A four-blade quadrotor Mars aircraft and folding restraint and deployment unlocking device

Abstract

The present invention provides a four-blade quadrotor Mars aircraft and a folding restraint and deployment unlocking device. After folding, the aircraft (2) is pressed by the top restraint device (1) inside the bottom restraint device (4), and the bottom restraint device (4) is installed above the Mars lander (5), and a lander manipulator (3) is also deployed on the Mars lander (5); the top restraint device (1) and the bottom restraint device (4) are connected to each other during the rocket launch stage to form a cubic envelope. To achieve the deployment of the Mars rotorcraft on the Mars surface, and further carry out the inspection and exploration mission of the Mars rotorcraft.

Description

Technical Field

[0001] The present invention relates to the technical field of Mars rotorcraft, and particularly to a four-blade four-rotor Mars aircraft and a folding restraint and deployment unlocking device. Background Art

[0002] In recent years, human exploration activities on the Mars surface have become increasingly frequent, and the understanding of Mars has deepened. Traditional rovers and orbiters are difficult to meet the human exploration needs for the three-dimensional environment of Mars. Therefore, it is necessary to introduce Mars aircraft to assist in carrying out flight exploration tasks. The Mars helicopter launched by the United States in 2021 has proved the flyability of rotorcraft on the Mars surface, but the load-carrying capacity of this helicopter is relatively weak. To improve the load-carrying capacity of Mars rotorcraft, it is necessary to increase the rotor solidity and the number of rotors. Accordingly, a four-blade four-rotor Mars aircraft is proposed. The deployment size of the four-rotor Mars aircraft is relatively large and it is difficult to be directly accommodated in a launch vehicle. Therefore, it is necessary to design a foldable Mars aircraft and its restraint and locking device. Since there are more blades connected to the same hub, it is difficult for the blades of the four-blade rotor to fold around their roots. Therefore, it is necessary to fold the entire rotor system to reduce the envelope size of the aircraft after storage. The impact and vibration environment during rocket launch is likely to damage low-rigidity structures. Therefore, it is necessary to design a reliable restraint and pressing device to lock the Mars aircraft in the folded state. At the same time, due to the communication time delay between Mars and the Earth, the unlocking and deployment of the four-rotor aircraft on the Mars surface need to be automated. Therefore, it is necessary to design a simple and effective unlocking and deployment device to assist in the deployment and arrangement of the four-blade four-rotor Mars aircraft. Summary of the Invention

[0003] The present invention provides a four-blade four-rotor Mars aircraft and a folding restraint and deployment unlocking device to realize the deployment of the Mars rotorcraft on the Mars surface, and further carry out the inspection and exploration tasks of the Mars rotorcraft.

[0004] The present invention is achieved through the following technical solutions:

[0005] A four-blade Mars four-rotor aircraft includes a folding restraint device. The folding restraint device includes a top restraint device 1 and a bottom restraint device 4. After the aircraft 2 is folded, it is pressed by the top restraint device 1 inside the bottom restraint device 4. The bottom restraint device 4 is installed above the Mars lander 5, and a lander manipulator 3 is also deployed on the Mars lander 5. The top restraint device 1 and the bottom restraint device 4 are connected to each other during the rocket launch stage to form a cubic envelope.

[0006] The aircraft includes rotor blades 2-1, propulsion motors 2-2, rotor short arms 2-3, solar panels 2-4, rotor long arms 2-5, arm movement constraint rods 2-6, fuselage 2-7, landing legs 2-8, wheels 2-9, arm locking link A 2-10, and arm locking link B 2-11;

[0007] The aircraft has four identical sets of rotor blades 2-1 and propulsion motors 2-2. The aircraft also has two rotor short arms 2-3 and two rotor long arms 2-5. The propulsion motors 2-2 are connected to the arm movement constraint rods 2-6 through the rotor short arms 2-3 or rotor long arms 2-5. The rotor short arms 2-3 and rotor long arms 2-5 are arranged adjacent to each other;

[0008] The arm movement constraint rods 2-6 are connected to the fuselage 2-7 through rotary hinges and are connected to the arm locking link B 2-11 through hinges. The arm locking link B 2-11 is connected to the arm locking link A 2-10 through a rotary hinge. The solar panels 2-4 are connected to the top of the fuselage 2-7, and the landing legs 2-8 are connected to the bottom of the fuselage 2-7. Each landing leg 2-8 is respectively connected to a wheel 2-9.

[0009] A four-blade Mars quadrotor aircraft, the top constraint device 1 includes a cover plate clamping interface 1-1, a top cover plate 1-2, blade top pressing blocks 1-3, propulsion motor constraint blocks 1-4, fuselage constraint pressing blocks 1-5, wheel top pressing blocks 1-6, and blade side pressing blocks 1-7;

[0010] The bottom constraint device 4 includes a bottom envelope shell 4-1, blade bottom pressing blocks 4-2, fuselage unlocking pyrobolts 4-3, envelope shell unlocking pyrobolts 4-4, envelope shell straps 4-5, lander mounting interfaces 5-1, and wheel bottom pressing blocks 4-7;

[0011] The lander mounting interfaces 5-1 are fixedly connected to the Mars lander 5 and are connected to the bottom envelope shell 4-1 through the envelope shell straps 4-5. The head and tail ends of the envelope shell straps 4-5 are connected together by the envelope shell unlocking pyrobolts 4-4. The bottom envelope shell 4-1 is connected to the solar panels 2-4 through the fuselage unlocking pyrobolts 4-3. The blade bottom pressing blocks 4-2 and wheel bottom pressing blocks 4-7 are fixedly connected inside the bottom envelope shell 4-1. The upper end of the top cover plate 1-2 is fixedly connected to the cover plate clamping interface 1-1, and the lower end is fixedly connected to the blade top pressing blocks 1-3, propulsion motor constraint blocks 1-4, fuselage constraint pressing blocks 1-5, wheel top pressing blocks 1-6, and blade side pressing blocks 1-7. When the aircraft is in the folded constraint state, the blade side pressing blocks 1-7 contact and press the blade side constraint device 6.

[0012] Furthermore, the bottom constraint device 4 also includes a long arm constraint slide 4-8 and a short arm constraint slide 4-9; the long arm constraint slide 4-8 and the short arm constraint slide 4-9 both have a slide groove composed of a straight shape segment and a non-linear curve shape segment; the non-linear curve of the slide groove can ensure that as the aircraft moves upward, the rotor arm will gradually unfold to a horizontal position; the spherical structure of the arm motion constraint rod 2-6 can slide in the slide groove of the long arm constraint slide 4-8 or the short arm constraint slide 4-9; due to the different upward movement strokes of the short rotor arm 2-3 and the long rotor arm 2-5 during the unfolding process, the arm motion constraint rod 2-6 connected to the short rotor arm 2-3 slides in the slide groove of the long arm constraint slide 4-8, and the arm motion constraint rod 2-6 connected to the long rotor arm 2-5 slides in the slide groove of the short arm constraint slide 4-9.

[0013] Furthermore, the bottom restraint device 4 includes a pulley mounting frame 4-10, a fixed pulley 4-11, a traction rope 4-12 and an unfolding traction motor 4-13; the pulley mounting frame 4-10 is fixedly connected to the top of the arm restraint short slide 4-9, on which the fixed pulley 4-11 is installed; the unfolding traction motor 4-13 is fixedly connected to the inside of the bottom envelope shell 4-1; the rotor end of the unfolding traction motor 4-13 is connected to the traction rope 4-12, and the traction rope 4-12 bypasses the fixed pulley 4-11 and is connected to the fuselage 2-7; when the restraint is released, the unfolding traction motor 4-13 rolls up the traction rope 4-12, thereby pulling the fuselage 2-7 upward, so that the aircraft 2 is gradually unfolded.

[0014] Furthermore, the folding restraint device also includes a blade side restraint device 6, which includes a moving wedge 6-1, a guide ball column 6-2, a compression spring 6-3 and a fixed wedge 6-4; the stepped block structure of the lower part of the blade side clamping block 1-7 can slide in the stepped groove above the moving wedge 6-1; the inclined surface of the moving wedge 6-1 is in contact with the inclined surface of the fixed wedge 6-4, and the fixed wedge 6-4 is fixedly connected to the wall surface inside the bottom envelope shell 4-1; there is a cylindrical hole structure above the fixed wedge 6-4, with a built-in compression spring 6-3, the compression spring 6-3 is sleeved on the guide ball column 6-2, and the ball head of the guide ball column 6-2 can slide in the circular groove of the lower part of the moving wedge 6-1;

[0015] When the aircraft 2 is in the folded restraint state, the blade side pressing block 1-7 presses against the left and right symmetric moving wedges 6-1, and the two moving wedges 6-1 clamp the rotor blade 2-1; when the restraint of the aircraft 2 is released, the blade side pressing block 1-7 moves upward and no longer presses against the left and right symmetric moving wedges 6-1; the compression spring 6-3 will push the guiding ball column 6-2 upward, and then push the moving wedge 6-1 to move upward along the inclined plane, thereby releasing the restraint on the rotor blade 2-1; as the top restraint device 1 is lifted upward, the blade side pressing block 1-7 fixedly connected thereto also moves upward, thereby driving the wedge 6-1 to move upward and leave the interior of the device.

[0016] Further, when the aircraft 2 is in the folded restraint state, the top cover plate 1-2 is connected to the bottom envelope shell 4-1;

[0017] After the unlocking release instruction is issued, the connection between the top cover plate 1-2 and the bottom envelope shell 4-1 is disconnected, and the landing arm 3 clamps the cover plate clamping interface 1-1 and leaves the device; the blade top pressing block 1-3 and the blade bottom pressing block 4-2 restrain the rotor blade 2-1 from above and below, making it lose mobility and protecting it from vibration damage; the wheel top pressing block 1-6 and the wheel bottom pressing block 4-7 clamp and restrain the wheel 2-9 from above and below, making it lose mobility and protecting it from vibration damage; the propulsion motor restraint block 1-4 presses against the propulsion motor 2-2 from above, making it lose mobility and protecting it from vibration damage; the fuselage restraint pressing block 1-5 presses downward on the fuselage 2-7, and then together with the fuselage unlocking pyrotechnic bolt 4-3, restrains the fuselage 2-7 and the solar panel 2-4.

[0018] Further, before reaching Mars, the top cover plate 1-2 is connected to the bottom envelope shell 4-1; the top blade pressing block 1-3, the propulsion motor restraint block 1-4, the fuselage restraint pressing block 1-5, the wheel top pressing block 1-6 and the blade side pressing block 1-7 are fixedly connected below the top cover plate 1-2; the blade bottom pressing block 4-2, the fuselage unlocking pyrotechnic bolt 4-3, the wheel bottom pressing block 4-7 and the fixed wedge block 6-4 are fixedly connected inside the bottom envelope shell 4-1; the top blade pressing block 1-3 restrains the blades with the upward span direction among the four blades, and the blade bottom pressing block 4-2 restrains the blades with the downward span direction among the four blades; together, the blade side pressing block 1-7 and the fixed wedge block 6-4 press the guiding ball column 6-2 and the moving wedge block 6-1, thereby restraining the blades with the span direction pointing to the side among the four blades; the wheel top pressing block 1-6 and the wheel bottom pressing block 4-7 have a shape consistent with that of the wheel 2-9 but slightly smaller in size, which can restrain and press the wheel 2-9; the propulsion motor restraint block 1-4 restrains the movement of the propulsion motor 2-2 from above and presses it; the fuselage restraint pressing block 1-5 presses the fuselage 2-7 from above, and further presses the solar panel 2-4 connected to the fuselage unlocking pyrotechnic bolt 4-3, realizing the locking of the fuselage.

[0019] A four-blade Mars quadrotor aircraft further includes an unlocking and deploying device, and the rotor short arm 2-3 and the rotor long arm 2-5 can be folded around the hinge to a position parallel to the vertical axis of the fuselage 2-7;

[0020] When the rotor short arm 2-3 and the rotor long arm 2-5 are deployed to the horizontal position, it is regarded that the aircraft 2 is fully deployed. At this time, the four-bar linkage mechanism composed of the fuselage 2-7, the arm movement restraint rod 2-6, the arm locking link A 2-10 and the arm locking link B 2-11 is in the dead point position, that is, the axes of the arm locking link A 2-10 and the arm locking link B 2-11 coincide and lose the ability to move, which helps to lock the rotor short arm 2-3 and the rotor long arm 2-5 in the target position; the wheel 2-9 can enable the aircraft 2 to move on the ground with high precision and low speed.

[0021] Further, after receiving the aircraft unlocking and deploying instruction, the top cover plate 1-2 is disconnected from the bottom envelope shell 4-1; the landing vehicle manipulator 3 clamps the cover plate clamping interface 1-1, moves the top restraint device 1 upward, and throws it on the Martian surface; during this process, the blade side pressing block 1-7 is constrained by the bottom notch, and under the push of the compression spring 6-3, the guiding ball column 6-2 moves upward, pulling the moving wedge block 6-1 upward along the contact inclined plane with the fixed wedge block 6-4 to leave the inside of the bottom envelope shell 4-1; when the aircraft unfolds and takes off, the ground issues an envelope shell unlocking instruction; after receiving the instruction, the envelope shell unlocking pyro bolt 4-4 disconnects, and the envelope shell strap 4-5 separates at the head and tail, releasing the connection constraint on the bottom envelope shell 4-1 and the landing vehicle mounting interface 5-1; the landing vehicle manipulator 3 clamps the bottom envelope shell 4-1 and leaves the landing vehicle, throwing it on the Martian surface to prevent it from affecting the operation of other payloads on the landing vehicle.

[0022] Further, when the top restraint device 1 leaves the landing vehicle, the deployment traction motor 4-13 fixed inside the bottom envelope shell 4-1 winds the traction rope 4-12, and the traction rope 4-12 pulls the fuselage 2-7 upward through the fixed pulley 4-11. The ball head of the arm movement restraint rod 2-6 is constrained within the arm restraint long slideway 4-8 or the arm restraint short slideway 4-9. Under the constraint of the slideway geometry, when the arm movement restraint rod 2-6 rises with the fuselage 2-7, the rotor short arm 2-3 and the rotor long arm 2-5 will rotate around the hinge and gradually reach the horizontal position. When the rotor short arm 2-3 and the rotor long arm 2-5 reach the horizontal position, the axes of the arm locking link A2-10 and the arm locking link B2-11 coincide. Therefore, the four-bar linkage formed by the fuselage 2-7, the arm movement restraint rod 2-6, the arm locking link A2-10, and the arm locking link B2-11 is in a dead point position and loses its freedom of movement, locking the fuselage after deployment.

[0023] The beneficial effects of the present invention are:

[0024] 1. The present invention proposes a foldable and deployable four-rotor Mars aircraft with a single rotor composed of four blades, which can generate high thrust in the Martian atmospheric environment.

[0025] 2. The present invention can effectively achieve a high folding ratio for the four-rotor Mars aircraft with four blades, enabling the Mars aircraft to have a compact structure and the smallest possible volume after being folded.

[0026] 3. The present invention uses the structural form constraint method to simply and reliably lock and compress the folded four-rotor Mars aircraft with four blades, ensuring the structural safety of the folded Mars aircraft during high-vibration shock processes such as rocket launches.

[0027] 4. The present invention uses only one active motor to deploy the Mars aircraft, which can reliably and efficiently unlock the pressing components and deploy the Mars aircraft, facilitating the automatic unlocking and deployment of the Mars aircraft on the Mars surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is the overall layout diagram of the present invention on the Mars lander.

[0029] Figure 2 It is the three-dimensional structure diagram of the quadrotor Mars aircraft in the deployed state of the present invention.

[0030] Figure 3 It is the front view of the quadrotor Mars aircraft in the folded state of the present invention.

[0031] Figure 4 It is the cross-sectional view of the quadrotor Mars aircraft in the folded state inside the restraint device of the present invention.

[0032] Figure 5 It is the main cross-sectional view of the inner wheel and blade restraint mechanism of the restraint device of the present invention.

[0033] Figure 6 It is Figure 5 the enlarged three-dimensional cross-sectional view at position A in

[0034] Figure 7 It is the axonometric view of the process of the aircraft lifting and deploying upward of the present invention.

[0035] Figure 8 It is the axonometric view of the Mars rotorcraft and the restraint device in the deployed state of the present invention.

[0036] Figure 9 It is the top view of the Mars rotorcraft and the bottom restraint device in the deployed state of the present invention.

[0037] Among them, in the figure: 1. Top restraint device, 1-1. Cover plate clamping interface, 1-2. Top cover plate, 1-3. Blade top pressing block, 1-4. Propulsion motor restraint block, 1-5. Body restraint pressing block, 1-6. Wheel top pressing block, 1-7. Blade side pressing block, 2. Four-blade four-rotor Mars aircraft, 2-1. Rotor blade, 2-2. Propulsion motor, 2-3. Rotor short arm, 2-4. Solar panel, 2-5. Rotor long arm, 2-6. Arm movement restraint rod, 2-7. Body, 2-8. Landing leg, 2-9. Wheel, 2-10. Arm locking link A, 2-11. Arm locking link B, 3. Lander robotic arm, 4. Bottom restraint device, 4-1. Bottom envelope shell, 4-2. Blade bottom pressing block, 4-3. Body unlocking pyro bolt, 4-4. Envelope shell unlocking pyro bolt, 4-5. Envelope shell strap, 5-1. Lander mounting interface, 4-7. Wheel bottom pressing block, 4-8. Arm restraint long slide, 4-9. Arm restraint short slide, 4-10. Pulley mounting bracket, 4-11. Fixed pulley, 4-12. Towing rope, 4-13. Deployment towing motor, 5. Mars lander, 6. Blade side restraint device, 6-1. Moving wedge block, 6-2. Guide ball column, 6-3. Compression spring, 6-4. Fixed wedge block. Detailed implementation manners

[0038] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0039] The present invention proposes a foldable and deployable four-rotor Mars aircraft in which a single rotor is composed of four blades, which can generate high thrust in the Mars atmospheric environment. The present invention can effectively achieve a high folding ratio storage of the four-blade four-rotor Mars aircraft, so that the Mars aircraft has a compact structure and as small a volume as possible after being stored. The present invention uses a structural form constraint method, which can simply and reliably lock and press the folded four-blade four-rotor Mars aircraft, and can ensure the structural safety of the folded Mars aircraft during high-vibration impact processes such as rocket launches. The present invention only uses one active motor to deploy the Mars aircraft, which can reliably and efficiently unlock the pressing components and deploy the Mars aircraft, facilitating the automatic unlocking and deployment of the Mars aircraft on the Mars surface.

[0040] See Figures 1-3, A four-blade Mars quadcopter, including a folding restraint device. The folding restraint device includes a top restraint device 1 and a bottom restraint device 4. After the aircraft 2 is folded, it is pressed by the top restraint device 1 inside the bottom restraint device 4. The bottom restraint device 4 is installed above the Mars lander 5, and a lander robotic arm 3 is also deployed on the Mars lander 5. The top restraint device 1 and the bottom restraint device 4 are connected to each other during the rocket launch phase to form a cubic envelope, ensuring that the aircraft 2 has a smaller folding size and preventing the aircraft 2 from unfolding before reaching Mars or being damaged by external impacts. In the present invention, the lander robotic arm 3 is mainly used to assist the top restraint device 1 and the bottom restraint device 4 in releasing the restraint on the aircraft 2 after the Mars lander 5 lands on Mars;

[0041] The aircraft 2 includes rotor blades 2-1, propulsion motors 2-2, rotor short arms 2-3, solar panels 2-4, rotor long arms 2-5, arm movement restraint rods 2-6, fuselage 2-7, landing legs 2-8, wheels 2-9, arm locking link A 2-10, and arm locking link B 2-11;

[0042] The aircraft 2 is equipped with four identical sets of rotor blades 2-1 and propulsion motors 2-2. The aircraft 2 also has two rotor short arms 2-3 and two rotor long arms 2-5. The propulsion motors 2-2 are connected to the arm movement restraint rods 2-6 through the rotor short arms 2-3 or the rotor long arms 2-5. The rotor short arms 2-3 and the rotor long arms 2-5 are arranged adjacent to each other;

[0043] The arm movement restraint rods 2-6 are connected to the fuselage 2-7 through rotary hinges and are connected to the arm locking link B 2-11 through hinges. The arm locking link B 2-11 is connected to the arm locking link A 2-10 through a rotary hinge. The top of the fuselage 2-7 is connected to the solar panel 2-4, and the bottom of the fuselage 2-7 is connected to the landing legs 2-8. Each landing leg 2-8 is respectively connected to a wheel 2-9.

[0044] Structural principle of the four-blade Mars quadcopter: The propulsion motor 2-2 drives the rotor containing 4 rotor blades 2-1 to rotate. The propulsion motors 2-2 are installed at the ends of the rotor short arms 2-3 and the rotor long arms 2-5. The rotor short arms 2-3 and the rotor long arms 2-5 can be folded around the hinges to be parallel to the axis of the fuselage 2-7. When the rotor blades of the aircraft 2 do not rotate, it can be driven by the wheels 2-9 to move slowly on the ground.

[0045] See Figures 4-5, Further, the top restraint device 1 includes a cover plate clamping interface 1-1, a top cover plate 1-2, a blade top pressing block 1-3, a propulsion motor restraint block 1-4, a fuselage restraint pressing block 1-5, a wheel top pressing block 1-6, and a blade side pressing block 1-7;

[0046] The bottom restraint device 4 includes a bottom envelope shell 4-1, a blade bottom pressing block 4-2, a fuselage unlocking pyrotechnic bolt 4-3, an envelope shell unlocking pyrotechnic bolt 4-4, an envelope shell strap 4-5, a lander mounting interface 5-1, and a wheel bottom pressing block 4-7;

[0047] The lander mounting interface 5-1 is fixedly connected to the Mars lander 5 and is connected to the bottom envelope shell 4-1 through the envelope shell strap 4-5; the head and tail ends of the envelope shell strap 4-5 are connected together by the envelope shell unlocking pyrotechnic bolt 4-4; the bottom envelope shell 4-1 is connected to the solar panel 2-4 through the fuselage unlocking pyrotechnic bolt 4-3; the blade bottom pressing block 4-2 and the wheel bottom pressing block 4-7 are fixedly connected inside the bottom envelope shell 4-1; the upper end of the top cover plate 1-2 is fixedly connected to the cover plate clamping interface 1-1, and the lower end is fixedly connected to the blade top pressing block 1-3, the propulsion motor restraint block 1-4, the fuselage restraint pressing block 1-5, the wheel top pressing block 1-6, and the blade side pressing block 1-7; when the aircraft is in the folded restraint state, the blade side pressing block 1-7 contacts and presses the blade side restraint device 6.

[0048] See Figure 2 and 7 , Further, the bottom restraint device 4 further includes a boom restraint long slide 4-8 and a boom restraint short slide 4-9; both the boom restraint long slide 4-8 and the boom restraint short slide 4-9 have a chute composed of a straight segment and a non-linear curve segment; the non-linear curve of the chute can ensure that as the aircraft moves upward, the rotor boom will gradually unfold to the horizontal position; the spherical structure of the boom movement restraint rod 2-6 can slide in the chute of the boom restraint long slide 4-8 or the boom restraint short slide 4-9; due to the different upward movement strokes of the rotor short boom 2-3 and the rotor long boom 2-5 during the unfolding process, the boom movement restraint rod 2-6 connected to the rotor short boom 2-3 slides in the chute of the boom restraint long slide 4-8, and the boom movement restraint rod 2-6 connected to the rotor long boom 2-5 slides in the chute of the boom restraint short slide 4-9;

[0049] When the aircraft 2 is in the folded restraint state, the blade side pressing block 1-7 presses against the left and right symmetric moving wedges 6-1, and the two moving wedges 6-1 clamp the rotor blade 2-1; when the restraint of the aircraft 2 is released, the blade side pressing block 1-7 moves upward and no longer presses against the left and right symmetric moving wedges 6-1; the compression spring 6-3 will push the guiding ball column 6-2 upward, and then push the moving wedge 6-1 to move upward along the inclined plane, thereby releasing the restraint on the rotor blade 2-1; as the top restraint device 1 is lifted upward, the blade side pressing block 1-7 fixedly connected thereto also moves upward, thereby driving the wedge 6-1 to move upward and leave the inside of the device.

[0050] See Figures 8-9 , further, the bottom restraint device 4 includes a pulley mounting bracket 4-10, a fixed pulley 4-11, a traction rope 4-12, and a deployment traction motor 4-13; the pulley mounting bracket 4-10 is fixedly connected to the top end of the arm restraint short slideway 4-9, and a fixed pulley 4-11 is mounted thereon; the deployment traction motor 4-13 is fixedly connected inside the bottom envelope 4-1; the rotor end of the deployment traction motor 4-13 is connected to the traction rope 4-12, and the traction rope 4-12 bypasses the fixed pulley 4-11 and is connected to the fuselage 2-7; when the restraint is released, the deployment traction motor 4-13 winds the traction rope 4-12, thereby pulling the fuselage 2-7 upward and gradually unfolding the aircraft 2.

[0051] See Figures 5-6 , further, the folding restraint device further includes a blade side restraint device 6, and the blade side restraint device 6 includes a moving wedge 6-1, a guiding ball column 6-2, a compression spring 6-3, and a fixed wedge 6-4; the stepped block structure of the lower part of the blade side pressing block 1-7 can slide in the stepped groove above the moving wedge 6-1; the inclined plane of the moving wedge 6-1 is in contact with the inclined plane of the fixed wedge 6-4, and the fixed wedge 6-4 is fixedly connected to the wall surface inside the bottom envelope 4-1; there is a cylindrical hole structure above the fixed wedge 6-4, and a compression spring 6-3 is built therein. The compression spring 6-3 is sleeved on the guiding ball column 6-2, and the ball head of the guiding ball column 6-2 can slide in the circular groove of the lower part of the moving wedge 6-1.

[0052] See Figures 4-5 , further, when the aircraft 2 is in the folded restraint state, the top cover plate 1-2 is connected to the bottom envelope 4-1;

[0053] After the unlocking and release instruction is issued, the connection between the top cover plate 1-2 and the bottom envelope shell 4-1 is disconnected, and the landing gear manipulator 3 clamps the cover plate clamping interface 1-1 and leaves the device; the top blade pressing block 1-3 and the bottom blade pressing block 4-2 constrain the rotor blade 2-1 in the vertical direction, making it lose its mobility and protecting it from vibration damage; the top wheel pressing block 1-6 and the bottom wheel pressing block 4-7 clamp and constrain the wheel 2-9 in the vertical direction, making it lose its mobility and protecting it from vibration damage; the propulsion motor constraint block 1-4 presses the propulsion motor 2-2 from above, making it lose its mobility and protecting it from vibration damage; the fuselage constraint pressing block 1-5 presses the fuselage 2-7 downward, and then together with the fuselage unlocking pyrotechnic bolt 4-3, constrains the fuselage 2-7 and the solar panel 2-4.

[0054] Further, before reaching Mars, the top cover plate 1-2 is connected to the bottom envelope shell 4-1; the top blade pressing block 1-3, the propulsion motor constraint block 1-4, the fuselage constraint pressing block 1-5, the top wheel pressing block 1-6 and the blade side pressing block 1-7 are fixedly connected below the top cover plate 1-2; the bottom blade pressing block 4-2, the fuselage unlocking pyrotechnic bolt 4-3, the bottom wheel pressing block 4-7 and the fixed wedge block 6-4 are fixedly connected inside the bottom envelope shell 4-1; the top blade pressing block 1-3 constrains the blade with the upward wingspan direction among the four blades, and the bottom blade pressing block 4-2 constrains the blade with the downward wingspan direction among the four blades; the blade side pressing block 1-7 and the fixed wedge block 6-4 together press the guide ball column 6-2 and the moving wedge block 6-1, and then constrain the blade with the wingspan direction pointing to the side among the four blades; the top wheel pressing block 1-6 and the bottom wheel pressing block 4-7 have a shape consistent with that of the wheel 2-9 but slightly smaller in size, and can constrain and press the wheel 2-9; the propulsion motor constraint block 1-4 constrains the movement of the propulsion motor 2-2 from above and presses it; the fuselage constraint pressing block 1-5 presses the fuselage 2-7 from above, and then presses the solar panel 2-4 connected to the fuselage unlocking pyrotechnic bolt 4-3 to achieve the locking of the fuselage.

[0055] Further, for the constraint and pressing of the aircraft 2, the rotor short arm 2-3 and the rotor long arm 2-5 can be folded around the hinge to a position parallel to the vertical axis of the fuselage 2-7;

[0056] In the unfolded state, the distance between the arm movement constraint rod 2-6 connected to the rotor short arm 2-3 and the outer wall of the fuselage 2-7 is relatively far, and the distance between the arm movement constraint rod 2-6 connected to the rotor long arm 2-5 and the outer wall of the fuselage 2-7 is relatively close. In this way, in the folded state, adjacent rotors can be staggered in the vertical position to avoid structural interference. (See Figure 3When the rotor short arm 2-3 and the rotor long arm 2-5 are deployed to the horizontal position, it is regarded that the four-blade four-rotor Mars aircraft 2 is fully deployed. At this time, the four-bar linkage mechanism composed of the fuselage 2-7, the arm movement constraint rod 2-6, the arm locking link A 2-10, and the arm locking link B 2-11 is in the dead center position, that is, the axes of the arm locking link A 2-10 and the arm locking link B 2-11 coincide and lose the ability to move, which helps to lock the rotor short arm 2-3 and the rotor long arm 2-5 in the target position. (See Figure 3 The wheel 2-9 enables the four-blade four-rotor Mars aircraft 2 to move at a high precision and low speed on the ground.

[0057] Furthermore, unlocking of the restraint device: After receiving the aircraft unlocking and deployment command, the top cover 1-2 is disconnected from the bottom envelope shell 4-1; the landing vehicle manipulator 3 clamps the cover clamping interface 1-1, moves the top restraint device 1 upward, and throws it on the Martian surface; during this process, the blade side pressing block 1-7 is constrained by the bottom notch, and under the push of the compression spring 6-3, the guide ball column 6-2 moves upward, pulling the moving wedge block 6-1 upward along the contact inclined plane with the fixed wedge block 6-4 to leave the inside of the bottom envelope shell 4-1; when the aircraft is deployed and takes off, the ground issues an envelope shell unlocking command. After receiving the command, the envelope shell unlocking pyrotechnic bolt 4-4 disconnects, and the envelope shell strap 4-5 is separated at the head and tail, releasing the connection constraint on the bottom envelope shell 4-1 and the landing vehicle mounting interface 5-1; the landing vehicle manipulator 3 clamps the bottom envelope shell 4-1 and leaves the landing vehicle, and throws it on the Martian surface to avoid affecting the operation of other payloads on the landing vehicle.

[0058] Furthermore, the unfolding and deployment of the aircraft 2: When the top restraint device 1 leaves the landing vehicle, the deployment traction motor 4-13 fixed inside the bottom envelope shell 4-1 winds the traction rope 4-12, and the traction rope 4-12 pulls the fuselage 2-7 upward through the fixed pulley 4-11. The ball head of the arm movement constraint rod 2-6 is constrained in the arm constraint long slideway 4-8 or the arm constraint short slideway 4-9. Under the constraint of the slideway geometry, when the arm movement constraint rod 2-6 rises with the fuselage 2-7, the rotor short arm 2-3 and the rotor long arm 2-5 will rotate around the hinge and gradually reach the horizontal position. When the rotor short arm 2-3 and the rotor long arm 2-5 reach the horizontal position, the axes of the arm locking link A 2-10 and the arm locking link B 2-11 coincide. Therefore, the four-bar linkage mechanism composed of the fuselage 2-7, the arm movement constraint rod 2-6, the arm locking link A 2-10, and the arm locking link B 2-11 is in the dead center position and loses the degree of freedom of movement, locking the fuselage after unfolding.

[0059] The above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims

1. A four-blade Mars quadrotor aircraft, characterized in that, It includes a folding restraint device, which includes a top restraint device (1) and a bottom restraint device (4). After the aircraft (2) is folded, it is pressed by the top restraint device (1) inside the bottom restraint device (4). The bottom restraint device (4) is installed above the Mars lander (5), and a lander manipulator (3) is also deployed on the Mars lander (5). The top restraint device (1) and the bottom restraint device (4) are connected to each other during the rocket launch phase to form a cubic envelope. The aircraft (2) includes rotor blades (2-1), propulsion motors (2-2), rotor short arms (2-3), solar panels (2-4), rotor long arms (2-5), arm movement restraint rods (2-6), a fuselage (2-7), landing legs (2-8), wheels (2-9), arm locking link A (2-10), and arm locking link B (2-11). The aircraft (2) has four sets of identical rotor blades (2-1) and propulsion motors (2-2). The aircraft (2) also has two rotor short arms (2-3) and two rotor long arms (2-5). The propulsion motors (2-2) are connected to the arm movement restraint rods (2-6) through the rotor short arms (2-3) or the rotor long arms (2-5). The rotor short arms (2-3) and the rotor long arms (2-5) are arranged adjacent to each other. The arm movement restraint rods (2-6) are connected to the fuselage (2-7) through rotary hinges and are connected to the arm locking link B (2-11) through hinges. The arm locking link B (2-11) is connected to the arm locking link A (2-10) through a rotary hinge. The top of the fuselage (2-7) is connected to the solar panel (2-4), and the bottom of the fuselage (2-7) is connected to the landing legs (2-8). Each landing leg (2-8) is respectively connected to a wheel (2-9). It also includes an unlocking and deploying device. The rotor short arms (2-3) and the rotor long arms (2-5) can be folded around the hinges to a position parallel to the vertical axis of the fuselage (2-7). When the rotor short arms (2-3) and the rotor long arms (2-5) are deployed to the horizontal position, it is regarded as the aircraft (2) being fully deployed. At this time, the four-bar mechanism formed by the fuselage (2-7), the arm movement restraint rods (2-6), the arm locking link A (2-10), and the arm locking link B (2-11) is in a dead point position, that is, the axes of the arm locking link A (2-10) and the arm locking link B (2-11) coincide and lose the ability to move, which helps to lock the rotor short arms (2-3) and the rotor long arms (2-5) in the target position. The wheels (2-9) can enable the aircraft (2) to move on the ground with high precision and low speed.

2. The four-blade Mars quadrotor aircraft according to claim 1, wherein The top restraint device (1) includes a cover plate clamping interface (1-1), a top cover plate (1-2), blade top pressing blocks (1-3), propulsion motor restraint blocks (1-4), fuselage restraint pressing blocks (1-5), wheel top pressing blocks (1-6), and blade side pressing blocks (1-7). The bottom restraint device (4) includes a bottom envelope shell (4-1), a blade bottom pressing block (4-2), a fuselage unlocking pyro bolt (4-3), an envelope shell unlocking pyro bolt (4-4), an envelope shell band (4-5), a lander mounting interface (5-1), and a wheel bottom pressing block (4-7); The lander mounting interface (5-1) is fixedly connected to the Mars lander (5) and is connected to the bottom envelope shell (4-1) through the envelope shell band (4-5); the head and tail ends of the envelope shell band (4-5) are connected together by the envelope shell unlocking pyro bolt (4-4); the bottom envelope shell (4-1) is connected to the solar panel (2-4) through the fuselage unlocking pyro bolt (4-3); the blade bottom pressing block (4-2) and the wheel bottom pressing block (4-7) are fixedly connected inside the bottom envelope shell (4-1); the upper end of the top cover plate (1-2) is fixedly connected to the cover plate clamping interface (1-1), and the lower end is fixedly connected to the blade top pressing block (1-3), the propulsion motor restraint block (1-4), the fuselage restraint pressing block (1-5), the wheel top pressing block (1-6), and the blade side pressing block (1-7); when the aircraft is in the folded restraint state, the blade side pressing block (1-7) contacts and presses the blade side restraint device (6).

3. The four-blade Mars quadrotor aircraft according to claim 2, characterized in that The bottom restraint device (4) further includes a boom restraint long slideway (4-8) and a boom restraint short slideway (4-9); both the boom restraint long slideway (4-8) and the boom restraint short slideway (4-9) have a chute composed of a straight segment and a non-linear curve segment; the non-linear curve of the chute can ensure that as the aircraft moves upward, the rotor boom will gradually unfold to the horizontal position; the spherical structure of the boom movement restraint rod (2-6) can slide in the chute of the boom restraint long slideway (4-8) or the boom restraint short slideway (4-9); due to the different upward movement strokes of the rotor short boom (2-3) and the rotor long boom (2-5) during the unfolding process, the boom movement restraint rod (2-6) connected to the rotor short boom (2-3) slides in the chute of the boom restraint long slideway (4-8), and the boom movement restraint rod (2-6) connected to the rotor long boom (2-5) slides in the chute of the boom restraint short slideway (4-9).

4. A four-blade Mars quadrotor aircraft according to claim 3, characterized in that The bottom restraint device (4) includes a pulley mounting bracket (4-10), a fixed pulley (4-11), a traction rope (4-12), and an unfolding traction motor (4-13); the pulley mounting bracket (4-10) is fixedly connected to the top end of the boom restraint short slideway (4-9), and a fixed pulley (4-11) is mounted thereon; the unfolding traction motor (4-13) is fixedly connected inside the bottom envelope shell (4-1); the rotor end of the unfolding traction motor (4-13) is connected to the traction rope (4-12), and the traction rope (4-12) bypasses the fixed pulley (4-11) and is connected to the fuselage (2-7); when the restraint is released, the unfolding traction motor (4-13) winds the traction rope (4-12), thereby pulling the fuselage (2-7) upward and causing the aircraft (2) to gradually unfold.

5. A four-blade Mars quadrotor aircraft according to claim 4, characterized in that, The folding restraint device further includes a blade side restraint device (6), and the blade side restraint device (6) includes a moving wedge block (6-1), a guiding ball column (6-2), a compression spring (6-3) and a fixed wedge block (6-4); the stepped block structure of the lower part of the blade side pressing block (1-7) can slide in the stepped groove above the moving wedge block (6-1); the inclined surface of the moving wedge block (6-1) is in contact with the inclined surface of the fixed wedge block (6-4), and the fixed wedge block (6-4) is fixedly connected to the inner wall surface of the bottom envelope shell (4-1); there is a cylindrical hole structure above the fixed wedge block (6-4), and the compression spring (6-3) is built in. The compression spring (6-3) is sleeved on the guiding ball column (6-2), and the ball head of the guiding ball column (6-2) can slide in the circular groove of the lower part of the moving wedge block (6-1). When the aircraft (2) is in the folding restraint state, the blade side pressing block (1-7) presses the two symmetrical moving wedge blocks (6-1) on the left and right, and the two moving wedge blocks (6-1) clamp the rotor blade (2-1); when the restraint of the aircraft (2) is released, the blade side pressing block (1-7) moves upward and no longer presses the two symmetrical moving wedge blocks (6-1) on the left and right; the compression spring (6-3) will push the guiding ball column (6-2) upward, and then push the moving wedge block (6-1) to move upward along the inclined surface, and then release the restraint on the rotor blade (2-1); as the top restraint device (1) is lifted upward, the blade side pressing block (1-7) fixedly connected thereto also moves upward, and then drives the wedge block (6-1) to move upward and leave the inside of the device.

6. A four-blade Mars quadrotor aircraft according to claim 5, characterized in that When the aircraft (2) is in the folding restraint state, the top cover plate (1-2) is connected to the bottom envelope shell (4-1). After the unlocking and release instruction is issued, the connection between the top cover plate (1-2) and the bottom envelope shell (4-1) is disconnected, and the landing arm (3) clamps the cover plate clamping interface (1-1) and leaves the device; the blade top pressing block (1-3) and the blade bottom pressing block (4-2) restrain the rotor blade (2-1) from above and below, making it lose mobility and protecting it from vibration damage; the wheel top pressing block (1-6) and the wheel bottom pressing block (4-7) clamp and restrain the wheel (2-9) from above and below, making it lose mobility and protecting it from vibration damage; the propulsion motor restraint block (1-4) presses the propulsion motor (2-2) from above, making it lose mobility and protecting it from vibration damage; the fuselage restraint pressing block (1-5) presses the fuselage (2-7) downward, and then jointly with the fuselage unlocking pyrotechnic bolt (4-3), restrains the fuselage (2-7) and the solar panel (2-4).

7. A four-blade Mars quadrotor aircraft according to claim 6, characterized in that, Before reaching Mars, the top cover plate (1-2) is connected to the bottom envelope shell (4-1); below the top cover plate (1-2), the blade top pressing block (1-3), the propulsion motor restraint block (1-4), the fuselage restraint pressing block (1-5), the wheel top pressing block (1-6) and the blade side pressing block (1-7) are fixedly connected; inside the bottom envelope shell (4-1), the blade bottom pressing block (4-2), the fuselage unlocking pyrotechnic bolt (4-3), the wheel bottom pressing block (4-7) and the fixed wedge block (6-4) are fixedly connected; the blade top pressing block (1-3) restrains the blades with the wingspan direction upward among the four blades, and the blade bottom pressing block (4-2) restrains the blades with the wingspan direction downward among the four blades; together, the blade side pressing block (1-7) and the fixed wedge block (6-4) press the guide ball column (6-2) and the moving wedge block (6-1), thereby restraining the blades with the wingspan direction pointing to the side among the four blades; the wheel top pressing block (1-6) and the wheel bottom pressing block (4-7) have shapes consistent with those of the wheels (2-9) but slightly smaller sizes, and can restrain and press the wheels (2-9); the propulsion motor restraint block (1-4) restrains the movement of the propulsion motor (2-2) from above and presses it; the fuselage restraint pressing block (1-5) presses the fuselage (2-7) from above, and further presses the solar panel (2-4) connected to the fuselage unlocking pyrotechnic bolt (4-3), realizing the locking of the fuselage.

8. A four-blade Mars quadrotor aircraft according to claim 7, characterized in that, After receiving the aircraft unlocking and deployment command, the top cover plate (1-2) is disconnected from the bottom envelope shell (4-1); the landing arm (3) of the lander clamps the cover plate clamping interface (1-1), moves the top restraint device (1) upward, and throws it on the Martian surface; during this process, the blade side pressing block (1-7) is constrained by the bottom notch, and driven by the compression spring (6-3), the guide ball column (6-2) moves upward, pulling the moving wedge block (6-1) to leave the inside of the bottom envelope shell (4-1) along the contact inclined plane with the fixed wedge block (6-4); when the aircraft unfolds and takes off, the ground issues an envelope shell unlocking command; after receiving the command, the envelope shell unlocking pyrotechnic bolt (4-4) disconnects, and the envelope shell strap (4-5) separates at the head and tail, releasing the connection restraint on the bottom envelope shell (4-1) and the lander installation interface (5-1); the landing arm (3) of the lander clamps the bottom envelope shell (4-1) and leaves the lander, throwing it on the Martian surface to avoid affecting the work of other payloads on the lander.

9. The four-blade Mars quadrotor aircraft according to claim 8, characterized in that, After the top restraint device (1) leaves the lander, the deployment traction motor (4-13) fixedly connected inside the bottom envelope shell (4-1) winds up the traction rope (4-12), and the traction rope (4-12) pulls the fuselage (2-7) to move upward through the fixed pulley (4-11); the ball head of the arm movement restraint rod (2-6) is constrained within the long arm restraint slideway (4-8) or the short arm restraint slideway (4-9). Under the constraint of the slideway geometry, when the arm movement restraint rod (2-6) rises with the fuselage (2-7), the short rotor arm (2-3) and the long rotor arm (2-5) will rotate around the hinge and gradually reach the horizontal position; after the short rotor arm (2-3) and the long rotor arm (2-5) reach the horizontal position, the axes of the arm locking link A (2-10) and the arm locking link B (2-11) coincide. Therefore, the four-bar linkage mechanism composed of the fuselage (2-7), the arm movement restraint rod (2-6), the arm locking link A (2-10), and the arm locking link B (2-11) is in a dead point position and loses its degree of freedom of movement, locking the fuselage after deployment.

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