An inverted locking and releasing mechanism for a Mars helicopter

Abstract

The present invention discloses an inverted Mars helicopter locking and releasing mechanism. A coaxial helicopter (4) is nested in a lander (5), a landing platform (5-1) of the lander (5) is provided with a mounting platform (1), a body locking assembly (2) is provided at the center of the mounting platform (1), and a memory alloy locking device (3) and a body locking assembly (2) are sequentially provided in the body locking assembly (2) from top to bottom. The present invention is used to solve the problem that the coaxial helicopter is difficult to withstand large vibrations and high loads during the process of transporting the coaxial helicopter to the surface of Mars during the existing Mars flight exploration mission.

Description

Technical Field

[0001] The present invention belongs to the field of Martian aircraft research and development, and specifically relates to an inverted Martian helicopter locking and releasing mechanism. Background Art

[0002] Mars exploration can expand human living space and advance human exploration of the universe. Currently, the main methods for Mars exploration include orbiter orbiting, rover patrol, and flight exploration. Compared to other exploration methods, flight exploration allows for detailed surveys of the Martian surface and unique terrain features such as depressions and cliffs, minimizing the risk of encountering obstacles and sand traps caused by the complex Martian terrain. It can also work with rovers to build a three-dimensional topographic map of the surrounding area, enabling obstacle avoidance and improving exploration efficiency. Mars has a thin atmosphere, approximately 1% the density of Earth's atmosphere, making flight exploration possible. To transport a helicopter to the Martian surface, it is necessary to lock it to a lander and then release it upon arrival. The lander carries numerous scientific payloads, leaving limited space for the helicopter. Furthermore, rocket transport imposes heavy loads and vibrations on the helicopter. Therefore, research on helicopter locking and release mechanisms is crucial for advancing Mars flight exploration missions. Summary of the Invention

[0003] The present invention provides an inverted locking and releasing mechanism for a Mars helicopter, which is used to solve the problem that a coaxial helicopter is difficult to withstand large vibrations and high loads during transportation to the surface of Mars during existing Mars flight exploration missions.

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

[0005] An inverted Mars helicopter locking and releasing mechanism, comprising a mounting platform 1, a body locking assembly 2, a memory alloy locking device 3, a coaxial helicopter 4, and a lander 5;

[0006] A coaxial helicopter 4 is nested in the lander 5, and an installation platform 1 is set on the landing platform 5-1 of the lander 5. A body locking assembly 2 is set at the center of the installation platform 1, and a memory alloy locking device 3 and a body locking assembly 2 are sequentially set in the body locking assembly 2 from top to bottom.

[0007] Furthermore, the mounting platform 1 includes a rotor plate 1-1, a support rod 1-2, a turntable 1-3 and a plate guide rail 1-4; the rotor plate 1-1 is connected to the turntable 1-3 through the support rod 1-2, and the turntable 1-3 rotates to push the rotor plate 1-1 to both sides along the plate guide rail 1-4.

[0008] Furthermore, the body locking assembly 2 includes an end cover 2-1, a column 2-2 and a solar panel support 2-3; the four corners of the end cover 2-1 are respectively inserted into four circumferentially arranged columns 2-2, and solar panel supports 2-3 are installed on both sides of the lower ends of the four columns 2-2. The solar panel supports 2-3 are used to fix the solar panel on the top of the coaxial helicopter 4.

[0009] Furthermore, the memory alloy locking device 3 includes a torsion spring 3-1, a pressure cover 3-2, an actuator 3-3 and an alloy pin 3-4; the pressure cover 3-2 is connected to the vertical wall panel 5-3, and the actuator 3-3 is installed on the pressure cover 3-2. The actuator 3-3 is fastened to the coaxial helicopter 4 through the alloy pin 3-4. After the actuator 3-3 is heated to disconnect the alloy pin 3-4, the pressure cover 3-2 flips upward under the action of the root torsion spring 3-1 to achieve unlocking.

[0010] Furthermore, the coaxial helicopter 4 includes a main shaft 4-1, a solar panel 4-2, a drive module I 4-3-1, a rotor I 4-4-1, a steering module I 4-5-1, a drive module II 4-3-2, a rotor II 4-4-2, a steering module II 4-5-2, a leg hinge 4-6, a slider 4-7, a landing leg 4-8 and a drive wheel 4-9;

[0011] The solar cell panel 4-2 is firmly connected to the main shaft 4-1. The top of the solar cell panel 4-2 is provided with a locking and releasing structure for use with the gland 3-2. The drive module I 4-3-1, the rotor I 4-4-1, and the steering module I 4-5-1 are sequentially connected to the main shaft 4-1 from top to bottom. The drive module II 4-3-2 is arranged below the steering module I 4-5-1. The drive module II 4-3-2, the rotor II 4-4-2, and the steering module II 4-5-2 are sequentially connected to the main shaft 4-1 from top to bottom.

[0012] Each of the landing legs 4-8 is connected to the body through a leg hinge 4-6, and a driving wheel 4-9 is provided at the lower end of each of the landing legs 4-8. A slider 4-7 is extended outward from the root of the four landing legs 4-8. When the mechanical arm 5-2 of the lander 5 lifts the helicopter 4 upward, the slider 4-7 moves along the internal slide rail of the column 2-2, so that the landing legs 4-8 are gradually unfolded from the retracted state and locked under the action of the internal ratchet of the leg hinge 4-6.

[0013] Furthermore, the envelope of the coaxial helicopter 4 has a diameter of 1400 mm and a height of 418 mm; in the locked state, the envelope of the aircraft has a length of 1700 mm, a height of 807 mm, and a width of 370 mm.

[0014] Furthermore, the rotational speeds of rotor I 4-4-1 and rotor II 4-4-2 of the coaxial helicopter 4 are both 0 to 2250 r / min. Under the Martian atmosphere, the maximum Mach number of the rotor blade tip is 0.69, which reduces the blade tip shock wave resistance.

[0015] Furthermore, the lander 5 includes a landing platform 5-1, a robotic arm 5-2, and a vertical wall panel 5-3; the landing platform 5-1 is provided in the middle of the vertical wall panel 5-3, the robotic arm 5-2 is provided at the bottom end of the landing platform 5-1, the structural parts on the vertical wall panel 5-3 are connected to the gland 3-2 of the memory alloy locking device 3, and the mounting platform 1 is fixed to the landing platform 5-1 by rivets;

[0016] The robotic arm 5 - 2 is a serial robotic arm, and the end cover 2 - 1 is unlocked and the body of the coaxial helicopter 4 is lifted by the robotic arm 5 - 2 .

[0017] The beneficial effects of the present invention are:

[0018] The design of the present invention is scientific and reasonable. It adopts multiple modules to realize the locking and releasing of the coaxial helicopter. The helicopter body can be completely locked to withstand the vibration and load generated during the rocket transportation. The structural design is reliable and meets the design requirements of the spacecraft.

[0019] The helicopter of the present invention is arranged in an inverted position above the lander platform, and the non-foldable coaxial rotor is arranged close to the platform, which reduces the envelope size of the aircraft's retraction and release mechanism and provides space for the arrangement of other scientific payloads.

[0020] The body locking assembly of the present invention completely encloses the four wheels at the bottom of the coaxial helicopter, cooperates with the mechanical arm on the lander platform to complete the release, and the circumferentially arranged columns realize the constraint of the landing legs.

[0021] The present invention's shape memory alloy locking device is mounted on the lander and, when locked, is fixed to the coaxial aircraft's bottom housing. Locking and release are achieved through the shape memory alloy. Once the lander reaches the Martian surface, the shape memory alloy pin is energized and heated, disconnecting it and causing the torsion spring at the base to flip upward, releasing the helicopter's bottom.

[0022] The mounting platform of the present invention is arranged on the lander platform and is responsible for locking and releasing the helicopter nose and the rotor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 It is a schematic structural diagram of the installation platform of the present invention.

[0025] Figure 3It is a structural schematic diagram of the body locking assembly of the present invention.

[0026] Figure 4 It is a structural schematic diagram of the memory alloy locking device of the present invention.

[0027] Figure 5 It is a structural schematic diagram of the helicopter in the unlocked state of the present invention.

[0028] Figure 6 It is a schematic diagram of the lander structure of the present invention. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] Combine Figure 1 – Figure 6 Description: An inverted Mars helicopter locking and releasing mechanism includes a mounting platform 1, a body locking assembly 2, a memory alloy locking device 3, a coaxial helicopter 4, and a lander 5;

[0031] The coaxial helicopter 4 is nested within the lander 5. A mounting platform 1 is provided on the landing platform 5-1 of the lander 5. A body locking assembly 2 is provided at the center of the mounting platform 1. The body locking assembly 2 is provided with a memory alloy locking device 3 and a body locking assembly 2 in sequence from top to bottom, thereby achieving locking and releasing of various parts of the coaxial helicopter.

[0032] Furthermore, the mounting platform 1 includes a rotor clamp 1-1, a support rod 1-2, a turntable 1-3 and a clamp guide rail 1-4; the rotor clamp 1-1 is connected to the turntable 1-3 through the support rod 1-2, and the turntable 1-3 rotates under the action of an internal coil spring. The rotation of the turntable 1-3 pushes the rotor clamp 1-1 to both sides along the clamp guide rail 1-4 to unlock the rotor, and at the same time, the structural parts above the turntable rotate to unlock the top of the helicopter.

[0033] Furthermore, the body locking assembly 2 includes an end cover 2-1, a column 2-2 and a solar panel support 2-3; the four corners of the end cover 2-1 are respectively inserted into four circumferentially arranged columns 2-2, and solar panel supports 2-3 are installed on both sides of the lower ends of the four columns 2-2. The solar panel supports 2-3 are used to fix the solar panel on the top of the coaxial helicopter 4.

[0034] The four columns 2-2 are arranged along the circumference of the helicopter 4 body, and the interior of the columns is processed with slide rails to cooperate with the landing leg sliders to realize the deployment of the landing legs.

[0035] Furthermore, the memory alloy locking device 3 includes a torsion spring 3-1, a pressure cover 3-2, an actuator 3-3 and an alloy pin 3-4; the pressure cover 3-2 is connected to the vertical wall panel 5-3, and the actuator 3-3 is installed on the pressure cover 3-2. The actuator 3-3 is fastened to the coaxial helicopter 4 through the alloy pin 3-4. After the actuator 3-3 is heated to disconnect the alloy pin 3-4, the pressure cover 3-2 flips upward under the action of the root torsion spring 3-1 to achieve unlocking.

[0036] The manufacturer of the actuator 3 - 3 and the alloy pin shaft 3 - 4 is the American EBAD Group Company, and the production model is TiNiFrangiboltFC2.

[0037] Furthermore, the coaxial helicopter 4 includes a main shaft 4-1, a solar panel 4-2, a drive module I 4-3-1, a rotor I 4-4-1, a steering module I 4-5-1, a drive module II 4-3-2, a rotor II 4-4-2, a steering module II 4-5-2, a leg hinge 4-6, a slider 4-7, a landing leg 4-8 and a drive wheel 4-9;

[0038] The solar cell panel 4-2 is firmly connected to the main shaft 4-1. The top of the solar cell panel 4-2 is provided with a locking and releasing structure for use with the gland 3-2. The drive module I 4-3-1, the rotor I 4-4-1, and the steering module I 4-5-1 are sequentially connected to the main shaft 4-1 from top to bottom. The drive module II 4-3-2 is arranged below the steering module I 4-5-1. The drive module II 4-3-2, the rotor II 4-4-2, and the steering module II 4-5-2 are sequentially connected to the main shaft 4-1 from top to bottom.

[0039] Each of the landing legs 4-8 is connected to the body through a leg hinge 4-6, and a driving wheel 4-9 is provided at the lower end of each of the landing legs 4-8. A slider 4-7 is extended outward from the root of the four landing legs 4-8. When the mechanical arm 5-2 of the lander 5 lifts the helicopter 4 upward, the slider 4-7 moves along the internal slide rail of the column 2-2, so that the landing legs 4-8 are gradually unfolded from the retracted state and locked under the action of the internal ratchet of the leg hinge 4-6.

[0040] After the four landing legs 4-8 are unfolded, the four driving wheels 4-9 at the bottom of the landing legs 4-8 face in the same direction.

[0041] Furthermore, the envelope of the coaxial helicopter 4 has a diameter of 1400 mm and a height of 418 mm; in the locked state, the envelope of the aircraft has a length of 1700 mm, a height of 807 mm, and a width of 370 mm.

[0042] Furthermore, the rotational speeds of rotor I 4-4-1 and rotor II 4-4-2 of the coaxial helicopter 4 are both 0 to 2250 r / min. Under the Martian atmosphere, the maximum Mach number of the rotor blade tip is 0.69, which reduces the blade tip shock wave resistance.

[0043] Furthermore, the lander 5 includes a landing platform 5-1, a robotic arm 5-2, and a vertical wall panel 5-3; the landing platform 5-1 is provided in the middle of the vertical wall panel 5-3, the robotic arm 5-2 is provided at the bottom end of the landing platform 5-1, the structural parts on the vertical wall panel 5-3 are connected to the gland 3-2 of the memory alloy locking device 3, and the mounting platform 1 is fixed to the landing platform 5-1 by rivets;

[0044] The robotic arm 5 - 2 is a serial robotic arm, and the end cover 2 - 1 is unlocked and the body of the coaxial helicopter 4 is lifted by the robotic arm 5 - 2 .

[0045] Working Principle: In the locked state, the mounting platform 1 clamps both sides of the coaxial rotor and locks the nose of the helicopter 4. The solar panel supports 2-3 at the bottom of the columns secure the solar panels. The circumferentially arranged columns constrain the helicopter's landing legs. The shape memory alloy locking device 3 compresses the bottom of the helicopter. The end cap 2-1 adds a shape constraint to the drive wheel at the bottom of the landing leg, locking the entire unit. When unlocking, the serial robotic arm removes the end cap and unlocks the turntable 1-3 using a pyrotechnic device. The turntable 1-3 rotates under the action of an internal coil spring, pushing the rotor clamp 1-1 along the clamp guide 1-4 to unlock the rotor and simultaneously unlock the top of the helicopter 4. The actuator 3-3 drives the shape memory alloy pin 3-4 to disconnect, completing the unlocking of the entire unit. The robotic arm lifts the helicopter, and the landing legs gradually unfold and lock along the slide rails, completing the helicopter deployment.

Claims

1. An inverted Mars helicopter locking and releasing mechanism, characterized by: The mechanism comprises a mounting platform (1), a body locking assembly (2), a memory alloy locking device (3), a coaxial helicopter (4), and a lander (5); The coaxial helicopter (4) is nested in the lander (5), a mounting platform (1) is provided on the landing platform (5-1) of the lander (5), a body locking assembly (2) is provided at the center of the mounting platform (1), and a memory alloy locking device (3) and a body locking assembly (2) are provided in the body locking assembly (2) in sequence from top to bottom; The body locking assembly (2) comprises an end cover (2-1), a column (2-2) and a solar panel support (2-3); the four corners of the end cover (2-1) are respectively inserted into four circumferentially arranged columns (2-2), and solar panel supports (2-3) are installed on both sides of the lower ends of the four columns (2-2). The solar panel supports (2-3) are used to fix the solar panel on the top of the coaxial helicopter (4); The memory alloy locking device (3) comprises a torsion spring (3-1), a pressure cover (3-2), an actuator (3-3) and an alloy pin (3-4); the pressure cover (3-2) is connected to the vertical wall plate (5-3), the pressure cover (3-2) is mounted with an actuator (3-3), the actuator (3-3) is fastened to the coaxial helicopter (4) via the alloy pin (3-4), and after the actuator (3-3) is heated to disconnect the alloy pin (3-4), the pressure cover (3-2) flips upward under the action of the root torsion spring (3-1) to achieve unlocking.

2. The inverted locking and releasing mechanism for the Mars helicopter according to claim 1, characterized in that: The mounting platform (1) comprises a rotor clamping plate (1-1), a support rod (1-2), a turntable (1-3) and a clamping plate guide rail (1-4); the rotor clamping plate (1-1) is connected to the turntable (1-3) via the support rod (1-2); the turntable (1-3) rotates to push the rotor clamping plate (1-1) toward both sides along the clamping plate guide rail (1-4).

3. The inverted locking and releasing mechanism for the Mars helicopter according to claim 1, characterized in that: The coaxial helicopter (4) includes a main shaft (4-1), a solar cell panel (4-2), a drive module I (4-3-1), a rotor I (4-4-1), a steering module I (4-5-1), a drive module II (4-3-2), a rotor II (4-4-2), a steering module II (4-5-2), a leg hinge (4-6), a slider (4-7), a landing leg (4-8) and a drive wheel (4-9); The solar cell panel (4-2) is tightly connected to the main shaft (4-1), and a locking and releasing structure for use with a pressure cover (3-2) is provided on the top of the solar cell panel (4-2). The drive module I (4-3-1), the rotor I (4-4-1), and the steering module I (4-5-1) are sequentially connected to the main shaft (4-1) from top to bottom. The drive module II (4-3-2) is arranged below the steering module I (4-5-1). The drive module II (4-3-2), the rotor II (4-4-2), and the steering module II (4-5-2) are sequentially connected to the main shaft (4-1) from top to bottom. Each landing leg (4-8) is connected to the body via a leg hinge (4-6), and a driving wheel (4-9) is provided at the lower end of each landing leg (4-8). A slider (4-7) extends outward from the root of the four landing legs (4-8). When the mechanical arm (5-2) of the lander (5) lifts the coaxial helicopter (4) upward, the slider (4-7) moves along the internal slide rail of the column (2-2), so that the landing legs (4-8) are gradually unfolded from a retracted state and locked under the action of a ratchet inside the leg hinge (4-6).

4. The inverted locking and releasing mechanism for the Mars helicopter according to claim 3, characterized in that: After the four landing legs (4-8) are unfolded, the four driving wheels (4-9) at the bottom of the landing legs (4-8) face in the same direction.

5. The inverted locking and releasing mechanism for the Mars helicopter according to claim 3, characterized in that: The coaxial helicopter (4) has an envelope diameter of 1400 mm and a height of 418 mm; in the locked state, the envelope of the aircraft is 1700 mm long, 807 mm high and 370 mm wide.

6. The inverted locking and releasing mechanism for the Mars helicopter according to claim 3, characterized in that: The rotational speeds of rotor I (4-4-1) and rotor II (4-4-2) of the coaxial helicopter (4) are both 0-2250 r / min. Under the Martian atmospheric environment, the maximum Mach number of the rotor blade tip is 0.69, which reduces the blade tip shock wave resistance.

7. The inverted locking and releasing mechanism for the Mars helicopter according to claim 3, characterized in that: The lander (5) comprises a landing platform (5-1), a mechanical arm (5-2) and a vertical wall panel (5-3); the landing platform (5-1) is arranged in the middle of the vertical wall panel (5-3), the mechanical arm (5-2) is arranged at the bottom end of the landing platform (5-1), the structural parts on the vertical wall panel (5-3) are connected to the pressure cover (3-2) of the memory alloy locking device (3), and the mounting platform (1) is fixed to the landing platform (5-1) by rivets; The mechanical arm (5-2) is a serially connected mechanical arm, and the unlocking of the end cover (2-1) and the lifting of the body of the coaxial helicopter (4) are achieved through the mechanical arm (5-2).

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