of the base 3010 near one short side can have a sliding groove 3016. The sliding groove 3016 can have a sliding rail 1011 inside. The sliding rail 1011 can slide in the direction of the long side of the base 3010 (the +X direction or the opposite direction of the +X direction in the figure) inside the sliding groove 3016. The sliding rail 1011 can extend a plate-shaped sliding support 1010 in a direction perpendicular to the surface of the base 3010. The plane of the sliding support 1010 is parallel to the short side of the base 3010. The sliding support 1010 can be fixedly installed with a damper 1020 on the side away from the center of the base 3010. The upper part of the side of the sliding support 1010 near the center of the base 3010 can be fixedly installed with a speed reducer 1030, and the lower part can be fixedly installed with a fine-tuning nut 2020. The housing of the speed reducer 1030 can have a stop hole end 1032 with a hexagonal hole feature, and a transmission shaft 1031 can extend outward from the center of the stop hole end 1032. The end of the transmission shaft 1031 can be a column with a rectangular cross-section. A motor mounting plate 3012 can be fixed on the base 3010 near the fine-tuning nut 2020. The motor mounting plate 3012 can be fixed with a fine-tuning motor 2010. The drive shaft of the fine-tuning motor 2010 can be fixedly connected with a fine-tuning lead screw 2011 with external threads. The fine-tuning lead screw 2011 can be threadedly connected with the fine-tuning nut 2020. When the fine-tuning motor 2010 is working, it can drive the fine-tuning lead screw 2011 to rotate, which can drive the fine-tuning nut 2020 to move along the long side of the base 3010, and at the same time drive the sliding support 1010 and the sliding rail 1011 to move along the long side of the base 3010, and the travel is limited by the sliding groove 3016. The damper 1020, the speed reducer 1030, the sliding support 1010, the sliding rail 1011, the fine-tuning motor 2010, the motor mounting plate 3012, and the fine-tuning nut 2020 together form a damping system with a certain speed reduction ratio. In other embodiments, the stop hole end 1032 can also be an internal pentagonal hole, an internal heptagonal hole, or other internal polygonal hole features; the end of the transmission shaft 1031 can also be a polygonal cross-section.

[0068] The first bracket 3020 and the second bracket 3022 can be fixed on the base 3010. The first bracket 3020 is close to the sliding support 1010, and a through release screw hole 3013 can be formed on the first bracket 3020. The release screw hole 3013 can have an internal thread. The second bracket 3022 is away from the sliding support 1010, and a through driven hole 3021 can be formed on the second bracket 3022. The middle part of the release rope driving shaft 4010 can be a winding shaft 4018 with a relatively large diameter, and one end of the winding shaft 4018 can be coaxially connected to a driving shaft 4013 with a relatively small diameter, and the other end of the winding shaft 4018 can be coaxially connected to a driven shaft 4012 with a relatively small diameter. The side surface of the winding shaft 4018 can have a helical groove type wire groove 4016. The driving shaft 4013 can be a screw rod structure, and the pitch of the screw rod can be equal to the pitch of the wire groove 4016 of the winding shaft 4018. The release rope 4020 can be wound in the wire groove 4016, and the end can be fixed in the release rope fixing hole 4015 of the winding shaft 4018. The driving shaft 4013 can pass through the release screw hole 3013 of the first bracket 3020 and be threadedly connected with the release screw hole 3013. The driven shaft 4012 can pass through the driven hole 3021 of the second bracket 3022. After the release rope driving shaft 4010 is installed on the first bracket 3020 and the second bracket 3022, the axis of the release rope driving shaft 4010 is parallel to the long side of the base 3010. When the release rope driving shaft 4010 rotates, it can move along the long side direction of the base 3010. The inside of the driving shaft 4013 can be a hollow structure, and the inside surface can be a column with a rectangular cross section, forming a first polygonal driving hole 4011, which can exactly accommodate the columnar end of the transmission shaft 1031. The end of the driving shaft 4013 can be a stop shaft end 4014 with an outer hexagonal feature, which can exactly extend into the stop hole end 1032 with an inner hexagonal hole feature. The end of the driven shaft 4012 can have a recessed second polygonal driving hole 4017. A rope limiting rod 3014 can be extended along the axis of the release rope driving shaft 4010 on the top of the first bracket 3020, which is used to press the release rope 4020 wound on the wire groove 4016, and plays a role in limiting the release rope 4020 from sliding out of the wire groove 4016. In other embodiments, the end of the driving shaft 4013 can also be other outer polygonal features, and the number of angles is equal to the number of inner angles of the stop hole end 1032; the inside surface of the first polygonal driving hole 4011 can also be other polygons, and the number of edges is equal to the number of edges of the cross section of the end of the transmission shaft 1031; and the rope limiting rod 3014 can also be fixed to the second bracket 3022.

[0069] The slow-release rope drive shaft 4010 has three states, namely, a safety locking state, a damped rotatable state and a non-damped rotatable state. When the fine-tuning motor 2010 drives the sliding support 1010 to move to the limit state close to the center position of the base 3010, the stop hole end 1032 can be connected with the stop shaft end 4014, and since the stop hole end 1032 is fixed on the non-rotating feature of the speed reducer 1030, the slow-release rope drive shaft 4010 is in the safety locking state and cannot rotate. When the fine-tuning motor 2010 drives the sliding support 1010 to move away from the center of the base 3010, the stop hole end 1032 is disconnected from the stop shaft end 4014, and the first polygonal drive hole 4011 of the driving shaft 4013 is connected with the transmission shaft 1031 of the speed reducer 1030, so that the slow-release rope drive shaft 4010 is in the damped rotatable state, and the damper 1020 provides damping for the slow-release rope drive shaft 4010 during rotation. When the slow-release rope drive shaft 4010 rotates a certain number of turns under the gravity driving of the landing assembly 300, the first polygonal drive hole 4011 of the slow-release rope drive shaft 4010 is disconnected from the transmission shaft 1031 of the speed reducer 1030, so that the slow-release rope drive shaft 4010 is in the non-damped rotatable state.

[0070] The base 3010 has a through tightening screw hole 3011 below the winding shaft 4018. The tightening screw hole 3011 has an internal thread. The tightening screw column 3030 is a hollow columnar structure with an external thread. The tightening screw column 3030 is threadedly connected with the tightening screw hole 3011. The slow-release rope 4020 wound in the winding groove 4016 has one end hanging down from the winding shaft 4018 and passing through the center of the tightening screw column 3030, and then connected with the tightening end 4022, the first feature segment 4023 and the driving end 4021 in sequence. The diameter of the tightening end 4022 is too large to pass through the center of the tightening screw column 3030. The driving end 4021 is connected with the landing assembly 300. The slow-release rope 4020 is a Kevlar rope or other high-performance rope.

[0071] The slow-release rope drive shaft 4010, the first support 3020, the second support 302, the tightening screw column 3030, the tightening screw hole 3011, the slow-release rope 4020, the tightening end 4022, the first feature segment 4023 and the driving end 4021 together constitute a rope releasing system.

[0072] As shown in Figure 3 , the process of using the above-mentioned height self-adaptive landing slow-release device to slow-release the landing assembly 300 divides the landing height 20 into three stages, including: the first landing height 21, the second landing height 22 and the third landing height 23, that is, H=H1+H2+H3, and different slow-release speed control methods are adopted in the three height stages.

[0073] The first stage of slow release is the free fall acceleration stage, which is an undamped release stage. The landing component 300 accelerates and releases solely through free fall to achieve rapid separation between the landing component 300 and the vibration damping load-bearing component 200. The second stage of slow release is the uniform speed release stage, which is a damped release stage. The damping system controls the landing component 300 to descend slowly and uniformly, achieving slow release of the landing component 300 and slow, natural unfolding of the umbilical cable 900. The third stage of slow release is the secondary free fall acceleration stage, which is an undamped release stage. The landing component 300 accelerates again through free fall, ultimately achieving the accelerated descent of the landing component 300 and the rapid entry of the coupling cone 700 into the soil.

[0074] Regarding the actual landing height error 24, the present invention adopts a control strategy that keeps the first segment height 21 and the third segment height 23 unchanged, and incorporates the landing height error 24 into the second segment height 22. That is, the actual landing height h = H1 + H2 + δH + H3 or h = H1 + H2 - δH + H3.

[0075] In the initial assembled state, the tightening end 4022 is in close contact with the lower end face of the tightening stud 3030, and the first characteristic segment 4023 is in a loose, unstressed state. However, when the slow-release device completes the first stage of slow release, the first characteristic segment 4023 is in a straightened state. During the process of the first characteristic segment 4023 changing from a loose, unstressed state to a straightened state, the change in distance between the tightening end 4022 and the driving end 4021 is equal to the ground height 21 of the first segment, and its value is H1, that is, the length of the first characteristic segment 4023 is H1.

[0076] like Figure 4 As shown, this is the initial assembly state of the slow-release device. Driven by the fine-tuning motor 2010, the sliding support 1010 moves to its limit position along the direction close to the center of the base 3010. At this time, the stop hole end 1032 and the stop shaft end 4014 cooperate to form a fixed connection, and the slow-release rope drive shaft 4010 is in a safe locked state. The landing assembly 300 and the vibration damping load-bearing assembly 200 are fixedly connected by a release nut and a pull rod. This state is used to detect the active transport section of the device 01 to prevent uncontrolled rotation of the slow-release rope drive shaft 4010.

[0077] After the probe device 01 lands, the altimeter 03 installed on the outside of the lower cabin plate of the probe device 01 measures the landing height and obtains the height error 24 of AH, which can also be obtained by visual three-dimensional imaging after the probe device 01 takes a photo. The H2+AH or H2-AH is taken as the height control data of the second stage of the slow release, and the probe device 01 or the slow release device calculates the time required for the second stage of the slow release under the constant speed of the damping system according to the height control data and gives the driving instruction of the fine adjustment motor 2010. Under the driving of the fine adjustment motor 2010, the sliding support 1010 moves in the direction away from the center of the base 3010 to the control position. At this time, the stop hole end 1032 is separated from the stop shaft end 4014, and the slow release rope driving shaft 4010 is in a damped rotatable state.

[0078] The probe device 01 provides driving current to the first and second separation nuts 401 and 402, which are opened under the action of the explosive device inside the nut. The landing assembly 300 falls quickly under the action of gravity, while driving the first and second pull rods 501 and 500 out of the nut interior, until the first feature section 4023 of the slow release rope 4020 changes from a loose, non-stressed state to a straightened state, that is, the distance between the tightening end 4022 and the driving end 4021 changes by H1, and the landing assembly 300 completes the first stage of release.

[0079] Then enter the second stage of release process, in this process, the first polygonal driving hole 4011 of the driving shaft 4013 is connected with the transmission shaft 1031 of the reducer 1030, and the slow release rope driving shaft 4010 is in a damped rotatable state, at this time, the damping system composed of the damper 1020 and the reducer 1030 installed on both sides of the sliding support 1010 provides damping for the landing assembly 300. During the slow release process, as the slow release rope driving shaft 4010 rotates counterclockwise, the slow release rope driving shaft 4010 also moves horizontally away from the reducer 1030. Since the pitch of the spiral groove of the wire slot 4016 is equal to the pitch of the screw rod of the driving shaft 4013, the slow release rope 4020 passing through the center of the tightening stud 3030 is always concentric with the axis of the tightening stud 3030. As the slow release rope driving shaft 4010 continues to rotate, the slow release rope driving shaft 4010 also continues to move horizontally away from the reducer 1030, as shown in Figure 5 the first polygonal driving hole 4011 of the slow release rope driving shaft 4010 is separated from the transmission shaft 1031 of the reducer 1030, at which time the slow release rope driving shaft 4010 is in a damped rotatable state. The landing assembly 300 completes the second stage of release.

[0080] Then enters the third segment release process, in this process, the damping system no longer provides damping for the landing assembly 300, the landing assembly 300 under the action of gravity continues to fall until the coupling cone 700 is inserted into the soil, the gel assembly 600 is in contact with the soil, and the landing assembly 300 completes the third segment release.

[0081] The application also includes the recovery process of the initial combined state of the slow-release device. When the slow-release device is in a separated state, a rotating tool matched with the second polygonal drive hole 4017 on the slow-release rope drive shaft 4010 is used to drive the slow-release rope drive shaft 4010 to rotate clockwise. With the continuous clockwise rotation of the slow-release rope drive shaft 4010, the slow-release rope drive shaft 4010 also continuously moves horizontally in the direction close to the speed reducer 1030 until the first polygonal drive hole 4011 of the slow-release rope drive shaft 4010 is in contact with the transmission shaft 1031 of the speed reducer 1030. Since the damper 1020 is a friction damper, at this time, the rotation angle of the transmission shaft 1031 can be manually adjusted so that the first polygonal drive hole 4011 cooperates with the transmission shaft 1031 to lock. Then continue to drive the slow-release rope drive shaft 4010 to rotate clockwise until the tightening end 4022 of the slow-release rope 4020 is in contact with the lower end surface of the tightening stud 3030. At this time, the sliding support 1010 needs to be moved to the limit position away from the speed reducer 1030 under the drive of the fine adjustment motor 2010, and the stop hole end 1032 cooperates with the stop shaft end 4014 to form a fixed connection, completing the safe locking of the slow-release rope drive shaft 4010. The creep property of Kevlar rope is its inherent property. Although the slow-release rope 4020 has been pre-stretched to release its initial creep before use, factors such as changes in winding force and continuous tension during use will cause slight changes in rope length. At this time, if the stop hole end 1032 and the stop shaft end 4014 cannot be matched, the tightening stud 3030 is adjusted in rotation, so that the slow-release rope drive shaft 4010 can rotate slightly, and finally the stop hole end 1032 and the stop shaft end 4014 cooperate to form a fixed connection. Then the tightening stud 3030 is fixed and prevented from loosening by the method of glue dispensing at the screw thread of the tightening stud 3030. Thus, the initial combined state of the slow-release device is restored.

[0082] Finally, it should be pointed out that the above embodiments are only used to illustrate the technical solutions of the present application and are not limiting. Although the technical solutions of the present application have been described in detail with reference to the embodiments, those skilled in the art should understand that modifications or equivalent replacements of the technical solutions of the present application do not deviate from the spirit and scope of the technical solutions of the present application, and they should be covered in the scope of the claims of the present application.

Claims

1. A highly adaptive landing cushioning device, fixed at the bottom of a probe device (01), for the slow release of a landing assembly (300) to the ground, characterized by, The device comprises: a damping load-bearing assembly (200) in a plate structure; a base (3010) in a rectangular plate structure fixed in the center of the damping load-bearing assembly (200); a damping system fixed on the base (3010) for controlling the falling speed and falling height of the landing assembly (300); a rope releasing system fixed on the base (3010) for releasing the slow-release rope (4020) downward at a speed controlled by the damping system; the slow-release rope (4020) is fixed below the landing assembly (300); and a separation system for fixing the landing assembly (300) below the damping load-bearing assembly (200) and separating the landing assembly (300) from the damping load-bearing assembly (200) at a set time; the damping system comprises: a sliding groove (3016) located at the edge of the base (3010) close to one short side; a sliding rail (1011) located in the sliding groove (3016); the sliding groove (3016) limits the movement of the sliding rail (1011) to the direction of the long side of the base (3010); a sliding support (1010) in a plate structure fixed on the sliding rail (1011) in a vertical position relative to the base (3010); the surface of the sliding support (1010) is parallel to the short side of the base (3010); a damper (1020) fixed on the sliding support (1010) away from the center of the base (3010); a speed reducer (1030) fixed on the sliding support (1010) opposite to the damper (1020); the speed reducer (1030) has a stop hole end (1032) with an internal multi-angle hole feature on its shell; a transmission shaft (1031) extends outward from the center of the stop hole end (1032); the transmission shaft (1031) is in a multi-prism structure; the axis of the transmission shaft (1031) is parallel to the long side of the base (3010); the speed reducer (1030) cooperates with the damper (1020) to make the transmission shaft (1031) rotate at a set speed; a fine adjustment nut (2020) fixed on the sliding support (1010) below the same side of the speed reducer (1030); and a fine adjustment motor (2010) fixed on the base (3010) close to the side of the sliding support (1010) where the fine adjustment nut (2020) is fixed; the drive shaft of the fine adjustment motor (2010) extends out a fine adjustment lead screw (2011) with external threads; the fine adjustment lead screw (2011) is threadedly connected with the fine adjustment nut (2020); when the fine adjustment motor (2010) works, it drives the fine adjustment nut (2020), sliding support (1010), sliding rail (1011), damper (1020) and speed reducer (1030) to move simultaneously in the direction of the long side of the base (3010); the rope releasing system comprises: A first support (3020) is fixed on the base (3010) near the sliding support (1010); the first support (3020) has a through release screw hole (3013); the release screw hole (3013) has internal threads; A second support (3022) is fixed on the base (3010) away from the sliding support (1010); the second support (3022) has a through driven hole (3021); and The release rope drive shaft (4010) has a thick-diameter winding shaft (4018) in the middle; the side of the winding shaft (4018) has a helical groove type wire slot (4016); one end of the winding shaft (4018) is coaxially connected to a thin-diameter driving shaft (4013), and the other end is coaxially connected to a thin-diameter driven shaft (4012); the driving shaft (4013) is a helical screw structure, and the pitch of the helical screw is equal to the pitch of the wire slot (4016); the inside of the driving shaft (4013) is a hollow structure, and the inside surface can be a cylindrical column with a polygonal cross section to form a first polygonal drive hole (4011); the first polygonal drive hole (4011) exactly accommodates the transmission shaft (1031); the end of the driving shaft (4013) is a stop shaft end (4014) with external polygonal features; the stop hole end (1032) exactly accommodates the stop shaft end (4014); The first end of the release rope (4020) is fixed on the winding shaft (4018), wound along the wire slot (4016), and the second end passes through the base (3010) to connect the floor assembly (300) after hanging down from the winding shaft (4018); In use, the driving shaft (4013) passes through the release screw hole (3013) of the first support (3020) and is threadedly connected with the release screw hole (3013); the driven shaft (4012) passes through the driven hole (3021) of the second support (3022); the axis of the release rope drive shaft (4010) is parallel to the long side of the base (3010); the axis of the driving shaft (4013) is collinear with the axis of the transmission shaft (1031).

2. The highly adaptive drop-off release device of claim 1, wherein, The release rope system further comprises: A tightening screw hole (3011) with internal threads is located below the release rope drive shaft (4010) on the base (3010); and A tightening stud (3030) is a hollow columnar structure with external threads and is threadedly connected with the tightening screw hole (3011); The second end of the release rope (4020) passes through the center of the tightening stud (3030) after hanging down from the winding shaft (4018); the second end is sequentially connected with a tightening end (4022), a first feature segment (4023), and a driving end (4021) after passing through the tightening stud (3030); the diameter of the tightening end (4022) is greater than the diameter of the central hole of the tightening stud (3030); the driving end (4021) is connected with the floor assembly (300).

3. The highly adaptive drop-off release device of claim 1, wherein, The release rope system further comprises: A rope limiting rod (3014) of the first support (3020) or the second support (3022) extends along the axis direction of the slow release rope driving shaft (4010) and is used to press the slow release rope (4020) wound on the wire slot (4016).

4. The highly adaptive drop-off release device of claim 1, wherein, The rope releasing system further comprises a second polygonal driving hole (4017) recessed at the end of the driven shaft (4012).

5. The highly adaptive drop-off release device of claim 1, wherein, The slow release rope (4020) is a Kevlar rope.

6. The highly adaptive drop-off release device of claim 1, wherein, The separation system comprises: A plurality of separation nuts are uniformly distributed on the damping load-bearing assembly (200) and penetrate the damping load-bearing assembly (200); the separation nut is provided with a pyrotechnic device and a petal-shaped distributed nut; and A plurality of pull rods; one end of each pull rod is fixed in the petal-shaped distributed nut, and the other end is fixedly connected with the landing assembly (300).

7. The highly adaptive drop-off release device of claim 1, wherein, The slow release device further comprises: A range finder (03) is fixed at the bottom of the detection device (01).

8. The highly adaptive drop-off release device of claim 1, wherein, The slow release device further comprises: A umbilical cable fixing assembly (800) is fixed on the damping load-bearing assembly (200) and connected with a umbilical cable (900) at the lower part; the umbilical cable (900) penetrates the through hole on the damping load-bearing assembly (200) and is connected with the landing assembly (300).

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