A quadcopter Mars spacecraft and its upright deployment and platform takeoff deployment device

Abstract

This invention relates to a quadcopter Mars spacecraft and its upright deployment and platform takeoff deployment device. The invention addresses the current lack of a suitable structure, deployment, and takeoff deployment scheme for quadcopter Mars spacecraft. The invention includes a lander, an outer envelope assembly, a bottom extension component, a multi-degree-of-freedom robotic arm, and a Mars spacecraft. The bottom extension component and the multi-degree-of-freedom robotic arm are mounted side-by-side on the lander, the outer envelope assembly is mounted on the bottom extension component, and the Mars spacecraft is housed within the outer envelope assembly. This invention belongs to the field of aerospace vehicle technology.

Description

Technical Field

[0001] This invention relates to an aircraft and an upright deployment and platform takeoff deployment device, belonging to the field of aerospace vehicle technology. Background Technology

[0002] Because the Martian surface is largely composed of sand dunes covered in gravel, the exploration range and efficiency of Mars rovers are severely limited and affected by the terrain. In contrast, Mars spacecraft can fly in the air, performing exploration missions over a wider area with higher efficiency, providing the information discovered by the rover. Furthermore, the feasibility of Mars rotorcraft has now been confirmed.

[0003] Quadrotor Mars spacecraft are simple to operate and structurally stable, but their overall size is large and their structure is not compact. To meet the launch requirements of spacecraft, the Mars spacecraft needs to be folded down to reduce its overall envelope size, making the structure compact and with strong load-bearing capacity.

[0004] After deployment, the Mars spacecraft needs to be deployed, and the two should coordinate with each other to complete the deployment with the simplest possible structure. However, there is currently no suitable quadcopter Mars spacecraft structure, folding and deployment scheme. Summary of the Invention

[0005] To address the current lack of suitable structural, unfolding, and deployment schemes for quadrotor Mars spacecraft, this invention proposes a quadrotor Mars spacecraft and an upright unfolding and platform takeoff deployment device.

[0006] The technical solution adopted by the present invention to solve the above problems is as follows: The present invention includes a lander, an outer envelope assembly, a bottom extension component, a multi-degree-of-freedom robotic arm, and a Mars spacecraft; the bottom extension component and the multi-degree-of-freedom robotic arm are mounted side by side on the lander, the outer envelope assembly is mounted on the bottom extension component, and the Mars spacecraft is disposed inside the outer envelope assembly.

[0007] Furthermore, the outer envelope assembly includes an outer envelope cover, an outer envelope shell, a strap, multiple pyrotechnic devices, and a lifting device; the lifting device is installed inside the outer envelope shell, the Mars spacecraft is mounted on the lifting device, the outer envelope cover is installed over the opening at the top of the outer envelope shell, and the edge of the outer envelope cover is connected to the edge of the opening at the top of the outer envelope shell through multiple pyrotechnic devices, and the strap is installed at the bottom of the outer envelope shell.

[0008] Furthermore, the bottom extension component includes a third-stage telescopic arm, a second-stage telescopic arm, a first-stage telescopic arm, a first-stage traction rope, a drive motor, and a second-stage traction rope. The rear end of the third-stage telescopic arm is inserted into the front end of the second-stage telescopic arm from front to back, and the rear end of the second-stage telescopic arm is inserted into the front end of the first-stage telescopic arm from front to back. The rear end of the first-stage telescopic arm is fixedly connected to the lander. The drive motor is fixedly installed inside the third-stage telescopic arm. One end of the first-stage traction rope passes over a fixed pulley on the third-stage telescopic arm and is fixed to the rear end of the second-stage telescopic arm. The other end of the first-stage traction rope is wound around the motor shaft of the drive motor. One end of the second-stage traction rope is fixed to the second-stage telescopic arm, and the other end of the second-stage traction rope is fixed to the third-stage telescopic arm. The middle part of the second-stage traction rope passes over a fixed pulley on the second-stage telescopic arm. The outer envelope assembly is installed at the front end of the third-stage telescopic arm.

[0009] Furthermore, the bottom extension component also includes multiple guide wheels; the third-stage telescopic arm and the second-stage telescopic arm are slidably connected by multiple guide wheels, and the second-stage telescopic arm and the first-stage telescopic arm are slidably connected by multiple guide wheels.

[0010] Furthermore, the Mars spacecraft includes solar panels, a fuselage, four rotor arms, four locking linkage assemblies, four sets of propeller blades, a sampling mechanism, four propulsion motors, and four propeller clamps. The solar panels are mounted on the top of the fuselage, the sampling mechanism is mounted on the bottom of the fuselage, the four rotor arms are evenly distributed around the fuselage, the inner end of each rotor arm is connected to the fuselage via a hinge, and the inner end of the rotor arm is attached to the fuselage via a locking linkage assembly. A propulsion motor is fixedly mounted on the outer end of each rotor arm, and a set of propeller blades is mounted on the motor shaft of the propulsion motor. Each set of propeller blades is bound together by propeller clamps.

[0011] Furthermore, the Mars spacecraft also includes four support legs and four wheel sets; the four support legs are arranged in a rectangular pattern at the bottom of the fuselage, with the upper end of each support leg connected to the lower surface of the fuselage, and a wheel set installed at the lower end of each support leg.

[0012] The beneficial effects of this invention are: it proposes a folding and unfolding scheme for a quadcopter Mars spacecraft, which has a small outer envelope size after folding and unfolding, and the folding and unfolding operation is simple and stable; at the same time, it proposes a platform take-off and deployment scheme, which reduces the difficulty of spacecraft deployment and the complexity of the required structure, and is of great significance to the folding, unfolding and take-off deployment of Mars spacecraft. Attached Figure Description

[0013] Figure 1 This is a schematic diagram of the overall structure of the present invention;

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

[0015] Figure 3 This is a three-dimensional schematic diagram of the outer enclosure shell and lifting device;

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

[0017] Figure 5 This is a 3D schematic diagram of the bottom extension component;

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

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

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

[0021] Figure 9 This is a three-dimensional schematic diagram of the Mars spacecraft in its upward lifting state;

[0022] Figure 10 This is a three-dimensional schematic diagram of the Mars spacecraft in its upright, fully deployed state.

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

[0024] Figure 12 This is a three-dimensional schematic diagram of the Mars spacecraft's flight status. Detailed Implementation

[0025] Specific implementation method one: Combining Figure 1 This embodiment describes a quadcopter Mars spacecraft and an upright deployment and platform takeoff deployment device, which includes a lander 1, an outer envelope assembly 2, a bottom extension component 3, a multi-degree-of-freedom robotic arm 4, and a Mars spacecraft 5. The bottom extension component 3 and the multi-degree-of-freedom robotic arm 4 are mounted side by side on the lander 1, the outer envelope assembly 2 is mounted on the bottom extension component 3, and the Mars spacecraft 5 is disposed inside the outer envelope assembly 2.

[0026] The fixed end of the multi-degree-of-freedom robotic arm 4 is connected and fixed to the lander 1, and is used to remove the outer envelope 2-1 after the explosion of the pyrotechnic item 2-4.

[0027] Specific Implementation Method Two: Combining Figure 2 and Figure 4This embodiment describes a quadcopter Mars spacecraft and an upright deployment and platform takeoff deployment device. The outer enclosure assembly 2 includes an outer enclosure cover 2-1, an outer enclosure shell 2-2, a strap 2-3, multiple pyrotechnic devices 2-4, and a lifting device 2-5. The lifting device 2-5 is installed inside the outer enclosure shell 2-2, and the Mars spacecraft 5 is mounted on the lifting device 2-5. The outer enclosure cover 2-1 is installed over the opening at the top of the outer enclosure shell 2-2, and the edge of the outer enclosure cover 2-1 is connected to the edge of the opening at the top of the outer enclosure shell 2-2 through multiple pyrotechnic devices 2-4. The strap 2-3 is installed at the bottom of the outer enclosure shell 2-2.

[0028] The bottom connecting part of the outer envelope component 2 is connected and fixed to the three-stage telescopic arm 3-1 in the bottom extension component 3 through the strap 2-3. In case of an accident, the strap 2-3 is released from its constraint, and the multi-degree-of-freedom robotic arm 4 removes the outer envelope component 2 and the entire internal Mars spacecraft 5.

[0029] The lifting device 2-5 is a coaxial telescopic cylinder structure, connected to the fuselage 5-2 of Mars spacecraft 5, enabling Mars spacecraft 5 to achieve height elevation. The outer enclosure cover 2-1 and the interior of the outer enclosure shell 2-2 have multiple shape constraints used to clamp and fix the solar panels 5-1, propellers 5-5, rotor arms 5-3, and wheel assembly 5-8 of Mars spacecraft 5. The extended short rod on the propeller clamp 5-10 of Mars spacecraft 5 connects to the vertical slide rail on the side of the outer enclosure shell 2-2, providing guidance during the spacecraft's lifting process.

[0030] The other components and connections are the same as in Specific Implementation Method 1.

[0031] Specific implementation method three: Combining Figure 5 This embodiment describes a quadcopter Mars spacecraft and its upright deployment and platform takeoff deployment device. The bottom extension component 3 includes a three-stage telescopic arm 3-1, a two-stage telescopic arm 3-2, a first-stage telescopic arm 3-3, a first-stage traction rope 3-4, a drive motor 3-5, and a second-stage traction rope 3-7. The rear end of the three-stage telescopic arm 3-1 is inserted into the front end of the second-stage telescopic arm 3-2 from front to back, and the rear end of the second-stage telescopic arm 3-2 is inserted into the front end of the first-stage telescopic arm 3-3 from front to back. The rear end of the first-stage telescopic arm 3-3 is fixedly connected to the lander 1. Motor 3-5 is fixedly installed inside the three-stage telescopic boom 3-1. One end of the first-stage traction rope 3-4 passes over the fixed pulley on the three-stage telescopic boom 3-1 and is fixed to the rear end of the second-stage telescopic boom 3-2. The other end of the first-stage traction rope 3-4 is wound around the motor shaft of the drive motor 3-5. One end of the second-stage traction rope 3-7 is fixed to the second-stage telescopic boom 3-2, and the other end of the second-stage traction rope 3-7 is fixed to the three-stage telescopic boom 3-1. The middle part of the second-stage traction rope 3-7 passes over the fixed pulley on the second-stage telescopic boom 3-2. The outer envelope assembly 2 is installed at the front end of the three-stage telescopic boom 3-1.

[0032] Four fixed ends extend outward from the first-stage telescopic boom 3-3 and are connected and fixed to the lander 1 by bolts. The third-stage telescopic boom 3-1, the second-stage telescopic boom 3-2, and the first-stage telescopic boom 3-3 form a sliding pair via multiple guide wheels 3-6, allowing for outward extension. The drive motor 3-5 is fixed inside the third-stage telescopic boom 3-1. The first-stage traction rope 3-4 passes over a fixed pulley on the third-stage telescopic boom 3-1, with one end fixed to the end of the second-stage telescopic boom 3-2 and the other end wrapped around the drive motor 3-5. When the drive motor 3-5 rotates, the length of the first-stage traction rope 3-4 decreases, causing the second-stage telescopic boom 3-2 to extend outward. One end of the second-stage traction rope 3-7 is fixed to the second-stage telescopic boom 3-2, and the other end is fixed to the third-stage telescopic boom 3-2. It passes over a fixed pulley on the second-stage telescopic boom 3-2 in the middle. As the second-stage telescopic boom 3-2 extends outward, the fixed pulley on the second-stage telescopic boom 3-2 moves outward, causing the third-stage telescopic boom 3-1 to extend outward. The final effect is that the drive motor 3-5 rotates, causing the secondary telescopic arm 3-2 to extend outward, and the secondary telescopic arm 3-2 simultaneously causes the tertiary telescopic arm 3-1 to extend outward.

[0033] The other components and connections are the same as in Specific Implementation Method 1.

[0034] Specific implementation method four: Combination Figure 5 This embodiment describes a quadcopter Mars spacecraft and an upright deployment and platform takeoff deployment device. The bottom extension component 3 further includes multiple guide wheels 3-6; the third-stage telescopic arm 3-1 and the second-stage telescopic arm 3-2 are slidably connected by multiple guide wheels 3-6, and the second-stage telescopic arm 3-2 and the first-stage telescopic arm 3-3 are slidably connected by multiple guide wheels 3-6. Other components and connections are the same as in specific embodiment three.

[0035] Specific Implementation Method Five: Combining Figure 3 This embodiment describes a quadcopter Mars spacecraft 5 with an upright deployment and platform takeoff deployment device. The spacecraft includes a solar panel 5-1, a fuselage 5-2, four rotor arms 5-3, four locking linkage assemblies 5-4, four sets of propeller blades 5-5, a sampling mechanism 5-6, four propulsion motors 5-9, and four propeller clamps 5-10. The solar panel 5-1 is mounted on the top of the fuselage 5-2, the sampling mechanism 5-6 is mounted on the bottom of the fuselage 5-2, the four rotor arms 5-3 are evenly distributed around the fuselage 5-2, the inner end of each rotor arm 5-3 is connected to the fuselage 5-2 via a hinge, and the inner end of each rotor arm 5-3 is attached to the fuselage 5-2 via locking linkage assemblies 5-4. A propulsion motor 5-9 is fixedly mounted on the outer end of each rotor arm 5-3, and a set of propeller blades 5-5 is mounted on the motor shaft of each propulsion motor 5-9. Each set of propeller blades 5-5 is bound together by propeller clamps 5-10.

[0036] After folding, the Mars spacecraft 5 is stowed into the outer enclosure component 2 and secured. The solar panel 5-1 and sampling mechanism 5-6 are both fixedly connected to the fuselage 5-2. The rotor arm 5-3 and support leg 5-7 are connected and secured to the fuselage 5-2 via a revolute joint, with spiral springs at the joints providing restoring force. One end of the locking linkage assembly 5-4 is connected to the rotor arm 5-3, and the other end to the fuselage 5-2, used for locking the rotor arm 5-3 after it is deployed. The propeller blades 5-5 are connected to the propeller clamp 5-10 via bolts. This connection is not circumferentially fixed and has a revolute joint. After the propulsion motor 5-9 starts rotating, the two propeller blades 5-5 will become collinear due to centrifugal force. After the propeller clamp 5-10 is connected to the propulsion motor 5-9, the entire assembly is fixedly connected to the rotor arm 5-3. The wheel assembly 5-8 is fixedly connected to the support leg 5-7 via bolts, with a revolute joint at the connection point. For folding, wheel assembly 5-8 rotates as a whole and rests against the side surface of the outer casing. During unfolding, it rotates back to its original position.

[0037] The other components and connections are the same as in Specific Implementation Method 1.

[0038] Specific Implementation Method Six: Combination Figure 5 This embodiment describes a quadcopter Mars spacecraft and a Mars spacecraft 5 with an upright deployment and platform takeoff deployment device. The spacecraft further includes four support legs 5-7 and four wheel assembly components 5-8. The four support legs 5-7 are arranged in a rectangular pattern at the bottom of the fuselage 5-2. The upper end of each support leg 5-7 is connected to the lower surface of the fuselage 5-2, and a wheel assembly component 5-8 is mounted on the lower end of each support leg 5-7. Other components and connections are the same as in specific embodiment five.

[0039] Combination Figures 6 to 12 Explanation of the working principle of the present invention

[0040] The deployment and arrangement process of this invention is as follows: After the lander 1 reaches the designated position, the pyrotechnic device 2-4 in the outer envelope component 2 explodes, causing the outer envelope cover 2-1 and the outer envelope shell 2-2 to become separable. The multi-degree-of-freedom robotic arm 4 removes the outer envelope cover 2-1, removing some of the shape constraints. The drive motor 3-5 in the bottom extension component 3 rotates, causing the secondary telescopic arm 3-2 and the tertiary telescopic arm 3-1 to extend outward from the lander 1 simultaneously via the primary traction rope 3-4, guide wheel 3-6, secondary traction rope 3-7, and fixed pulley 3-8. The Mars spacecraft 5 and the outer envelope shell 2-2 extend outward along with the tertiary telescopic arm 3-1. The lifting device 2-5 in the outer envelope component 2 lifts the Mars spacecraft 5 upward. During the lifting process, the shape constraints between the extended short rod of the propeller clamp 5-10 and the side slide of the outer envelope shell 2-2, and the shape constraints between the wheel assembly component 5-8 and the oblique side of the outer envelope shell 2-2, play a guiding role. When the lifting mechanism becomes ineffective, wheel assembly 5-8 rotates to a designated angle due to the spring force of the spiral spring, completing its deployment. Similarly, rotor arm 5-3 rotates to a designated angle due to the spring force of the spiral spring, and locking linkage assembly 5-4 locks in place. At this point, the Mars spacecraft is upright and fully deployed. Propulsion motor 5-9 drives propeller blades 5-5 through propeller clamp 5-10, providing lift for the spacecraft and completing the separation of Mars spacecraft 5 from lifting device 2-5, thus completing the platform's takeoff and deployment.

[0041] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent substitutions, and improvements made to the above embodiments without departing from the scope of the present invention, based on the technical essence of the present invention and within the spirit and principles of the present invention, shall still fall within the protection scope of the present invention.

Claims

1. A vertical deployment and platform take-off device for a quadcopter Mars aircraft, comprising a lander (1), an outer envelope assembly (2), a bottom stretching component (3), a multi-degree-of-freedom manipulator (4), and a Mars aircraft (5); the bottom stretching component (3) and the multi-degree-of-freedom manipulator (4) are installed side by side on the lander (1), the outer envelope assembly (2) is installed on the bottom stretching component (3), and the Mars aircraft (5) is arranged in the outer envelope assembly (2); the outer envelope assembly (2) comprises an outer envelope cover (2-1), an outer envelope shell (2-2), a bandage (2-3), a plurality of explosives (2-4), and a lifting device (2-5); the lifting device (2-5) is installed in the outer envelope shell (2-2), the Mars aircraft (5) is arranged on the lifting device (2-5), the outer envelope cover (2-1) is covered on the opening at the top of the outer envelope shell (2-2), and the edge of the outer envelope cover (2-1) is connected to the edge of the opening at the top of the outer envelope shell (2-2) through the plurality of explosives (2-4), and the bandage (2-3) is installed at the bottom of the outer envelope shell (2-2); the bottom connecting part of the outer envelope assembly (2) is connected and fixed with the third telescopic arm (3-1) in the bottom stretching component (3) through the bandage (2-3); the lifting device (2-5) is a coaxial telescopic cylinder structure, is connected with the fuselage (5-2) in the Mars aircraft (5), and can make the Mars aircraft (5) realize height lifting; the outer envelope cover (2-1) and the inner part of the outer envelope shell (2-2) have a plurality of shape constraints, which are used to complete the compression and fixation constraints of the solar cell panel (5-1), the paddle (5-5), the rotor arm (5-3), and the wheel group component (5-8) in the Mars aircraft (5); the outer extension short rod on the paddle clamp (5-10) in the Mars aircraft (5) is connected with the vertical slide on the side surface of the outer envelope shell (2-2), and the guidance in the aircraft lifting process is completed; the bottom stretching component (3) comprises a third telescopic arm (3-1), a second telescopic arm (3-2), a first telescopic arm (3-3), a first traction rope (3-4), a driving motor (3-5), and a second traction rope (3-7); the rear end of the third telescopic arm (3-1) is inserted into the front end of the second telescopic arm (3-2) from front to back, the rear end of the second telescopic arm (3-2) is inserted into the front end of the first telescopic arm (3-3) from front to back, the rear end of the first telescopic arm (3-3) is fixedly connected with the lander (1), the driving motor (3-5) is fixedly installed in the third telescopic arm (3-1), one end of the first traction rope (3-4) is fixed to the rear end of the second telescopic arm (3-2) after passing through a fixed pulley on the third telescopic arm (3-1), the other end of the first traction rope (3-4) is wound on the motor shaft of the driving motor (3-5), one end of the second traction rope (3-7) is fixed to the second telescopic arm (3-2), the other end of the second traction rope (3-7) is fixed to the third telescopic arm (3-1), and the middle part of the second traction rope (3-7) passes through a fixed pulley on the second telescopic arm (3-2); the outer envelope assembly (2) is installed at the front end of the third telescopic arm (3-1). The outer end of the first telescopic arm (3-3) is fixed to the lander (1) by bolts; the third telescopic arm (3-1) and the second telescopic arm (3-2) are connected to the first telescopic arm (3-3) by a plurality of guide wheels (3-6) to form a moving pair, and can be extended outward; the driving motor (3-5) is fixed inside the third telescopic arm (3-1), the first traction rope (3-4) passes through a fixed pulley on the third telescopic arm (3-1), one end of the first traction rope (3-4) is fixed to the end of the second telescopic arm (3-2), and the other end of the first traction rope (3-4) is wound around the driving motor (3-5); when the driving motor (3-5) rotates, the length of the first traction rope (3-4) decreases, driving the second telescopic arm (3-2) to extend outward; one end of the second traction rope (3-7) is fixed to the second telescopic arm (3-2), the other end of the second traction rope (3-7) is fixed to the third telescopic arm (3-1), and the second traction rope (3-7) passes through a fixed pulley on the second telescopic arm (3-2); during the outward extension of the second telescopic arm (3-2), the fixed pulley on the second telescopic arm (3-2) moves outward, thereby driving the third telescopic arm (3-1) to extend outward.

2. The vertical deployment and platform take-off deployment device for use in a quadcopter Mars aircraft according to claim 1, characterized in that: The bottom extension component (3) further comprises a plurality of guide wheels (3-6); the third telescopic arm (3-1) and the second telescopic arm (3-2) are connected by a plurality of guide wheels (3-6); the second telescopic arm (3-2) and the first telescopic arm (3-3) are connected by a plurality of guide wheels (3-6).

3. The vertical deployment and platform take-off deployment device for use in a quadcopter Mars aircraft according to claim 1, wherein: The Mars aircraft (5) comprises a solar panel (5-1), a fuselage (5-2), four rotor arms (5-3), four locking linkage assemblies (5-4), four sets of blades (5-5), a sampling mechanism (5-6), four propulsion motors (5-9), and four blade clamps (5-10); the solar panel (5-1) is installed on the top of the fuselage (5-2), the sampling mechanism (5-6) is installed on the bottom of the fuselage (5-2), the four rotor arms (5-3) are evenly distributed around the fuselage (5-2), the inner end of each rotor arm (5-3) is connected to the fuselage (5-2) through a hinge, the inner end of the rotor arm (5-3) is attached to the fuselage (5-2) through the locking linkage assembly (5-4), the outer end of each rotor arm (5-3) is fixedly installed with a propulsion motor (5-9), and a set of blades (5-5) is installed on the motor shaft of the propulsion motor (5-9); each set of blades (5-5) is bound together by a blade clamp (5-10).

4. The vertical deployment and platform take-off deployment device for use in a quadcopter Mars aircraft according to claim 3, wherein: The Mars aircraft (5) further comprises four support legs (5-7) and four wheel group components (5-8); the four support legs (5-7) are arranged in a rectangular distribution at the bottom of the fuselage (5-2), the upper end of each support leg (5-7) is connected to the lower surface of the fuselage (5-2), and the lower end of each support leg (5-7) is installed with a wheel group component (5-8).

Images