Wheel-rotor composite Titan spacecraft and its deployment method on the lander

Abstract

This invention relates to a wheel-rotor composite spacecraft for exploring Titan and its deployment method on a lander, belonging to the technical field of Titan spacecraft. The invention aims to provide a foldable, simple, safe, and reliable wheel-rotor composite spacecraft for exploring Titan, and to provide a deployment method suitable for this spacecraft on a lander to release the spacecraft and provide a takeoff environment. Multiple rotor arms are symmetrically distributed on both sides of the fuselage. One end of each rotor arm is rotatably connected to the fuselage via a corresponding arm motor, and the other end of each rotor arm is rotatably connected to a wheel-type composite rotor via a corresponding rotor motor. A control system is installed inside the fuselage to control the operation of the arm motors and rotor motors. In relatively flat terrain, the spacecraft can use low-power wheel-drive to explore Titan. When encountering more rugged terrain, the spacecraft can also conduct flight exploration.

Description

Technical Field

[0001] This invention relates to a wheel-rotor composite Titan spacecraft and its deployment method on a lander, belonging to the technical field of Titan spacecraft. Background Technology

[0002] Titan, a moon of Saturn and the only moon in the solar system with an atmosphere, has recently attracted much attention. Its dense atmosphere provides suitable conditions for spacecraft flight. A wheel-rotor hybrid spacecraft could be used to explore Titan, allowing it to both move like a vehicle and conduct aerial surveys. In relatively flat areas, the spacecraft could use low-power wheel-drive propulsion, while in more rugged terrain, it could still conduct aerial surveys.

[0003] To facilitate exploration of Titan, a spacecraft needs to be launched to Titan, landed on the surface, and released. However, the size envelope of a conventional wheel-rotor hybrid spacecraft for Titan does not meet the launch requirements. The spacecraft needs to be folded up. The folded spacecraft must be able to withstand the overload generated during launch and, after landing on Titan, be released by a lander and have a suitable launch environment provided.

[0004] Therefore, there is an urgent need for a deployable, simple, safe and reliable wheel-rotor composite Titan spacecraft for exploring Titan. At the same time, there is an urgent need for a deployment method suitable for this spacecraft on a lander to release the spacecraft and provide it with a takeoff environment. Summary of the Invention

[0005] The present invention aims to solve the above-mentioned technical problems and provides a wheel-rotor composite Titan spacecraft and its deployment method on a lander.

[0006] The technical solution adopted by the present invention to solve the above-mentioned technical problems is as follows:

[0007] A wheel-rotor composite Titan spacecraft includes a fuselage, a wheel-type composite rotor, a rotor motor, rotor arms, and arm motors. Landing legs are fixed to the bottom of the fuselage. Multiple rotor arms are symmetrically distributed on both sides of the fuselage. One end of each rotor arm is rotatably connected to the fuselage via an arm motor, and the other end of each rotor arm is rotatably connected to a wheel-type composite rotor via a rotor motor. A control system is installed inside the fuselage to control the operation of the arm motors and rotor motors.

[0008] Furthermore, the wheel-type composite rotor includes an outer rim and blades fixed inside the outer rim, wherein the blades are fixedly connected to the output shaft of the rotor motor.

[0009] Furthermore, the rotor motor is fixed to the other end of the rotor arm via the first motor support.

[0010] Furthermore, the outrigger motor is fixed to the side wall of the fuselage via a second motor support, and the rotor outrigger is fixed to the output shaft of the outrigger motor via an L-shaped outrigger base.

[0011] Furthermore, the aircraft has multiple landing legs, which are evenly distributed on the bottom of the fuselage.

[0012] A method for deploying the aforementioned aircraft on a lander includes the following steps:

[0013] Step 1: The envelope device is fixed on the lander, and the aircraft is folded inside the envelope device. Limiting components are fixed on the inner walls of the two side baffles of the envelope device, and the wheel-type compound rotors located on both sides of the fuselage are correspondingly limited by the limiting components.

[0014] Step 2: The front baffle and two side baffles of the envelope device flip outwards, the limiting component disengages from the wheel-type compound rotor, and when the front baffle flips to be on the same plane as the bottom plate, the rotor motor drives the wheel-type compound rotor to make the aircraft leave the envelope device.

[0015] Step 3: The outrigger motor drives the rotor outrigger to rotate upwards by 90°, putting the aircraft into flight attitude;

[0016] Step 4: The rotor motor drives the wheel-type compound rotor to rotate, causing the aircraft to fly away from the lander.

[0017] An enveloping device used in the above-mentioned deployment method includes a shell assembly and a locking assembly for controlling the opening and closing of the shell assembly. The shell assembly includes a top plate, a bottom plate, a front baffle, a rear baffle, and two side baffles. The top plate and the bottom plate are fixedly connected by four support rods. The inner walls of the two side baffles are fixed with limiting members. The lower part of the limiting member has an arc-shaped limiting groove. When the aircraft is folded and installed inside the enveloping device, the limiting member is pressed against the upper part of the wheel-type compound rotor through the arc-shaped limiting groove. The locking assembly realizes the closed connection and unlocking of the shell assembly.

[0018] Furthermore, the locking assembly includes an envelope expansion joint, an upper locking plate, a lower locking plate, wire ropes, a locking pin, a square sliding sleeve, a round sliding sleeve, and an unlocking spring. The lower locking plate is fixedly installed in the middle of the base plate. There are three wire ropes, with one end of each wire rope clamped between the upper and lower locking plates. The envelope expansion joint is pressed above the upper locking plate and fixedly connected to the lower locking plate. An expansion joint spring is vertically compressed between the upper and lower locking plates. Each wire rope is equipped with a tensioning element. The upper part of the inner walls of the front baffle and the two side baffles are respectively fixed with... Square and round sliding sleeves are arranged facing each other, and each square sliding sleeve is equipped with a locking pin between itself and its corresponding round sliding sleeve. Each locking pin is slidably inserted into the square and round sliding sleeves via a square sliding rod fixed to its upper part and a round sliding rod fixed to its lower part. Three top hooks are fixed to the lower surface of the top plate. The bottom surface of the locking pin is machined with a bevel that matches the top hook. The unlocking spring is fitted on the round sliding rod between the round sliding sleeve and the locking pin. The other end of the steel wire rope is fixed to the bottom end of the corresponding round sliding rod.

[0019] Furthermore, the front baffle and the bottom plate, as well as the side baffle and the bottom plate, are connected by rotating shafts, and the rotating shafts are equipped with coil springs.

[0020] Furthermore, the limiting component is made of foam.

[0021] Compared with the prior art, the present invention has the following advantages:

[0022] The aircraft of this invention has a simple structure. The rotor arm is controlled by the arm motor to rotate along the fuselage in the vertical direction, thereby realizing the unfolding of the wheel-rotor composite Titan aircraft.

[0023] In relatively flat areas, the spacecraft of this invention can use a low-power wheel-drive system to explore Titan. When encountering more rugged terrain, the spacecraft of this invention can also conduct flight exploration.

[0024] The entire spacecraft is secured inside the envelope device by limiting components. This ensures that the spacecraft can withstand structural damage caused by vibration during launch and landing, and allows for safe and reliable release of the spacecraft after landing on Titan. Attached Figure Description

[0025] Figure 1 This is a three-dimensional structural diagram of the aircraft in its unfolded state within the unlocked envelope device.

[0026] Figure 2 This is a three-dimensional structural diagram of the wheel-rotor composite Titan spacecraft described in this invention;

[0027] Figure 3 This is a three-dimensional structural diagram of the wheel-rotor composite Titan spacecraft of the present invention in its wheel-drive state.

[0028] Figure 4 This is a three-dimensional structural diagram of the wheel-rotor composite Titan spacecraft described in this invention during flight.

[0029] Figure 5 This is a three-dimensional structural diagram of the envelope device described in this invention;

[0030] Figure 6 for Figure 5 Enlarged diagram of point A in the diagram;

[0031] Figure 7 for Figure 5 Enlarged diagram of point B in the image;

[0032] Figure 8 for Figure 5 Enlarged diagram of point C in the diagram;

[0033] Figures 9a to 9d This is a schematic diagram of the aircraft deployment and takeoff process.

[0034] In the picture:

[0035] 1. Aircraft; 11. Fuselage; 12. Wheel-type compound rotor; 12-1. Outer wheel rim; 12-2. Propeller blade; 13. Rotor motor; 14. Rotor arm; 15. Arm motor; 16. Landing leg; 17. First motor support; 18. Second motor support; 19. L-shaped arm base; 2. Lander; 3. Envelope device; 31. Top plate; 32. Bottom plate; 33. Front baffle; 34. Rear baffle; 35. Side baffle; 36. Support rod; 37. Limiting component; 38. Envelope body expansion joint; 39. Upper locking plate; 40. Lower locking plate; 41. Steel wire rope; 42. Locking pin; 43. Square sliding sleeve; 44. Round sliding sleeve; 45. Unlocking spring; 46. Expansion joint spring; 47. Tensioning component; 48. Coil spring. Detailed Implementation

[0036] Specific implementation method one: Combining Figures 1 to 9d This description aims to clearly and completely illustrate the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0037] It should be noted that the descriptions of "left," "right," "left side," "right side," "upper part," "lower part," "top," and "bottom" in this invention are defined based on the orientation or positional relationships shown in the accompanying drawings. They are merely for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the described structure must be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0038] In the description of this invention, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0039] A wheel-rotor composite spacecraft for Titan includes a fuselage 11, a wheel-type composite rotor 12, an outer wheel ring 13, rotor arms 14, and arm motors 15. Landing legs 16 are fixed to the bottom of the fuselage 11. Multiple rotor arms 14 are symmetrically distributed on both sides of the fuselage 11. One end of each rotor arm 14 is rotatably connected to the fuselage 11 via an arm motor 15, and the other end of each rotor arm 14 is rotatably connected to a wheel-type composite rotor 12 via the outer wheel ring 13. A control system is installed inside the fuselage 11 to control the operation of the arm motors 15 and the outer wheel ring 13. The control system for controlling the operation of the arm motors 15 and the outer wheel ring 13 is prior art and will not be described in detail here.

[0040] The preferred number of the wheel-type composite rotors 12 is four, arranged symmetrically in pairs on both sides of the fuselage 11.

[0041] The rotor arm 14 is controlled by the arm motor 15 to rotate along the fuselage 11 in the vertical direction, thereby realizing the folding and unfolding of the wheel-rotor composite Titan spacecraft 1.

[0042] The outer rim 13 controls the rotation of the wheel-type compound rotor 12.

[0043] In relatively flat areas, the aircraft 1 of this invention can use a low-power wheel drive to explore Titan. When encountering more rugged terrain, the aircraft 1 of this invention can also conduct flight exploration.

[0044] The wheel-type composite rotor 12 can serve as both a wheel for walking and a rotor blade that provides lift to the aircraft 1.

[0045] When the aircraft 1 moves forward in a wheel-driven manner, the support arm motor 15 swings the rotor support arm 14 downward, and the outer wheel ring 13 drives the wheel compound rotor at a slower speed. At this time, the blades 12-2 act as the spokes of the wheel, thereby driving the aircraft 1 forward.

[0046] When the aircraft 1 is in flight, the arm motor 15 swings the rotor arm 14 upward, and the outer wheel ring 13 drives the wheel compound rotor to rotate at a relatively fast speed to provide lift for the aircraft 1.

[0047] The wheel-type compound rotor 12 includes an outer ring 12-1 and blades 12-2 fixed inside the outer ring 12-1, wherein blades 12-2 are fixedly connected to the output shaft of the outer ring 13. When the wheel-type compound rotor 12 acts as a wheel, the blades 12-2 act as the spokes of the wheel, driving the aircraft 1 forward; when the aircraft 1 is in flight, the outer ring 12-1 acts as the duct of the blades 12-2 of the aircraft 1, rotating together with the blades 12-2.

[0048] The outer wheel rim 13 is fixed to the other end of the rotor arm 14 via the first motor support 17.

[0049] The outrigger motor 15 is fixed to the side wall of the fuselage 11 via the second motor support 18, and the rotor outrigger 14 is fixed to the output shaft of the outrigger motor 15 via the L-shaped outrigger base 19. With this design, the wheel-type compound rotor 12 can be rotated relative to the fuselage 11 via the L-shaped outrigger base 19.

[0050] The aircraft has multiple landing legs 16, which are evenly distributed on the bottom of the fuselage 11.

[0051] A method for deploying the aforementioned aircraft on a lander includes the following steps:

[0052] Step 1: The envelope device 3 is fixedly mounted on the lander 2. The aircraft 1 is folded and installed inside the envelope device 3. Limiting members 37 are fixed to the inner walls of the two side baffles 35 of the envelope device 3. The wheel-type compound rotors 12 located on both sides of the fuselage 11 are correspondingly limited by the limiting members 37. The limiting members 37 fix the entire aircraft 1 inside the envelope device 3. This ensures that the aircraft 1 can resist structural damage caused by vibration during launch and during the landing of the lander 2.

[0053] Step 2: The front baffle 33 and the two side baffles 35 of the envelope device 3 flip outwards, and the limiting member 37 disengages from the wheel-type compound rotor 12. When the front baffle 33 flips to be on the same plane as the bottom plate 32, the outer wheel ring 13 drives the wheel-type compound rotor 12, causing the aircraft 1 to leave the envelope device 3.

[0054] Step 3: The outrigger motor 15 drives the rotor outrigger 14 to rotate upward by 90°, so that the aircraft 1 is in flight attitude;

[0055] Step four: The outer wheel rim 13 drives the wheel-type composite rotor 12 to rotate, causing the spacecraft 1 to fly away from the lander 2. The deployment method of this invention enables the safe and reliable release of the spacecraft 1 after landing on Titan.

[0056] An enveloping device used in the above-mentioned deployment method includes a shell assembly and a locking assembly for controlling the opening and closing of the shell assembly. The shell assembly includes a top plate 31, a bottom plate 32, a front baffle 33, a rear baffle 34, and two side baffles 35. The top plate 31 and the bottom plate 32 are fixedly connected by four support rods 36. The inner walls of the two side baffles 35 are each fixedly provided with a limiting member 37. The lower part of the limiting member 37 has an arc-shaped limiting groove. When the aircraft 1 is folded and placed inside the enveloping device 3, the limiting member 37 is pressed against the upper part of the wheel-type compound rotor 12 through the arc-shaped limiting groove. The locking assembly realizes the closed connection and unlocking of the shell assembly. With this design, in the closed connection state of the shell assembly, the top plate 31 is fixedly connected to the front baffle 33, the top plate 31 is fixedly connected to the side baffles 35, and the top plate 31 is fixedly connected to the rear baffle 34, making the interior of the shell assembly a closed space. In the unlocked state, the front baffle 33 separates from the top plate 31 and flips outward, the two side baffles 35 separate from the top plate 31 and flip outward, and the rear baffle 34 can maintain a fixed connection with the top plate 31 or separate from the top plate 31 and flip outward.

[0057] The top plate 31 is supported by four support rods 36 to prevent it from collapsing after the front baffle 33 and side baffle 35 flip outward.

[0058] The number of limiting members 37 is the same as the number of wheel-type compound rotors 12. When the aircraft 1 is folded and placed inside the envelope device 3, the wheel-type compound rotors 12 and the limiting members 37 are arranged in a one-to-one correspondence, thereby limiting all wheel-type compound rotors 12 accordingly.

[0059] The arc-shaped limiting groove on the limiting member 37 has the same shape as the outer contour of the wheel-type composite rotor 12, thereby achieving a stable limiting of the wheel-type composite rotor 12.

[0060] The locking assembly includes an envelope expansion joint 38, an upper locking plate 39, a lower locking plate 40, steel wire ropes 41, a locking pin 42, a square sliding sleeve 43, a round sliding sleeve 44, and an unlocking spring 45. The lower locking plate 40 is fixedly mounted in the middle of the base plate 32. There are three steel wire ropes 41, and one end of each steel wire rope 41 is clamped between the upper locking plate 39 and the lower locking plate 40. The envelope expansion joint 38 is pressed above the upper locking plate 39 and fixedly connected to the lower locking plate 40. An expansion joint spring 46 is vertically compressed between the upper locking plate 39 and the lower locking plate 40. Each steel wire rope 41 is provided with a tensioning element 47. The front baffle 33 and the two side baffles 35 are located inside... The upper part of the wall is fixedly equipped with square sliding sleeves 43 and round sliding sleeves 44 arranged vertically opposite each other. Each square sliding sleeve 43 and its corresponding round sliding sleeve 44 are provided with a locking pin 42. Each locking pin 42 is slidably inserted into the square sliding sleeve 43 and round sliding sleeve 44 through a square sliding rod fixed at its upper part and a round sliding rod fixed at its lower part. Three top hooks are fixedly installed on the lower surface of the top plate 31. The bottom surface of the locking pin 42 is machined with a bevel that corresponds to the top hook. The unlocking spring 45 is fitted on the round sliding rod between the round sliding sleeve 44 and the locking pin 42. The other end of the steel wire rope 41 is fixedly connected to the bottom end of the corresponding round sliding rod. With this design, an opening is provided between the round sliding sleeve 44 and the square sliding sleeve 43. The top hook enters through the opening and engages with the locking pin 42. The middle of the top hook is provided with a notch to avoid the round sliding rod. In the folded state of the aircraft 1, adjusting the tensioner 47 causes the locking pin 42 to press against the top hook and fix it to itself, thereby maintaining the fixed connection between the front baffle 33 and the top plate 31, and between the side baffle 35 and the top plate 31. This also presses the wheel-type composite rotor 12 firmly into the shell assembly, securing it within the assembly. This allows the aircraft 1 to resist overload and vibration generated during launch in its folded state. When the aircraft 1 is deployed, the envelope expander 38 is energized, causing its internal metal rod to break, separating the upper locking plate 39 from the lower locking plate 40. The ball end of the wire rope 41 detaches, causing the wire rope 41 to lose tension. Under the action of the unlocking spring 45, the locking pin 42 moves upward and separates from the top hook. The front baffle 33 and the side baffle 35 disengage from the top plate 31, and the steel beam flips outward.

[0061] The front baffle 33 is connected to the bottom plate 32, and the side baffle 35 is connected to the bottom plate 32, respectively, by means of a pivot shaft, and a coil spring 48 is provided on the pivot shaft. This design, by providing the coil spring 48, facilitates the outward flipping action of the front baffle 33 and the two side baffles 35.

[0062] The limiting component 37 is made of foam. This design, using foam as the limiting component 37, can effectively reduce the overall weight of the envelope device 3, while also protecting the wheel-type compound rotor 12 and preventing structural damage during launch or landing of the lander 2.

[0063] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A method of deploying an aircraft on a lander, the method comprising: The aircraft comprises a fuselage (11), a wheel type compound rotor (12), a rotor motor (13), a rotor support arm (14) and a support arm motor (15), wherein the bottom of the fuselage (11) is fixed with an aircraft landing leg (16), the number of the rotor support arms (14) is multiple and they are symmetrically distributed on both sides of the fuselage (11), each rotor support arm (14) is rotatably connected to the fuselage (11) through the support arm motor (15) at one end, and the other end of each rotor support arm (14) is rotatably connected to one wheel type compound rotor (12) through the rotor motor (13), and the inside of the fuselage (11) is provided with a control system to control the operation of the support arm motor (15) and the rotor motor (13). The deployment method comprises the following steps: Step one, the envelope device (3) is fixed on the lander (2), the aircraft (1) is folded and arranged inside the envelope device (3), the envelope device (3) comprises a shell assembly and a locking assembly for controlling the opening and closing of the shell assembly, wherein the shell assembly comprises a top plate (31), a bottom plate (32), a front baffle (33), a rear baffle (34) and two side baffles (35), the top plate (31) and the bottom plate (32) are fixedly connected through four support rods (36), the inner walls of the two side baffles (35) are fixedly provided with limiting pieces (37), the lower part of the limiting piece (37) is provided with an arc-shaped limiting groove, when the aircraft (1) is folded and arranged inside the envelope device (3), the limiting piece (37) is correspondingly pressed on the upper part of the wheel type compound rotor (12) through the arc-shaped limiting groove, and the closed connection and unlocking of the shell assembly are realized through the locking assembly; The wheel type compound rotors (12) located on both sides of the fuselage (11) are limited by the limiting pieces (37); Step two, the front baffle (33) and the two side baffles (35) of the envelope device (3) are turned outward, the limiting piece (37) is separated from the wheel type compound rotor (12), when the front baffle (33) is turned to the same plane as the bottom plate (32), the rotor motor (13) drives the wheel type compound rotor (12) to make the aircraft (1) drive away from the envelope device (3); Step three, the support arm motor (15) drives the rotor support arm (14) to turn upward by 90°, so that the aircraft (1) is in a flight attitude; Step four, the rotor motor (13) drives the wheel type compound rotor (12) to rotate, so that the aircraft (1) flies away from the lander (2).

2. The deployment method of claim 1, wherein: The wheel type compound rotor (12) comprises an outer rim (12-1) and a blade (12-2) fixed inside the outer rim (12-1), wherein the blade (12-2) is fixedly connected with the output shaft of the rotor motor (13).

3. The deployment method of claim 2, wherein: The rotor motor (13) is fixed on the other end of the rotor support arm (14) through a first motor support (17).

4. The deployment method of claim 2 or 3, wherein: The support arm motor (15) is fixed on the side wall of the fuselage (11) through a second motor support (18), and the rotor support arm (14) is fixed on the output shaft of the support arm motor (15) through an L-shaped support arm base (19).

5. The deployment method of claim 4, wherein: The number of aircraft landing legs (16) is multiple and they are evenly distributed on the bottom of the fuselage (11).

6. The deployment method of claim 1, wherein: The locking assembly comprises an envelope bulging breaker (38), an upper locking sheet (39), a lower locking sheet (40), steel wires (41), locking slide pins (42), square slide sleeves (43), round slide sleeves (44) and unlocking springs (45), the lower locking sheet (40) is fixed at the middle part of the bottom plate (32), the number of the steel wires (41) is three, and one end of each steel wire (41) is clamped between the upper locking sheet (39) and the lower locking sheet (40), the envelope bulging breaker (38) is arranged above the upper locking sheet (39) and is fixed with the lower locking sheet (40), the bulging breaker spring (46) is vertically compressed between the upper locking sheet (39) and the lower locking sheet (40), the tensioning piece (47) is arranged on each steel wire (41), the inner walls of the front baffle (33) and the two side baffles (35) are respectively fixed with the square slide sleeves (43) and the round slide sleeves (44) arranged in the upper and lower directions, the locking slide pin (42) is arranged between each square slide sleeve (43) and the corresponding round slide sleeve (44), each locking slide pin (42) is slidably arranged in the square slide sleeve (43) and the round slide sleeve (44) through the square slide rod fixed on the upper part and the round slide rod fixed on the lower part, the top plate (31) is fixed with three top hooks on the lower surface, the bottom surface of the locking slide pin (42) is processed with the inclined surface corresponding to the top hook, the unlocking spring (45) is sleeved on the round slide rod between the round slide sleeve (44) and the locking slide pin (42), and the other end of the steel wire (41) is fixed with the corresponding bottom end of the round slide rod.

7. The deployment method of claim 1, wherein: The front baffle (33) and the bottom plate (32) and the side baffle (35) and the bottom plate (32) are connected through the rotating shaft, and the rotating shaft is provided with the coil spring (48).

8. The deployment method of claim 1, wherein: The limiting piece (37) is made of foam material.

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