CN118850368A - Test device and method suitable for verifying lunar landing performance of light and small landing bracket - Google Patents
Test device and method suitable for verifying lunar landing performance of light and small landing bracket Download PDFInfo
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Abstract
The invention discloses a test device and a method suitable for verifying the lunar landing performance of a light and small landing bracket, wherein the test device comprises the following components: the device comprises a tension device, a fixed support, a light vertical line, a wireless tension sensor, a landing bracket test product and a terrain simulation device; a tension device comprising: the device comprises a tension mechanism, a servo motor, a tension swing rod mechanism, a connecting rope and a support accessory; the tension swing rod mechanism is arranged on a support accessory which is arranged on a fixed support; one end of the light vertical line passes through the tension swing rod mechanism to be wound on the servo motor, and the other end of the light vertical line passes through the wireless tension sensor and then is connected with a landing bracket test product; the tension mechanism is connected with the tension swing rod mechanism through a connecting rope; the terrain simulation device is arranged right below the landing bracket test product. The invention avoids the defect that the traditional suspension method of the wire-hanging counterweight only depends on a motor and has insufficient tracking speed, and truly realizes the low microgravity simulation of the whole falling/buffering/stabilizing process.
Description
Technical Field
The invention belongs to the technical field of spacecraft load extraterrestrial surface landing performance evaluation, and particularly relates to a test device and method suitable for light and small landing bracket lunar landing performance verification.
Background
In recent years, the heat, breadth and depth of space exploration are remarkably improved, very challenging exploration tasks such as re-entry moon, manned Mars and the like are gradually implemented, and the development of relevant detector landing technology is rapidly promoted. Among them, light and small-sized detectors are intensively studied by research institutions of various countries with the advantages of light weight, flexibility and strong adaptability. How to simulate the lunar gravity environment and the landing topography environment on the ground, and further, the lunar landing performance evaluation and verification of the light and small landing bracket becomes important.
The method for realizing low gravity can be mainly divided into two main categories, one is real low gravity environment simulation, and the other is equivalent low gravity environment simulation. The real low-gravity environment simulation is mainly divided into a tower falling method, a parabolic flight method and the like, so that a real low-gravity environment is realized; the equivalent low gravity environment simulation is mainly divided into a water float method, an air float method, a suspension method and the like, and the low gravity environment is realized by counteracting a part of gravity through unloading. The core of the suspension method is to realize gravity compensation, which is the most common method for ground function verification of the lander at present, and can simulate the walking and task execution process on the surface of other stars or in space. The suspended ground function verification device for realizing the suspended method generally consists of pulleys, ropes, balancing weights and the like, and is also called a hanging wire balancing weight device. The device has the advantages that the device is simple, is suitable for the aircraft with complex multiple moving parts, and has better simulation effect especially under static and low-speed conditions; however, due to the mass of the rope, the pulley, the balancing weight and the like, the additional inertia force and the static and dynamic friction force have larger influence on the microgravity during the acceleration motion.
The traditional suspension method is mostly faced with large hundred kilograms or even ton-level landers, the landers depend on self buffering devices, such as buffering honeycomb or air bags and other energy absorption modes, the coupling degree of buffering performance, landing posture and lunar soil local topography is not high, and therefore, the slope inclined-pull suspension method for realizing the simulation of a 1/6 gravity field and a landing environment is the most widely applied low-cost test method at present.
Compared with a large lander, the light and small landing bracket with the hundred gram magnitude has higher sensitivity to local ground; the coupling degree of the landing buffer and the touch attitude stabilization process and lunar soil is stronger; the falling process is more susceptible to natural environment and inertia disturbance, and the conventional suspension method cannot be used for verifying and evaluating landing performance.
Disclosure of Invention
The technical solution of the invention is as follows: the method has the advantages that the defects of the prior art are overcome, the test device and the method for verifying the lunar landing performance of the light and small landing bracket are provided, an indoor suspension mode is adopted in the test, the counterweight mode of the traditional suspension wire counterweight suspension method is changed into a tension device, the defect that the traditional suspension wire counterweight suspension method only depends on a motor and is insufficient in tracking speed is overcome, and the whole falling/buffering/stabilizing process low microgravity simulation is truly realized.
In order to solve the technical problems, the invention discloses a test device suitable for verifying the lunar landing performance of a light and small landing bracket, which comprises: the device comprises a tension device, a fixed support, a light vertical line, a wireless tension sensor, a landing bracket test product and a terrain simulation device; wherein, the pulling force device includes: the device comprises a tension mechanism, a servo motor, a tension swing rod mechanism, a connecting rope and a support accessory;
The tension swing rod mechanism is arranged on a support accessory which is arranged on a fixed support;
one end of the light vertical line passes through the tension swing rod mechanism to be wound on the servo motor, and the other end of the light vertical line passes through the wireless tension sensor and then is connected with a landing bracket test product;
the tension mechanism is connected with the tension swing rod mechanism through a connecting rope;
The terrain simulation device is arranged right below the landing bracket test product.
In the test device suitable for verifying the lunar landing performance of the light and small landing brackets, the tension mechanism is composed of the composite material reels, a plurality of groups of parallel modes are adopted, and the simulation of the gravity environment required by the loads of different landing bracket test products is realized by adjusting the sizes of the reels.
In the above-mentioned test device that is suitable for light and small landing support lunar surface landing performance to verify, the fixed bolster includes: the fixed support, a plurality of balancing weights;
The tension device is arranged on the fixed bracket;
the bottom of the fixed bracket is provided with a balancing weight installation area; the balancing weight is designed into a clamping block, and a certain number of balancing weights are selected according to moment balance and clamped in a balancing weight installation area at the bottom of the fixed support.
In the test device suitable for verifying the lunar landing performance of the light and small landing bracket,
The fixing bracket is prepared from a light aluminum profile;
The deformation d of the fixed bracket meets d not more than 5mm; wherein d=f×l 2 3/(3E×I×104); f represents the force of the tension device on the fixed support, L 2 represents the distance between the mass center of the tension device and the fixed pivot, E represents the elastic modulus of the fixed support made of light aluminum, and I represents the aggregate inertia.
In the test device suitable for verifying the lunar landing performance of the light and small landing bracket, the number N of the balancing weights is determined according to the following moment balance:
N×m1×g×L1＝m2×g×L2+m3×g×L3
Wherein, m 1 represents the mass of the balancing weight, m 2 represents the mass of the tension device, m 3 represents the mass of the landing bracket test product, L 1 represents the distance between the balancing weight and the fixed supporting point, L 3 represents the distance between the landing bracket test product and the fixed supporting point, and g represents the earth gravity acceleration.
In the test device suitable for verifying the lunar landing performance of the light and small landing bracket, the length H of the light vertical line and the horizontal displacement s of the mass center of a test product of the landing bracket satisfy the following relation:
1-cos(arctan(s/H))＜w
Wherein w represents the horizontal component force of the landing bracket test product, and w is no more than 0.1%.
In the above-mentioned test device that is suitable for light and small landing support lunar surface landing performance verification, topography analogue means includes: lunar soil bearing base, simulated lunar soil and simulated lunar rock; the pulley is arranged at the bottom of the lunar soil bearing base, so that the lunar soil bearing base is convenient to move, and the test working condition is changed; the area used for containing the simulated lunar soil and the simulated moon rock in the lunar soil bearing base is a slope, so that the simulation of the lunar soil gradient topography is facilitated; the simulated lunar soil and the simulated lunar rock are paved in the lunar soil bearing base to simulate the ground-touching topography of the light and small landing bracket.
In the test device suitable for verifying the lunar landing performance of the light and small landing bracket, when working:
before the landing bracket test product touches the ground, the tension swing rod mechanism moves under the action of the tension mechanism and the servo motor to provide continuous and stable tension for the light vertical line, so that the 1/6 gravity field is maintained;
along with the landing support test product, the light vertical line is driven to fall, and when the landing support test product touches the ground, the tension mechanism replaces the servo motor to keep a 1/6 gravity field.
In the test device suitable for verifying the lunar landing performance of the light and small landing bracket, the constant tension force F Tension force provided by the tension mechanism and the servo motor is as follows:
F Tension force ＝m3×g-1/6×m3×g＝5/6×m3×g。
correspondingly, the invention also discloses a test method suitable for verifying the lunar landing performance of the light and small landing bracket, which comprises the following steps:
after the fixed support is fixedly connected with the tension device, the fixed support is placed at a specific height H 0, so that a sufficient movement space is provided for the light vertical line; wherein H 0 is more than H, H represents the length of the light vertical line;
One end of the light vertical line is connected with a tension mechanism, and the other end of the light vertical line is connected with a landing bracket test product through a wireless tension sensor;
The lunar soil bearing base is placed on a flat ground and is positioned right below the landing bracket test product so as to facilitate the test throwing height calibration;
paving simulated lunar soil and simulated lunar rock in the lunar soil bearing base to form a specific gradient, and calibrating by using measuring equipment so as to simulate the ground-touching topography of the light and small landing bracket;
carrying out numerical calibration of initial touchdown speed and simulated moon gravity acceleration of a landing bracket test product by matching with a high-speed camera;
Adjusting the landing bracket test product to an initial position and releasing; the landing support test product falls onto the terrain simulation device under the 1/6 gravity field provided by the tension device, and the landing performance verification test of the multi-terrain and landform working condition is completed.
The invention has the following advantages:
(1) The invention discloses a test device and a test method suitable for verifying the lunar landing performance of a light and small landing bracket, which realize the simulation and maintenance of a gravity field in the whole process of landing bracket falling, landing buffering and posture stabilization through the combined action of a servo motor and a tension mechanism, and realize the simulation of specific topography and topography of the moon through a topography simulation device; the light vertical line is connected with the landing bracket and the tension device through the wireless sensor, and the landing bracket and the tension device are matched with the terrain simulation device, so that the gravity field and landing field coupling simulation in the whole process of landing buffering is realized. The test device and the test method are suitable for landing performance evaluation requirements of various light and small deep space detection devices, and standardized and serialized test schemes can be provided according to constraint boundaries.
(2) The invention discloses a test device and a test method suitable for verifying lunar landing performance of a light and small landing support, which avoid the defect that the traditional gravity eliminating test method is not thoroughly coupled in lunar soil landing buffer and simulation in a stable stage, are simple to connect, are convenient to debug and maintain, and are suitable for evaluating and verifying the landing performance of a landing support for a hundred-gram level detector on the surface of a microgravity planet.
(3) The invention discloses a test device and a test method suitable for verifying the lunar landing performance of a light and small landing bracket, which adopt stepless relay control of a servo motor and a tension mechanism, make up the defect of slow response speed caused by simple motor control and meet the test requirement of a large-stroke constant-gravity field.
(4) The invention discloses a test device and a test method suitable for verifying the lunar landing performance of a light and small landing bracket, which adopt a modularized thought to realize the adjustable and designable tension of a tension mechanism and facilitate the expansion of the bearing capacity of the test device.
(5) The invention discloses a test device and a test method suitable for verifying the lunar landing performance of a light and small landing bracket, which avoid the weight and the inertia interference in the falling process caused by a transmission wire and improve the test precision by adopting a wireless tension sensor.
(6) The invention discloses a test device and a test method suitable for verifying the lunar landing performance of a light and small landing bracket, which adopt a movable terrain simulation device, realize the rapid change of working conditions and improve the test operation efficiency.
(7) The invention discloses a test device and a test method suitable for verifying the lunar surface landing performance of a light and small landing bracket, which are used for realizing the combined layout of slope configuration and simulated lunar soil and lunar rock in a terrain simulation device and realizing the rapid construction of local terrain of a lunar surface.
Drawings
FIG. 1 is a schematic structural diagram of a test device for verifying the lunar landing performance of a light and small landing support in an embodiment of the present invention;
FIG. 2 is a schematic diagram of a tension device according to an embodiment of the present invention;
FIG. 3 is a schematic view of a structure of a fixing support according to an embodiment of the present invention;
FIG. 4 is a torque balancing schematic of an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention disclosed herein will be described in further detail with reference to the accompanying drawings.
One of the core ideas of the invention is: aiming at the requirement of the hundred-gram-magnitude light and small landing support on the verification of the landing performance, and facing the defect that the traditional gravity eliminating test method is not thoroughly coupled in the simulation of lunar soil landing buffering and stabilizing stage, the test device and the method suitable for the lunar surface landing performance verification of the light and small landing support are provided, the influence caused by natural environment disturbance is avoided to the maximum extent, and the problem of the lunar surface landing performance verification of the light and small landing support is solved; the method can be widely applied to landing performance evaluation of light and small detection devices for detecting the surfaces of various microgravity asteroid.
In the embodiment, the test device and the method for verifying the lunar landing performance of the light and small landing bracket are used, an indoor suspension mode is adopted in the test, the counterweight mode of the traditional suspension wire counterweight suspension method is changed into a tension device, the defect that the traditional suspension wire counterweight suspension method only depends on a motor and is insufficient in tracking speed is avoided, and the whole process of falling/buffering/stabilizing low microgravity simulation is truly realized. Firstly, developing a system design, taking coupling of a suspension method and a topography into consideration, determining suspension height based on error analysis, and further separately designing components required by experiments such as a tension device, a topography simulation device and the like; after the combined building, the standard working condition is vertically fallen down, the topography is 0 degrees, and no simulated moonrock is calibrated by utilizing the wireless tension sensor and the high-speed camera shooting.
In this embodiment, as shown in fig. 1, the test device for verifying the lunar landing performance of the light and small landing support comprises: the device comprises a tension device 1, a fixed support 2, a light vertical line 3, a wireless tension sensor 4, a landing bracket test product 5 and a terrain simulation device 6. Further, as shown in fig. 2, the tension device 1 may specifically include: a tension mechanism 101, a servo motor 102, a tension swing rod mechanism 103, a connecting rope 104 and a support accessory 105. Wherein the tension swing rod mechanism 103 is arranged on the support accessory 105, and the support accessory 105 is arranged on the fixed support 2; one end of the light vertical line 3 passes through the tension swing rod mechanism 103 to be wound on the servo motor 102, and the other end is connected with the landing bracket test product 5 after passing through the wireless tension sensor 4; the tension mechanism 101 is connected with the tension swing rod mechanism 103 through a connecting rope 104; the terrain simulation device 6 is arranged right below the landing gear test product 5.
In this embodiment, the tension mechanism 101 is composed of composite reels, and by adopting a plurality of groups of parallel modes, the simulation of the gravity environment required by the loads of different landing bracket test products 5 can be realized by adjusting the sizes of the reels.
In this embodiment, as shown in fig. 3, the fixing support 2 may specifically include: a fixed support 201 and a plurality of balancing weights 202. Wherein the tension device 1 is mounted on the fixed bracket 201; the bottom of the fixed support 201 is provided with a balancing weight installation area; the balancing weights 202 are designed as clamping blocks, and a certain number of balancing weights 202 can be selected according to moment balance and clamped in a balancing weight installation area at the bottom of the fixed support 201.
Preferably, the fixing bracket 201 is made of a lightweight aluminum profile for cost reduction. The specific dimensions of the fixing bracket 201 are determined by bearing, and after determining the specific dimensions of the fixing bracket 201, the following equation 1 can be used to evaluate to ensure that the deformation d of the fixing bracket 201 meets the following requirements: d is no more than 5mm.
Further, the deformation d is determined as follows:
d＝F×L2 3/(3E×I×104)···(1)
Wherein F represents the force of the tension device on the fixed support, L 2 represents the distance (preferably 0.2 m) from the mass center of the tension device to the fixed pivot, E represents the elastic modulus of the fixed support made of light aluminum, and I represents the aggregate inertia, and an example is shown in a section sample.
Preferably, as shown in fig. 4, the number N of weights may be determined according to the following moment balance:
N×m1×g×L1＝m2×g×L2+m3×g×L3
Wherein, m 1 represents the mass of the balancing weight, m 2 represents the mass of the tension device, m 3 represents the mass of the landing bracket test product, L 1 represents the distance (preferably 0.8 m) between the balancing weight and the fixed supporting point, L 3 represents the distance between the landing bracket test product and the fixed supporting point, and g represents the earth gravity acceleration.
Furthermore, in order to facilitate the layout of the test device, the balancing weight can be designed to be 15kg which is single and convenient to carry, and the total number can meet the requirement of moment balance.
In this embodiment, the length H of the light vertical line 3 and the horizontal displacement s of the centroid of the landing stent test product satisfy the following relationship:
1-cos(arctan(s/H))＜w
wherein w represents the horizontal component of the landing gear test product, and is generally no more than 0.1%, and h=20 meters can be deduced according to the arc length theorem.
In this embodiment, the mounting point of the wireless tension sensor 4 on the lightweight plumb line 3 is close to the landing leg test product 5 to provide accurate tension throughout the test, and the wireless tension sensor 4 accuracy is set at 0.5%.
In the present embodiment, the terrain simulation device 6 mainly includes: lunar soil bearing base, simulated lunar soil and simulated lunar rock. The pulley is arranged at the bottom of the lunar soil bearing base, so that the lunar soil bearing base is convenient to move, and the test working condition is changed; the area used for containing the simulated lunar soil and the simulated moon rock in the lunar soil bearing base is a slope, so that the simulation of the lunar soil gradient topography is facilitated. The simulated lunar soil and the simulated lunar rock are paved in the lunar soil bearing base to simulate the ground-touching topography of the light and small landing bracket.
In this embodiment, in operation: before the landing support test product 5 touches the ground, the tension swing rod mechanism 103 moves under the action of the tension mechanism 101 and the servo motor 102 to provide continuous stable tension for the light vertical line 3, so that the maintenance of a 1/6 gravity field is realized, and the mode can realize that the servo motor 102 provides large-stroke stable tension before the landing support test product 5 touches the ground. Along with the landing support test product 5 driving the light plumb line 3 to fall, at the moment of landing support test product 5 touching the ground, servo motor 102 tracking speed can not guarantee the state of stretching straight of light plumb line 3, and the pulling force mechanism 101 plays a role at this moment, replaces servo motor 102 to realize the maintenance of 1/6 gravitational field to realize the 1/6 gravitational field simulation of the whole flow of whereabouts, landing buffering and gesture stabilization.
Preferably, the constant tension force F Tension force provided by the tension mechanism 101 and the servo motor 102 is:
F Tension force ＝m3×g-1/6×m3×g＝5/6×m3×g
The device comprises a tension mechanism 101, a servo motor 102, a tension swing rod mechanism 103, a connecting rope 104, a support accessory 105, a fixed support 2, a light vertical line 3, a wireless tension sensor 4, a terrain simulation device 6 and the like, which are all light, small and modularized, and are convenient to build in an indoor environment, so that the influence of natural wind is avoided.
On the basis of the embodiment, the invention also discloses a test method based on the test device suitable for verifying the lunar landing performance of the light and small landing bracket, which comprises the following steps:
After the fixed support 2 is fixedly connected with the tension device 1, the fixed support is placed at a specific height H 0, so that a sufficient movement space is provided for the light vertical line. Wherein H 0 > H.
One end of the light vertical line 3 is connected with the tension mechanism 102, and the other end is connected with the landing bracket test product 5 through the wireless tension sensor 4.
The lunar soil bearing base is placed on a flat ground and is positioned right below the landing gear test product 5 so as to facilitate the test throwing height calibration.
And paving simulated lunar soil and simulated moon rock in the lunar soil bearing base to form a specific gradient, and calibrating by using measuring equipment, so that the simulation of the ground contact topography of the light and small landing bracket is realized.
And (5) carrying out numerical calibration of initial ground contact speed and simulated moon gravity acceleration of the landing support test product 5 by matching with a high-speed camera.
Adjusting the landing bracket test product 5 to an initial position and releasing; the landing support test product 5 falls onto the terrain simulation device 6 under the 1/6 gravity field provided by the tension device 1, and the landing performance verification test of the multi-terrain and landform working conditions is completed.
In summary, the invention discloses a test device and a test method suitable for verifying the lunar landing performance of a light and small landing bracket, which adopt a stepless relay control mode of a servo motor and a tension mechanism, make up the defect of slow response speed caused by simple motor control, and realize the simulation of a large-stroke constant-gravity field in the processes of falling, landing and stable posture. The fixed support and the modularized balancing weight manufactured by the sectional materials realize the construction and indoor implementation of the low-cost test device, and avoid the influence of natural wind environment. The terrain simulation device realizes the terrain simulation of the lunar surface and the shadow pits thereof, and meets the sensitivity requirement of the light and small landing bracket on local topography. The whole set of test device can simulate and maintain the gravity field in the whole process, especially in the process of impact and gesture stabilization, and has the advantages of real simulation working condition, light self weight, low cost and easy implementation compared with other gravity eliminating simulation modes, and has very wide popularization and application prospects.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (10)
1. Be suitable for test device that light little landing support lunar surface landing performance verified, characterized in that includes: the device comprises a tension device (1), a fixed support (2), a light vertical line (3), a wireless tension sensor (4), a landing bracket test product (5) and a terrain simulation device (6); wherein, the tension device (1) includes: the device comprises a tension mechanism (101), a servo motor (102), a tension swing rod mechanism (103), a connecting rope (104) and a support accessory (105);
the tension swing rod mechanism (103) is arranged on the support accessory (105), and the support accessory (105) is arranged on the fixed support (2);
One end of the light vertical line (3) passes through the tension swing rod mechanism (103) to be wound on the servo motor (102), and the other end of the light vertical line is connected with the landing bracket test product (5) after passing through the wireless tension sensor (4);
the tension mechanism (101) is connected with the tension swing rod mechanism (103) through a connecting rope (104);
the terrain simulation device (6) is arranged right below the landing bracket test product (5).
2. The test device for verifying the lunar landing performance of the light and small landing support according to claim 1, wherein the tension mechanism (101) is composed of composite material reels, and a plurality of groups of parallel modes are adopted, so that the simulation of the gravity environment required by the loads of different landing support test products (5) is realized by adjusting the sizes of the reels.
3. Test device for the lunar landing performance verification of light and small landing gear according to claim 1, characterized in that the fixed support (2) comprises: a fixed bracket (201) and a plurality of balancing weights (202);
The tension device (1) is arranged on the fixed bracket (201);
The bottom of the fixed bracket (201) is provided with a balancing weight installation area; the balancing weights (202) are designed into clamping blocks, and a certain number of balancing weights (202) are selected according to moment balance and clamped in a balancing weight installation area at the bottom of the fixed support (201).
4. The test device for verifying lunar landing performance of light and small landing gear according to claim 3,
The fixing support (201) is made of light aluminum section bars;
The deformation d of the fixed support (201) is no more than 5mm; wherein d=f×l 2 3/(3E×I×104); f represents the force of the tension device on the fixed support, L 2 represents the distance between the mass center of the tension device and the fixed pivot, E represents the elastic modulus of the fixed support made of light aluminum, and I represents the aggregate inertia.
5. The test device for verifying lunar landing performance of a light and small landing gear according to claim 4, wherein the number N of weights (202) is determined according to the following moment balance:
N×m1×g×L1＝m2×g×L2+m3×g×L3
Wherein, m 1 represents the mass of the balancing weight, m 2 represents the mass of the tension device, m 3 represents the mass of the landing bracket test product, L 1 represents the distance between the balancing weight and the fixed supporting point, L 3 represents the distance between the landing bracket test product and the fixed supporting point, and g represents the earth gravity acceleration.
6. The test device for verifying lunar landing performance of a light and small landing support according to claim 1, wherein the length H of the light vertical line (3) and the horizontal displacement s of the center of mass of the landing support test product satisfy the following relationship:
1-cos(arctan(s/H))＜w
Wherein w represents the horizontal component force of the landing bracket test product, and w is no more than 0.1%.
7. Test device for the lunar landing performance verification of light and small landing gear according to claim 1, characterized in that the terrain simulation device (6) comprises: lunar soil bearing base, simulated lunar soil and simulated lunar rock; the pulley is arranged at the bottom of the lunar soil bearing base, so that the lunar soil bearing base is convenient to move, and the test working condition is changed; the area used for containing the simulated lunar soil and the simulated moon rock in the lunar soil bearing base is a slope, so that the simulation of the lunar soil gradient topography is facilitated; the simulated lunar soil and the simulated lunar rock are paved in the lunar soil bearing base to simulate the ground-touching topography of the light and small landing bracket.
8. The test device for verifying lunar landing performance of a light and small landing gear according to claim 5, wherein, in operation:
Before the landing bracket test product (5) touches the ground, the tension swing rod mechanism (103) moves under the action of the tension mechanism (101) and the servo motor (102) together to provide continuous stable tension for the light vertical line (3) so as to realize the maintenance of a 1/6 gravity field;
Along with the landing support test product (5) driving the light vertical line (3) to fall, the tension mechanism (101) replaces the servo motor (102) to maintain a 1/6 gravity field at the time of landing support test product (5) touching the ground.
9. The test device for verifying lunar landing performance of a light and small landing gear according to claim 8, wherein the constant tension force F Tension force provided by the tension mechanism (101) and the servo motor (102) is:
F Tension force ＝m3×g-1/6×m3×g＝5/6×m3×g。
10. A test method based on the test device for verifying the lunar landing performance of the light and small landing gear according to claim 1, comprising:
After the fixed support (2) is fixedly connected with the tension device (1), the fixed support is placed at a specific height H 0, so that a sufficient movement space is provided for the light vertical line (3); wherein H 0 is more than H, H represents the length of the light vertical line (3);
One end of the light vertical line (3) is connected with the tension mechanism (102), and the other end is connected with the landing bracket test product (5) through the wireless tension sensor (4);
The lunar soil bearing base is placed on a flat ground and is positioned right below the landing bracket test product (5) so as to facilitate the test throwing height calibration;
paving simulated lunar soil and simulated lunar rock in the lunar soil bearing base to form a specific gradient, and calibrating by using measuring equipment so as to simulate the ground-touching topography of the light and small landing bracket;
Carrying out numerical calibration of initial touchdown speed and simulated moon gravity acceleration of a landing bracket test product (5) by matching with a high-speed camera;
Adjusting the landing bracket test product (5) to an initial position and releasing; the landing support test product (5) falls onto the terrain simulation device (6) under the 1/6 gravity field provided by the tension device (1) to complete the landing performance verification test of the multi-terrain and landform working conditions.
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