A Mars quadrotor aircraft and a slide-type inverted release and deployment device

Abstract

A Mars quadrotor aircraft and a slide-type inverted release and deployment device, which relate to an aircraft and a release and deployment device. The present invention aims to solve the problem that there is currently no suitable structure, folding and deployment scheme for Mars quadrotor aircraft. The present invention includes a lander, a bottom flipping component, an outer envelope component, a multi-degree-of-freedom robotic arm, and a Mars aircraft; the bottom flipping component and the multi-degree-of-freedom robotic arm are arranged side by side on the upper surface of the lander, the bottom of the outer envelope component is mounted on the bottom flipping component, and the Mars aircraft is arranged upside down within the outer envelope component. The present invention belongs to the technical field of aerospace aircraft.

Description

Technical Field

[0001] The present invention relates to an aircraft and a release and deployment device, belonging to the technical field of aerospace aircraft. Background Art

[0002] At present, the main way of Mars surface exploration is the Mars rover. The Mars rover belongs to a wheeled robot, and its moving range is severely affected by the terrain. Since there are various landforms on the Mars surface, only some landforms are suitable for the Mars rover to perform exploration tasks. The activity range of the Mars aircraft is not affected by the landforms. While exploring various landforms, it can assist the Mars rover to perform tasks. And the feasibility of the Mars quadrotor aircraft has been proven.

[0003] The Mars quadrotor aircraft has a simple and flexible operation mode. Compared with other configurations, it is more suitable for the Mars environment. However, the mechanical structure part of the quadrotor aircraft has large dimensions and is not compact. In order to make the aircraft structure compact for performing space missions, it is necessary to fold and deploy the aircraft.

[0004] All Mars aircraft rely on the lander and the Mars rover. After the aircraft is deployed, it is necessary to deploy the aircraft on the Mars surface. To simplify the auxiliary structure, the folding and deployment processes need to be coordinated. However, there is currently no suitable structure, folding and deployment scheme for the Mars quadrotor aircraft. Summary of the Invention

[0005] In order to solve the problem that there is currently no suitable structure, folding and deployment scheme for the Mars quadrotor aircraft, the present invention further provides a Mars quadrotor aircraft and a slide-type inverted release and deployment device.

[0006] The technical solution adopted by the present invention to solve the above problems is: the present invention includes a lander, a bottom flipping component, an outer envelope component, a multi-degree-of-freedom robotic arm, and a Mars aircraft; the bottom flipping component and the multi-degree-of-freedom robotic arm are arranged side by side on the upper surface of the lander, the bottom of the outer envelope component is installed on the bottom flipping component, and the Mars aircraft is arranged upside down in the outer envelope component.

[0007] Further, the bottom flipping component includes a flipping motor, a first-stage telescopic arm, a second-stage telescopic arm, and a flipping connecting piece; the flipping motor is fixedly installed on the upper surface of the lander, the end of the first-stage telescopic arm is fixedly connected to the motor shaft of the flipping motor, the end of the second-stage telescopic arm is inserted into the head of the first-stage telescopic arm, the flipping connecting piece is fixedly connected to the head of the second-stage telescopic arm, and the outer envelope component is connected to the flipping connecting piece.

[0008] Further, the outer envelope component includes an outer envelope cover, an outer envelope housing, initiator 1, a strap, multiple initiators 2, and two traction assemblies; an opening is provided at the top of the outer envelope housing, the outer envelope cover is installed on the opening at the top of the outer envelope housing, and the edge of the outer envelope cover is connected to the edge at the opening of the top of the outer envelope housing through multiple initiators 2. The bottom of the outer envelope housing is fixedly connected to the flipping connecting piece, and the bottom of the outer envelope housing is fixedly connected to the cylindrical fixed end of the lander through a strap. The Mars aircraft is arranged upside down inside the outer envelope housing, and the top of the Mars aircraft is connected to the bottom surface inside the outer envelope housing through initiator 1. The traction assemblies are symmetrically arranged outside the opening at the top of the outer envelope housing.

[0009] Further, each of the traction assemblies includes two fixed pulleys, a traction rope, and a traction motor; the traction motor is fixedly installed outside the opening at the top of the outer envelope housing, the two fixed pulleys are symmetrically arranged inside and outside the opening at the top of the outer envelope housing, one end of the traction rope is fixedly connected to the motor shaft of the traction motor, and the other end of the traction rope is connected to the Mars aircraft after passing around the two fixed pulleys.

[0010] Further, the Mars aircraft includes four propulsion motors, four paddle clips, four groups of paddle blades, a sampling mechanism, four rotor arms, a fuselage, four locking link assemblies, four rotor arm connection assemblies, and a solar panel; the four rotor arms are evenly arranged around the fuselage, the inner end of each rotor arm is connected to the fuselage through a rotor arm connection assembly, a propulsion motor is installed at the outer end of each rotor arm, a group of paddle blades is installed on the motor shaft of the propulsion motor, each group of paddle blades is folded together through a paddle clip, the solar panel is installed on the top of the fuselage, the sampling mechanism is installed at the bottom of the fuselage, and the inside of each rotor arm is attached to the fuselage through a locking link assembly.

[0011] Further, the Mars aircraft further includes four wheel set components and four support legs; the four support legs are arranged in a rectangle at the bottom of the fuselage, the upper end of each support leg is fixedly connected to the bottom surface of the fuselage, and a wheel set component is installed at the lower end of each support leg.

[0012] The beneficial effects of the present invention are as follows: The Mars quadrotor aircraft and the slide-type upside-down release and deployment device proposed by the present invention adopt the folding and unfolding scheme of components such as the rotor arms and support legs of the Mars quadrotor aircraft. After folding, the overall size is small, and the folding and unfolding process is simple; at the same time, a downward release and deployment scheme is proposed, which reduces the auxiliary mechanisms required for deployment, reduces the structural complexity and deployment difficulty, and is of great significance for the folding, unfolding, and deployment of the Mars aircraft. Description of the Drawings

[0013] Figure 1 is the overall structural schematic diagram of the present invention;

[0014] Figure 2It is a cross-sectional view of the folded structure of the Mars spacecraft within the outer envelope component;

[0015] Figure 3 It is a three-dimensional schematic diagram of the outer envelope shell and the traction device;

[0016] Figure 4 This is a three-dimensional schematic diagram of the folding structure of the Mars spacecraft;

[0017] Figure 5 It is a three-dimensional schematic diagram of the bottom flip component;

[0018] Figure 6 It is a three-dimensional schematic diagram of the initial state of the lander and Mars spacecraft;

[0019] Figure 7 is a three-dimensional schematic diagram of the envelope cover removed state;

[0020] Figure 8 It is a three-dimensional schematic diagram of the overall flip state of the envelope;

[0021] Figure 9 It is a three-dimensional schematic diagram of the aircraft in the downward pulling state;

[0022] Figure 10 It is a three-dimensional schematic diagram of the aircraft in the state of inverted release completion;

[0023] Figure 11 This is a three-dimensional schematic diagram of the Mars spacecraft's takeoff preparation state;

[0024] Figure 12 It is a three-dimensional schematic diagram of the flight status of the Mars spacecraft. DETAILED DESCRIPTION

[0025] Specific implementation method 1: Combination Figure 1 To describe this embodiment, a Mars quadrotor aircraft and a slide-type inverted release and deployment device described in this embodiment include a lander 1, a bottom flip component 2, an outer envelope component 3, a multi-degree-of-freedom robotic arm 4 and a Mars aircraft 5; the bottom flip component 2 and the multi-degree-of-freedom robotic arm 4 are installed side by side on the upper surface of the lander 1, the bottom of the outer envelope component 3 is installed on the bottom flip component 2, and the Mars aircraft 5 is inverted and arranged in the outer envelope component 3.

[0026] Specific implementation method 2: Combination Figure 5To describe this embodiment, the bottom flipping component 2 of the Mars quadrotor aircraft and the chute-type inverted release and deployment device described in this embodiment includes a flipping motor 2-1, a first-stage telescopic arm 2-2, a second-stage telescopic arm 2-3, and a flipping connector 2-4; the flipping motor 2-1 is fixedly installed on the upper surface of the lander 1, the end of the first-stage telescopic arm 2-2 is fixedly connected to the motor shaft of the flipping motor 2-1, the end of the second-stage telescopic arm 2-3 is inserted into the head end of the first-stage telescopic arm 2-2, the flipping connector 2-4 is fixedly connected to the head end of the second-stage telescopic arm 2-3, and the outer envelope component 3 is connected to the flipping connector 2-4.

[0027] In the bottom flipping component 2, the first-stage telescopic arm 2-2 and the second-stage telescopic arm 2-3 are of a coaxial telescopic cylinder structure with a moving pair; the flipping motor 2-1 is connected to the first-stage telescopic arm 2-2 and provides the flipping driving force; the flipping connector 2-4 is fixed to the second-stage telescopic arm 2-3 and the outer envelope housing 3-2 of the outer envelope component 3; during the flipping process, the second-stage telescopic arm 2-3 will drive the entire outer envelope component 2 to flip and will simultaneously extend outwards.

[0028] The fixed end of the multi-degree-of-freedom robotic arm 4 is fixedly connected to the lander 1 and is used to remove the outer envelope cover 3-1 after the explosion of the pyrotechnic device two 3-5.

[0029] Other compositions and connection relationships are the same as those in the first specific embodiment.

[0030] Specific embodiment three: With reference to Figure 2 and Figure 3 To describe this embodiment, the outer envelope component 3 of the Mars quadrotor aircraft and the chute-type inverted release and deployment device described in this embodiment includes an outer envelope cover 3-1, an outer envelope housing 3-2, a pyrotechnic device one 3-3, a strap 3-4, a plurality of pyrotechnic devices two 3-5, and two traction components; an opening is provided at the top of the outer envelope housing 3-2, the outer envelope cover 3-1 is installed on the opening at the top of the outer envelope housing 3-2, and the edge of the outer envelope cover 3-1 is connected to the edge of the opening at the top of the outer envelope housing 3-2 through a plurality of pyrotechnic devices two 3-5. The bottom of the outer envelope housing 3-2 is fixedly connected to the flipping connector 2-4, the bottom of the outer envelope housing 3-2 is fixedly connected to the cylindrical fixed end of the lander 1 through a strap 3-4, the Mars aircraft 5 is arranged upside down inside the outer envelope housing 3-2, the top of the Mars aircraft 5 is connected to the bottom surface inside the outer envelope housing 3-2 through a pyrotechnic device one 3-3, and the traction components are symmetrically arranged on the outside of the opening at the top of the outer envelope housing 3-2.

[0031] The bottom connection part of the outer envelope component 2 is connected and fixed to the cylindrical fixed end of the lander 1 through the strap 3-3; the outer envelope cover 3-1 and the outer envelope housing 3-2 are connected and fixed through the pyro device II 3-5; the outer envelope housing 3-2 and the Mars aircraft 5 are connected and fixed through the pyro device I 3-3; two traction motors 3-8 are fixed on the two inclined side faces at the upper end of the outer envelope housing 3-2. One end of the traction rope 3-7 is fixed on the rotating shaft of the traction motor 3-8 through the fixed pulley 3-6, and the other end is fixed on the pin shaft in the Mars aircraft 5 to provide a downward deployment driving force to realize the downward release of the aircraft; there are multiple form constraints inside the outer envelope cover 3-1 and the outer envelope housing 3-2 to complete the pressing and fixing constraints of the blades 5-5, rotor arms 5-7 and wheel group components 5-3 in the Mars aircraft 5; the two outer extension rods on both sides of the rotor arm connecting piece 5-10 in the Mars aircraft 5 are connected to the slideway on the side face of the outer envelope housing 3-2 to complete the guiding during the lifting process of the aircraft.

[0032] The other components and connection relationships are the same as those in the first or second specific implementation manner.

[0033] Specific implementation manner four: Combining Figure 2 and Figure 3 to describe this implementation manner, each of the traction components of the Mars quadcopter and the slideway type inverted release and deployment device described in this implementation manner includes two fixed pulleys 3-6, a traction rope 3-7 and a traction motor 3-8; the traction motor 3-8 is fixedly installed outside the top opening of the outer envelope housing 3-2, the two fixed pulleys 3-6 are symmetrically arranged inside and outside the top opening of the outer envelope housing 3-2, one end of the traction rope 3-7 is fixedly connected to the motor shaft of the traction motor 3-8, and the other end of the traction rope 3-7 is connected to the Mars aircraft 5 after passing around the two fixed pulleys 3-6. The other components and connection relationships are the same as those in the third specific implementation manner.

[0034] Specific implementation manner five: Combining Figure 4To describe this embodiment, the Mars aircraft 5 of the Mars quadrotor aircraft and the slide - type inverted release and deployment device includes four propulsion motors 5 - 1, four paddle clips 5 - 2, four groups of blades 5 - 5, a sampling mechanism 5 - 6, four rotor arms 5 - 7, a fuselage 5 - 8, four locking link assemblies 5 - 9, four rotor arm connection assemblies 5 - 10, and a solar panel 5 - 11. The four rotor arms 5 - 7 are evenly arranged around the fuselage 5 - 8. The inner end of each rotor arm 5 - 7 is connected to the fuselage 5 - 8 through a rotor arm connection assembly 5 - 10. One propulsion motor 5 - 1 is installed at the outer end of each rotor arm 5 - 7. A group of blades 5 - 5 is installed on the motor shaft of the propulsion motor 5 - 1. Each group of blades 5 - 5 is folded together through a paddle clip 5 - 2. The solar panel 5 - 11 is installed on the top of the fuselage 5 - 8, and the sampling mechanism 5 - 6 is installed at the bottom of the fuselage 5 - 8. The inside of each rotor arm 5 - 7 is attached to the fuselage 5 - 8 through a locking link assembly 5 - 9.

[0035] After the Mars aircraft 5 is folded, it is retracted into the outer envelope component 3 and fixed. Both the solar panel 5 - 11 and the sampling mechanism 5 - 6 are fixedly connected to the fuselage 5 - 8. The rotor arms 5 - 7 and the support legs 5 - 4 are connected and fixed to the fuselage 5 - 2 through rotating pairs. There are volute springs at the joints to provide restoring force. One end of the locking link assembly 5 - 9 is connected to the rotor arm connector 5 - 10, and the other end is connected to the fuselage 5 - 8 for locking after the rotor arms 5 - 7 are deployed. The blades 5 - 5 are connected to the paddle clip 5 - 2 through bolts. There is no circumferential fixation here, and there is a rotating pair. After the propulsion motor 5 - 1 starts to rotate, the two blades 5 - 5 will become collinear due to centrifugal force. After the paddle clip 5 - 2 is connected to the propulsion motor 5 - 1, the whole is connected and fixed to the rotor arm 5 - 7. The wheel set component 5 - 3 and the support leg 5 - 4 are connected and fixed through bolts, and there is a rotating pair at the connection. For folding, the whole wheel set component 5 - 3 rotates and abuts against the side surface of the outer envelope housing. During the unfolding process, it rotates back to the original position.

[0036] Other compositions and connection relationships are the same as those in the first specific embodiment.

[0037] Specific embodiment six: Figure 4 To describe this embodiment, the Mars aircraft 5 of the Mars quadrotor aircraft and the slide - type inverted release and deployment device further includes four wheel set components 5 - 3 and four support legs 5 - 4. The four support legs 5 - 4 are arranged in a rectangle at the bottom of the fuselage 5 - 8. The upper end of each support leg 5 - 4 is fixedly connected to the bottom surface of the fuselage 5 - 8, and one wheel set component 5 - 3 is installed at the lower end of each support leg 5 - 4. Other compositions and connection relationships are the same as those in the fifth specific embodiment.

[0038] Working principle

[0039] AsFigures 1 to 12 As shown in the figure, the unfolding and deployment process of the Mars aircraft is as follows:

[0040] After the lander 1 reaches the designated position, after the pyrotechnic device two 3-5 in the outer envelope component 3 explodes, the outer envelope cover 3-1 and the outer envelope housing 3-2 become separable. The multi-degree-of-freedom robotic arm 4 removes the outer envelope cover 3-1 to remove part of the form constraint. After the strap 3-4 explodes, the outer envelope component 3 and the lander 1 become separable. The flipping motor 2-1 in the bottom flipping component 2 rotates, driving the first-stage telescopic arm 2-2, the second-stage telescopic arm 2-3, the flipping connecting piece 2-4 and the outer envelope component 3 to rotate as a whole. During the flipping process, the second-stage telescopic arm 2-3 extends outwards to complete the elongation of the flipping arm. After flipping 180° to the designated position, the pyrotechnic device one 3-3 explodes, and the Mars aircraft 5 and the outer envelope housing 3-2 become separable. The traction motor 3-8 drives the aircraft to be released downward through the fixed pulley 3-6, the traction rope 3-7 and the pin 5-12 connected to the fuselage 5-8. During the downward release process, the form constraints between the outer extension short rods on both sides of the rotor arm connecting piece 5-10 and the side slideway of the outer envelope housing 3-2 and the form constraints between the wheel set component 5-3 and the inclined side surface of the outer envelope housing 3-2 play a guiding role. When released downward to the designated position, the pin 5-12 is separated from the fuselage 5-8, and the Mars aircraft 5 is in a free-fall state downward and descends to the surface of Mars. During this process, the form constraint does not work, and the wheel set component 5-3 rotates to the designated angle due to the elastic force of the scroll spring to complete the unfolding. The rotor arm 5-7 also rotates to the designated angle due to the elastic force of the scroll spring, and the locking link assembly 5-9 completes the locking. At this time, the inverted release of the Mars aircraft is completed, and the bottom flipping component 2 flips the outer envelope housing 3-2 back to the initial position. The propulsion motor 5-1 drives the propeller blade 5-5 to rotate through the propeller clip 5-2 to provide lift for the aircraft to complete the takeoff of the Mars aircraft 5.

[0041] The above is only a preferred embodiment of the present invention, and does not impose any form of limitation on the present invention. Although the present invention has been disclosed above with a preferred embodiment, it is not intended to limit the present invention. Any person skilled in the art, without departing from the scope of the technical solution of the present invention, can make some changes or modifications to the above-disclosed technical content to make equivalent embodiments of equivalent changes. However, as long as it does not depart from the content of the technical solution of the present invention, based on the technical essence of the present invention, any simple modification, equivalent replacement and improvement made to the above embodiments are still within the protection scope of the technical solution of the present invention.

Claims

1. A slide-type inverted release and deployment device for a Mars quadrotor aircraft, characterized in that: The described chute-type inverted release and deployment device for a Mars quadrotor aircraft includes a lander (1), a bottom flipping component (2), an outer envelope component (3), a multi-degree-of-freedom robotic arm (4), and a Mars aircraft (5); the bottom flipping component (2) and the multi-degree-of-freedom robotic arm (4) are arranged side by side on the upper surface of the lander (1), the bottom of the outer envelope component (3) is mounted on the bottom flipping component (2), and the Mars aircraft (5) is arranged upside down inside the outer envelope component (3).

2. The slide-type inverted release and deployment device for a Mars quadrotor aircraft according to claim 1, wherein: The bottom flipping component (2) includes a flipping motor (2-1), a first-stage telescopic arm (2-2), a second-stage telescopic arm (2-3), and a flipping connecting piece (2-4); the flipping motor (2-1) is fixedly mounted on the upper surface of the lander (1), the end of the first-stage telescopic arm (2-2) is fixedly connected to the motor shaft of the flipping motor (2-1), the end of the second-stage telescopic arm (2-3) is inserted into the head end of the first-stage telescopic arm (2-2), the flipping connecting piece (2-4) is fixedly connected to the head end of the second-stage telescopic arm (2-3), and the outer envelope component (3) is connected to the flipping connecting piece (2-4).

3. The slide - type inverted release and deployment device for a Mars quadrotor aircraft according to claim 1 or 2, characterized in that: The outer envelope component (3) includes an outer envelope cover (3-1), an outer envelope housing (3-2), a first pyrotechnic device (3-3), a strap (3-4), a plurality of second pyrotechnic devices (3-5), and two traction assemblies; the top of the outer envelope housing (3-2) is provided with an opening, the outer envelope cover (3-1) is mounted on the opening at the top of the outer envelope housing (3-2), and the edge of the outer envelope cover (3-1) is connected to the edge of the opening at the top of the outer envelope housing (3-2) through a plurality of second pyrotechnic devices (3-5), the bottom of the outer envelope housing (3-2) is fixedly connected to the flipping connecting piece (2-4), the bottom of the outer envelope housing (3-2) is fixedly connected to the cylindrical fixed end of the lander (1) through a strap (3-4), the Mars aircraft (5) is arranged upside down inside the outer envelope housing (3-2), the top of the Mars aircraft (5) is connected to the inner bottom surface of the outer envelope housing (3-2) through a first pyrotechnic device (3-3), and the traction assemblies are symmetrically arranged on the outside of the opening at the top of the outer envelope housing (3-2).

4. The chute-type inverted release and deployment device for a Mars quadrotor aircraft according to claim 3, wherein: Each of the traction assemblies includes two fixed pulleys (3-6), a traction rope (3-7), and a traction motor (3-8); the traction motor (3-8) is fixedly mounted on the outside of the opening at the top of the outer envelope housing (3-2), the two fixed pulleys (3-6) are symmetrically arranged on the inside and outside of the opening at the top of the outer envelope housing (3-2), one end of the traction rope (3-7) is fixedly connected to the motor shaft of the traction motor (3-8), and the other end of the traction rope (3-7) is connected to the Mars aircraft (5) after passing around the two fixed pulleys (3-6).

5. The slide - type inverted release and deployment device for a Mars quadrotor aircraft according to claim 1, wherein: The Mars aircraft (5) includes four propulsion motors (5-1), four paddle clips (5-2), four groups of paddle blades (5-5), a sampling mechanism (5-6), four rotor arms (5-7), a fuselage (5-8), four locking link assemblies (5-9), four rotor arm connection assemblies (5-10) and a solar panel (5-11); the four rotor arms (5-7) are evenly arranged around the fuselage (5-8), the inner end of each rotor arm (5-7) is connected to the fuselage (5-8) through a rotor arm connection assembly (5-10), a propulsion motor (5-1) is installed at the outer end of each rotor arm (5-7), a group of paddle blades (5-5) is installed on the motor shaft of the propulsion motor (5-1), and each group of paddle blades (5-5) is folded together through a paddle clip (5-2), the solar panel (5-11) is installed on the top of the fuselage (5-8), the sampling mechanism (5-6) is installed at the bottom of the fuselage (5-8), and the content of each rotor arm (5-7) is attached to the fuselage (5-8) through a locking link assembly (5-9).

6. The slide - type inverted release and deployment device for a Mars quad - rotor aircraft according to claim 5, wherein: The Mars aircraft (5) further includes four wheel set components (5-3) and four support legs (5-4); the four support legs (5-4) are arranged in a rectangle at the bottom of the fuselage (5-8), the upper end of each support leg (5-4) is fixedly connected to the bottom surface of the fuselage (5-8), and a wheel set component (5-3) is installed at the lower end of each support leg (5-4).

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