CN115027698A - Eight rotor type mars aircraft of collapsible four-axis - Google Patents
Eight rotor type mars aircraft of collapsible four-axis Download PDFInfo
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- CN115027698A CN115027698A CN202210719084.9A CN202210719084A CN115027698A CN 115027698 A CN115027698 A CN 115027698A CN 202210719084 A CN202210719084 A CN 202210719084A CN 115027698 A CN115027698 A CN 115027698A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/10—Artificial satellites; Systems of such satellites; Interplanetary vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C1/00—Fuselages; Constructional features common to fuselages, wings, stabilising surfaces or the like
- B64C1/30—Parts of fuselage relatively movable to reduce overall dimensions of aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/08—Helicopters with two or more rotors
- B64C27/10—Helicopters with two or more rotors arranged coaxially
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G1/00—Cosmonautic vehicles
- B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
- B64G1/62—Systems for re-entry into the earth's atmosphere; Retarding or landing devices
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention discloses a foldable four-axis eight-rotor type Mars aircraft, which comprises: the foldable four-axis eight-rotor type Mars aircraft is arranged at the top of a rocket launching cylinder cover, a rocket launching cylinder frame is arranged in the center of a Mars lander, and the rocket launching cylinder cover is arranged at the top of the rocket launching cylinder frame; the method comprises the following steps: the lock-release mechanism comprises a Mars rotor craft body, a rotor lock-release mechanism and a fuselage and landing leg lock-release mechanism; a rotor wing locking and unlocking mechanism, a machine body and a landing leg locking and unlocking mechanism are arranged above the cylinder cover; the Mars rotor craft body is connected to the fuselage and the landing leg locking and unlocking mechanism and is locked by the rotor locking and unlocking mechanism. According to the invention, the four rotor blades of a set of coaxial rotors can be locked and unlocked by only one explosion bolt, so that the number of fire actuators is greatly reduced, and the reliability of a detection task is improved.
Description
Technical Field
The invention relates to the technical field of Mars rotor crafts, in particular to a foldable four-axis eight-rotor type Mars craft.
Background
The collection and return of the Mars surface rock soil sample are important subjects of deep space exploration. In the existing Mars detection mode, only two methods, namely a lander and a rover, can be used for collecting a star catalogue sample, but the collection range and speed of the sample are limited by terrain conditions, and high-precision, repeatable and efficient sampling is difficult to realize. A mars helicopter was deployed in the united states in mars 2021, which demonstrated the feasibility of mars flight, but the payload carried by the helicopter was only a small color camera. Therefore, a large-scale mars aircraft capable of carrying more payloads needs to be developed to cooperate with a lander to realize large-range and high-speed mars patrol flight and sampling. The four-shaft eight-rotor configuration has higher aerodynamic efficiency and larger load-carrying capacity, and is an ideal configuration for the Mars patrol detection aircraft. Because the distance between the mars and the earth is far, the deep space exploration spacecraft needs to have a small storage volume so as to be installed in the detector, and the rotary wing type mars aircraft is required to have a folding and unfolding function and can be reliably locked in the detector, and can be efficiently unlocked and unfolded after the mars is reached. The folding and unfolding mechanism of the existing rotor aircraft does not have the high-rigidity locking requirement required by space launching and does not have the function of reliably unfolding a plurality of groups of coaxial rotors on the surface of a mars.
Disclosure of Invention
The invention aims to provide a four-axis eight-rotor type Mars aircraft capable of being folded on a lander and a locking mechanism thereof, so as to realize that the rotor type Mars aircraft cooperates with a return rocket to finish a detection target of Mars surface sampling return.
The technical scheme adopted by the invention for solving the technical problems is as follows:
a foldable four-axis eight-rotor type Mars aircraft is characterized in that the foldable four-axis eight-rotor type Mars aircraft is installed at the top of a rocket launching cylinder cover, a rocket launching cylinder frame is installed in the center of a Mars lander, and the rocket launching cylinder cover is installed at the top of the rocket launching cylinder frame; the method comprises the following steps: the Mars rotor craft comprises a Mars rotor craft body, a rotor wing locking and unlocking mechanism, a fuselage and a landing leg locking and unlocking mechanism; a rotor wing locking and unlocking mechanism, a machine body and a landing leg locking and unlocking mechanism are arranged above the cylinder cover; the Mars rotor craft body is connected to the fuselage and the landing leg locking and unlocking mechanism and is locked by the rotor locking and unlocking mechanism.
Further, mars rotor craft body includes rotor blade, the folding hinge of paddle, rotor arm, the folding hinge of rotor arm, upper rotor propulsion motor, lower rotor propulsion motor and aircraft fuselage, aircraft fuselage top equipartition has the rotor arm, the rotor arm passes through the folding hinge of rotor arm with the aircraft fuselage links to each other, install lower rotor propulsion motor on the rotor arm, upper rotor propulsion motor is installed at lower rotor propulsion motor top, upper rotor propulsion motor with the rotor of lower rotor propulsion motor all has rotor blade through the folding hinged joint of paddle.
Further, mars rotor craft body still includes landing leg folding hinge and landing leg, aircraft fuselage bottom equipartition has the landing leg, the landing leg passes through the folding hinge of landing leg with the aircraft fuselage links to each other.
Furthermore, every rotor arm position department all corresponds and is provided with rotor lock-out mechanism for press from both sides tightly and lock the rotor arm, and be used for pressing from both sides tightly and lock the rotor paddle.
Further, the rotor wing unlocking mechanism comprises a rotor wing arm main clamping frame, a rotor wing arm unfolding strut, a rotor wing arm connecting rod hinge, a rotor wing arm connecting rod, a rotor wing arm push rod hinge, a rotor wing arm sliding block, a rotor wing arm release spring, a rotor wing unlocking main frame, a rotor wing arm unlocking explosive bolt, a rotor wing unlocking torsion spring, a rotor wing unlocking hinge, a rotor wing unlocking mechanism support and a rotor wing unlocking module; wherein the content of the first and second substances,
the bottom of the rotor wing unlocking mechanism bracket is arranged on the rocket launching canister cover and is connected with the rotor wing unlocking main frame through the rotor wing unlocking torsion spring and the rotor wing unlocking hinge; the left rotor wing unlocking main frame and the right rotor wing unlocking main frame are connected together through the rotor wing unlocking explosive bolt and can rotate around the rotor wing unlocking hinge; when the rotor wing unlocking main frame is in a locking state, the rotor wing unlocking main frame is connected to a rotor wing arm sliding block through a rotor wing arm unlocking explosion bolt, and a rotor wing arm release spring subjected to prepressing is further connected between the rotor wing unlocking main frame and the rotor wing arm sliding block; the rotor arm sliding block is connected with the rotor arm connecting rod through a rotor arm push rod hinge and is connected to the rotor arm unfolding support frame through a rotor arm connecting rod hinge; rotor arm owner presss from both sides frame and rotor arm exhibition strut fixed connection, and rotor arm owner presss from both sides the frame and links to each other with rotor lock-out module.
Further, the rotor wing locking and unlocking module comprises a blade upper clamping plate, a blade locking and unlocking hinge, a blade releasing torsion spring, a blade lower clamping plate and a blade clamping plate tension spring; the rotor arm main clamping frames are connected to the blade upper clamping plate and the blade lower clamping plate through the blade unlocking hinge and the blade release torsion spring, and the left rotor arm main clamping frame and the right rotor arm main clamping frame clamp and lock the rotor arms by utilizing a bottom semi-circular arc structure; the paddle lower splint of the rotor blade of the upper side and the paddle lower splint of the rotor blade of the lower side are connected together through a paddle splint tension spring.
The rotor wing unlocking module further comprises a blade transverse drawing rod, a blade transverse drawing spring, a blade unlocking explosion bolt, an explosion bolt mounting seat, a blade system releasing stop block, a blade system unlocking spring, an unlocking spring mounting seat, a blade longitudinal drawing spring and a blade longitudinal drawing rod; in a locked state, the horizontal drawing rod and the longitudinal drawing rod of the blade penetrate through the tail end holes of the upper clamping plate and the lower clamping plate of the blade, so that the movement of the clamping plate of the blade is restrained; the other ends of the horizontal drawing rod and the longitudinal drawing rod of the paddle penetrate through special-shaped holes in the explosive bolt mounting seat and are propped against the release stop block of the paddle system; the explosive bolt mounting seat is connected with the blade system release stop dog through a blade unlocking explosive bolt, and is connected to the unlocking spring mounting seat through a blade system unlocking spring; the explosive bolt mounting seat and the unlocking spring mounting seat are respectively and fixedly connected with the left rotor arm main clamping frame and the right rotor arm main clamping frame; the paddle transverse drawing rod is connected with the explosive bolt mounting seat through a paddle transverse drawing spring, and the paddle longitudinal drawing rod is connected with the explosive bolt mounting seat through a paddle longitudinal drawing spring.
Further, the fuselage and landing leg unlocking mechanism comprises a fuselage unlocking bolt, a fuselage support, a landing leg left clamping plate, a landing leg right clamping plate, a landing leg unlocking explosion bolt, a landing leg unlocking torsion spring and a fuselage unlocking mechanism support; the aircraft body is connected to the body support through a body lock-release bolt, and a bottom ridge of the aircraft body is arranged on a step of the body support to keep locking rigidity; the landing leg left clamping plate is connected to the landing leg right clamping plate through a landing leg unlocking explosion bolt and a landing leg unlocking torsion spring, the two clamping plates clamp and lock the landing leg by means of semi-circular arc surfaces at two ends, the two clamping plates can rotate relatively around the vertical axis of the body locking and unlocking mechanism support, and the body and the landing leg locking and unlocking mechanism are connected to the rocket launching barrel cover through the body locking and unlocking mechanism support.
Has the advantages that:
1. the invention can effectively realize the high folding-unfolding ratio storage of the four-axis eight-rotor type Mars aircraft.
2. According to the invention, the locking and unlocking of four rotor blades of a set of coaxial rotors can be realized by only using one explosion bolt, so that the number of the initiating explosive actuators is greatly saved, and the reliability of a detection task is improved.
3. The folding locking device can realize effective folding locking of the Mars rotor craft, utilizes the plurality of blade clamping plates to clamp the blades, and simultaneously uses the arc surfaces to clamp the rotor arms and the landing legs, thereby improving the connection rigidity of the Mars rotor craft and the lander in the launching process.
4. The invention can realize the effective and autonomous unlocking and unfolding of the Mars rotor craft, the folding and unfolding mechanism realizes the locking by virtue of the explosive bolt and realizes the unlocking and unfolding by utilizing the unlocking spring, the process can be actively controlled by an electric signal, and the convenience of ground remote control is improved.
Drawings
FIG. 1 is an overall layout of the present invention on a Mars lander;
FIG. 2 is a front view of the Mars aircraft and single-axis rotor lock-out mechanism of the present invention in a collapsed condition;
FIG. 3 is a perspective view of the Mars aircraft in the deployed state of the present invention;
figure 4 is a front view of a single-axis rotor lock-out mechanism with the rotor arms deployed in accordance with the present invention;
figure 5 is a left side view of the single-axis rotor lock-out mechanism with the rotor arms extended in accordance with the present invention;
FIG. 6 is a top view of the rotor lock-out mechanism of the present invention with the blades removed;
fig. 7 is a perspective view of the locking mechanism of the main body and landing leg according to the present invention.
Wherein, in the figure: 1. the aircraft comprises a rotary wing type mars aircraft, 1-1 rotor wing blades, 1-2 blade folding hinges, 1-3 rotor wing arms, 1-4 rotor wing arm folding hinges, 1-5 upper rotor wing propulsion motors, 1-6 lower rotor wing propulsion motors, 1-7 aircraft airframes, 1-8 landing leg folding hinges, 1-9 landing legs, 2 rocket launching cylinder covers, 3 rocket launching cylinder frames, 4 mars landers, 5 rotor wing locking and unlocking mechanisms, 5-1 rotor wing arm main clamping frames, 5-2 rotor wing arm unfolding bracing frames, 5-3 rotor wing arm connecting rod hinges, 5-4 rotor wing arm connecting rods, 5-5 rotor wing arm push rod hinges, 5-6 rotor wing arm sliding blocks, 5-7 rotor wing arm release springs, 5-8 rotor wing locking and unlocking main frames, 5-9 of a blade upper clamp plate, 5-10 of a blade locking hinge, 5-11 of a blade release torsion spring, 5-12 of a blade lower clamp plate, 5-13 of a blade clamp plate tension spring, 5-14 of a rotor arm unlocking explosion bolt, 5-15 of a rotor unlocking explosion bolt, 5-16 of a rotor unlocking torsion spring, 5-17 of a rotor unlocking hinge, 5-18 of a rotor locking mechanism bracket, 5-19 of a blade transverse drawing rod, 5-20 of a blade transverse drawing spring, 5-21 of a blade unlocking explosion bolt, 5-22 of an explosion bolt mounting seat, 5-23 of a blade system release stop dog, 5-24 of a blade system locking spring, 5-25 of a locking spring mounting seat, 5-26 of a blade longitudinal drawing spring, 5-27 of a blade longitudinal drawing rod, 6. The device comprises a machine body and landing leg unlocking mechanism, 6-1. a machine body unlocking bolt, 6-2. a machine body support, 6-3. a landing leg left clamping plate, 6-4. a landing leg right clamping plate, 6-5. a landing leg unlocking explosion bolt, 6-6. a landing leg unlocking torsion spring and 6-7. a machine body unlocking mechanism support.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-2, the invention discloses a foldable four-axis eight-rotor type mars aircraft 1, wherein the foldable four-axis eight-rotor type mars aircraft 1 is installed at the top of a rocket launching cylinder cover 2, a rocket launching cylinder frame 3 is installed at the center of a mars lander 4, and the rocket launching cylinder cover 2 is installed at the top of the rocket launching cylinder frame 3; the method comprises the following steps: the Mars rotor craft comprises a Mars rotor craft body, a rotor locking and unlocking mechanism 5 and a fuselage and landing leg locking and unlocking mechanism 6; a rotor wing locking and unlocking mechanism 5 and a fuselage and landing leg locking and unlocking mechanism 6 are arranged above the cylinder cover; the Mars rotor craft body is connected to the fuselage and landing leg lock-release mechanism 6 and locked by the rotor lock-release mechanism 5.
The folding mars rotor craft body is installed in rocket launching cover 2 tops, and after the unblock of mars rotor craft body and take off, rocket launching cover 2 can carry the rotor locking/unlocking mechanism 5 and fuselage and landing leg locking/unlocking mechanism 6 of connection above it and overturn 90 degrees along the horizontal axis, makes the interior return rocket portability sample of rocket launching tube frame 3 take off.
Referring to fig. 3, the mars rotorcraft body includes rotor blades 1-1, blade folding hinges 1-2, rotor arms 1-3, rotor arm folding hinges 1-4, upper rotor propulsion motors 1-5, lower rotor propulsion motors 1-6, and an aircraft fuselage 1-7, the top of the aircraft body 1-7 is uniformly provided with rotor arms 1-3, the rotor arms 1-3 are connected with the aircraft body 1-7 through the rotor arm folding hinges 1-4, a lower rotor wing propulsion motor 1-6 is arranged on the rotor wing arm 1-3, an upper rotor wing propulsion motor 1-5 is arranged on the top of the lower rotor wing propulsion motor 1-6, the rotors of the upper rotor propulsion motor 1-5 and the lower rotor propulsion motor 1-6 are connected with rotor blades 1-1 through blade folding hinges 1-2. The mars rotor aircraft body still includes landing leg folding hinge 1-8 and landing leg 1-9, landing leg 1-9 is equipped with to aircraft fuselage 1-7 bottom equipartition, landing leg 1-9 pass through landing leg folding hinge 1-8 with aircraft fuselage 1-7 links to each other.
The upper rotor wing propulsion motors 1-5 are inner rotor motors, the lower rotor wing propulsion motors 1-6 are outer rotor motors, the two rotor wing propulsion motors are coaxially arranged and have opposite rotation directions, and each propulsion motor drives two blades to rotate; four groups of same coaxial rotor systems are connected around the aircraft body 1-7, and when the aircraft is in a folded state, the rotor arms 1-3 are folded to vertical positions around the rotor arm folding hinges 1-4; 4 landing legs 1-9 are evenly distributed at the bottom of the fuselage and connected, and the landing legs 1-9 in a folded state are restrained at a vertical position.
Referring to fig. 1 to 6, in the present embodiment, a rotor lock-unlock mechanism 5 is correspondingly disposed at each position of the rotor arms 1 to 3, for clamping and locking the rotor arms 1 to 3, and for clamping and locking the rotor blades 1 to 1.
The rotor wing unlocking mechanism 5 comprises a rotor wing arm main clamping frame 5-1, a rotor wing arm unfolding strut 5-2, a rotor wing arm connecting rod hinge 5-3, a rotor wing arm connecting rod 5-4, a rotor wing arm push rod hinge 5-5, a rotor wing arm sliding block 5-6, a rotor wing arm release spring 5-7, a rotor wing unlocking main frame 5-8, a rotor wing arm unlocking explosive bolt 5-14, a rotor wing unlocking explosive bolt 5-15, a rotor wing unlocking torsion spring 5-16, a rotor wing unlocking hinge 5-17, a rotor wing unlocking mechanism support 5-18 and a rotor wing unlocking module; wherein the content of the first and second substances,
the bottoms of the rotor wing unlocking mechanism brackets 5-18 are arranged on the rocket launching cylinder cover 2 and are connected with the rotor wing unlocking main frame 5-8 through the rotor wing unlocking torsion springs 5-16 and the rotor wing unlocking hinges 5-17; the left rotor wing unlocking main frame 5-8 and the right rotor wing unlocking main frame are connected together through the rotor wing unlocking explosive bolts 5-15 and can rotate around the rotor wing unlocking hinges 5-17; in a locking state, the rotor wing unlocking main frame is connected to a rotor wing arm sliding block 5-6 through a rotor wing arm unlocking explosive bolt 5-14, and a rotor wing arm release spring 5-7 subjected to prepressing is connected between the rotor wing unlocking main frame and the rotor wing arm sliding block 5-6; the rotor arm sliding block 5-6 is connected with a rotor arm connecting rod 5-4 through a rotor arm push rod hinge 5-5 and is connected with a rotor arm unfolding strut 5-2 through a rotor arm connecting rod hinge 5-3; the rotor arm main clamping frame 5-1 is fixedly connected with the rotor arm unfolding strut 5-2, and the rotor arm main clamping frame 5-1 is connected with the rotor locking module.
The rotor wing locking and unlocking module comprises 5-9 parts of a blade upper clamping plate, 5-10 parts of a blade locking and unlocking hinge, 5-11 parts of a blade release torsion spring, 5-12 parts of a blade lower clamping plate and 5-13 parts of a blade clamping plate tension spring; the rotor arm main clamping frame 5-1 is connected to a blade upper clamping plate 5-9 and a blade lower clamping plate 5-12 through a blade unlocking hinge and a blade release torsion spring 5-11, and the left rotor arm main clamping frame 5-1 and the right rotor arm main clamping frame 5-1 realize the clamping and locking of the rotor arms 1-3 by utilizing a bottom semi-circular arc structure; the lower blade clamp plate 5-12 of the upper rotor blade 1-1 and the lower blade clamp plate 5-12 of the lower rotor blade 1-1 are connected together by a blade clamp plate tension spring 5-13, i.e. the two sets of upper blade clamp plates 5-9 and the lower blade clamp plates 5-12 of the coaxial dual-rotor blade 1-1 are symmetrically arranged along the blade clamp plate tension spring 5-13.
The rotor wing unlocking module also comprises 5-19 blade transverse drawing rods, 5-20 blade transverse drawing springs, 5-21 blade unlocking explosion bolts, 5-22 explosion bolt installation seats, 5-23 blade system release stop blocks, 5-24 blade system unlocking springs, 5-25 locking spring installation seats, 5-26 blade longitudinal drawing springs and 5-27 blade longitudinal drawing rods; in a locked state, the horizontal drawing rod 5-19 and the longitudinal drawing rod 5-27 of the blade pass through the tail end holes of the upper clamping plate 5-9 and the lower clamping plate 5-12 of the blade, so that the movement of the clamping plates of the blade is restrained; the other ends of the horizontal drawing rod 5-19 and the longitudinal drawing rod of the paddle penetrate through special-shaped holes on explosive bolt mounting seats 5-22 and are propped against release check blocks 5-23 of the paddle system; the explosive bolt mounting seats 5-22 are connected with blade system release stoppers 5-23 through blade unlocking explosive bolts 5-21 and connected with unlocking spring mounting seats 5-25 through blade system unlocking springs 5-24; the explosive bolt mounting seats 5-22 and the locking and unlocking spring mounting seats 5-25 are respectively and fixedly connected with the left rotor arm main clamping frame 5-1 and the right rotor arm main clamping frame 5-1; the blade transverse drawing rod 5-19 is connected with the explosive bolt mounting seat 5-22 through a blade transverse drawing spring 5-20, and the blade longitudinal drawing rod 5-27 is connected with the explosive bolt mounting seat 5-22 through a blade longitudinal drawing spring 5-26.
In the embodiment, 4 sets of rotor wing locking and unlocking mechanisms 5 with the same structure are uniformly distributed around the folded mars rotor wing aircraft body so as to realize the locking and unlocking expansion of four rotor wing shafts; during unlocking, the rotor arm unlocking explosive bolts 5-14 are firstly actuated and disconnected to enable the rotor arms 1-3 to return to the horizontal position, then the blade unlocking explosive bolts 5-21 are actuated and disconnected to enable the blades to be unlocked, and finally the rotor unlocking explosive bolts 5-15 are actuated and disconnected to enable the rotor blades 1-1 to be unfolded to be in the working state.
Referring to fig. 7, in the present embodiment, two pairs of the left clamping plate 6-3 and the right clamping plate 6-4 of the landing leg are provided, each pair is used for locking two landing legs 1-9 at diagonal positions, and the two sets of locking and unlocking mechanisms for the landing legs 1-9 have the same structure and are not described again; the fuselage lock-out bolt 6-1 is made of shape memory alloy with low impact to avoid damage to the unlocked Mars aircraft caused by impact.
The fuselage and landing leg unlocking mechanism 6 comprises a fuselage unlocking bolt 6-1, a fuselage support 6-2, a landing leg left clamping plate 6-3, a landing leg right clamping plate 6-4, a landing leg unlocking explosive bolt 6-5, a landing leg unlocking torsion spring 6-6 and a fuselage unlocking mechanism support 6-7; the aircraft fuselage 1-7 is connected to the fuselage support 6-2 through a fuselage lock-out bolt 6-1, and the bottom ridge of the aircraft fuselage is arranged on the step of the fuselage support 6-2 to maintain the lock-out rigidity; the landing leg left clamping plate 6-3 is connected to the landing leg right clamping plate 6-4 through a landing leg unlocking explosion bolt 6-5 and a landing leg unlocking torsion spring 6-6, the two clamping plates clamp and lock the landing legs 1-9 by means of semi-circular arc surfaces at two ends, the two clamping plates can rotate relatively around the vertical axis of the fuselage locking mechanism support 6-7, and the fuselage and the landing leg locking mechanism 6 are connected to the rocket launching barrel cover 2 through the fuselage locking mechanism support 6-7.
The invention can effectively realize the high folding-unfolding ratio storage of the four-axis eight-rotor type Mars aircraft 1. According to the invention, the locking and unlocking of the four rotor blades 1-1 of a set of coaxial rotors can be realized by only using one explosion bolt, so that the number of the initiating explosive actuators is greatly saved, and the reliability of a detection task is improved. The folding locking device can realize effective folding locking of the mars rotor aircraft, the blades are clamped by the blade clamping plates, and the rotor arms 1-3 and the landing legs 1-9 are clamped by the arc surfaces, so that the connection rigidity of the mars rotor aircraft and a lander in the launching process is improved. The invention can realize the effective and autonomous unlocking and unfolding of the Mars rotor craft, the folding and unfolding mechanism realizes the locking by virtue of the explosive bolt and realizes the unlocking and unfolding by utilizing the unlocking spring, the process can be actively controlled by an electric signal, and the convenience of ground remote control is improved.
The working process of the invention is as follows:
folding of the mars rotorcraft: the two blades are combined to form a group of rotors, the rotors are driven by an upper propulsion motor and a lower propulsion motor and rotate around opposite directions to offset the generated pneumatic torque reversal, and four groups of coaxial double rotors are combined to form a rotor system of the Mars aircraft. The rotor blade 1-1 can be folded around the blade folding hinge 1-2 to be parallel to the rotor arm 1-3 and the blade tip towards the rotor arm folding hinge 1-4, the rotor arm 1-3 can be folded around the rotor arm folding hinge 1-4 to be parallel to the vertical axis of the fuselage and towards the bottom of the fuselage, and the landing leg 1-9 can be folded down around the landing leg folding hinge 1-8 to be in a vertical state. The folding hinges 1-4 have no elasticity, and after being unfolded to the working position, the connection rigidity is ensured by the built-in elastic pins. The folding hinges 1-2 and 1-8 are made of high-rigidity flexible materials, are elastically deformed after being folded from an unfolded state, and can be restored to a high-rigidity state after locking constraint is eliminated, so that the rigidity of the whole mechanism is ensured.
The rotor wing arm of rotor wing folding and unfolding mechanism is locked and unlocked to unfold the locking and unlocking of module: when the rotor arm is folded and locked, the rotor arm unlocking explosive bolts 5-14 connect the rotor arm sliding block 5-6 with the rotor unlocking main frame 5-8, and at the moment, the rotor arm releasing spring 5-7 is deformed by pressure. After the firer actuating system receives a rotor arm unlocking and unfolding instruction, the rotor arm unlocking explosive bolts 5-14 are controlled to be disconnected, and the rotor arm release springs 5-7 push the rotor arm sliding blocks 5-6 to move along the optical axis at the upper end of the rotor unlocking main frame until the rotor arm unlocking explosive bolts reach the top limit position; in the process, the rotor wing arms 1-3 rotate by 90 degrees around the rotor wing arm folding hinges 1-4 to the horizontal position, the rotor wing arm main clamping frames 5-2 also rotate by the same angle, and the motion of the rotor wing arms is formed by a crank-slider mechanism formed by rotor wing arm connecting rod hinges 5-3, rotor wing arm connecting rods 5-4, rotor wing arm push rod hinges 5-5 and the like.
The locking and unlocking of the blade locking and unlocking module of the rotor wing folding and unfolding mechanism: under the locking state of the rotor blade, the blade unlocking explosion bolt 5-21 connects the explosion bolt mounting seat 5-22 with the blade system release stop block 5-23, and at the moment, the two ends of the blade system locking spring 5-24 fixedly connected to the locking spring mounting seat 5-25 and the blade system release stop block 5-23 respectively are pulled; the blade system release stop blocks 5-23 stop the opposite movement of the blade transverse drawing rods 5-19 and the blade longitudinal drawing rods 5-27, so that the tail end shafts of the latter two are inserted into the tail end holes of the blade upper clamping plates 5-9 and the blade lower clamping plates 5-12, the blade upper clamping plates 5-9 and the blade lower clamping plates 5-12 are prevented from being separated under the action of the blade release torsion springs 5-11, and the locking effect of the rotor blade 1-1 is further ensured. After the initiating explosive system receives a paddle unlocking instruction, the paddle unlocking explosion bolts 5-21 are controlled to be disconnected, and the paddle system release check blocks 5-23 move towards the direction of the locking and unlocking spring mounting seats under the action of the paddle system locking and unlocking springs 5-24; under the action of restoring force generated by originally-pulled blade transverse pulling springs 5-20, blade transverse pulling rods 5-19 pass through the special-shaped holes on the locking spring mounting seats 5-25, the tail end shafts of the blade transverse pulling rods are pulled out from the tail end holes of the blade upper clamping plates 5-9 and the blade lower clamping plates 5-12, under the action of the blade release torsion springs 5-11, the blade upper clamping plates 5-9 and the blade lower clamping plates 5-12 rotate around the blade locking hinges 5-10 to form a certain angle, so that the constraint borne by the rotor blades 1-1 is relieved, in the process that the blade folding hinge 1-2 recovers to deform, the rotor blade 1-1 tends to return to the working position, and in order to prevent the blade lower clamping plates 5-12 from obstructing the blade from unfolding, the blade clamping plate tension springs 5-13 can pull the two blade lower clamping plates to move oppositely; the movement processes of the longitudinal pulling rods 5-27 of the blades and the longitudinal pulling springs 5-26 of the blades are the same as those described above, and the difference is that the special-shaped holes on the locking spring mounting seats for the longitudinal pulling rods 5-27 of the blades to pass through are arranged at an angle of 90 degrees with the special-shaped holes on the transverse pulling rods of the blades so as to prevent the longitudinal pulling rods and the transverse pulling rods from colliding in the movement process.
The rotor of rotor book exhibition mechanism is locked and is separated the locking and the unblock of expansion module: when the rotors are folded and locked, the left and right rotor unlocking main frames 5-8 are connected together through the rotor unlocking explosion bolts 5-15; after the firer actuating system receives an unlocking instruction, the rotor wing unlocking explosive bolts 5-15 are controlled to be disconnected, under the action of the rotor wing unlocking torsion springs 5-16, the right rotor wing unlocking main frame 5-8 rotates clockwise around the rotor wing unlocking hinges 5-17, the left rotor wing unlocking main frame 5-8 rotates anticlockwise around the rotor wing unlocking hinges 5-17, and the unlocking of the rotor wing blades and the separation of the rotor wing unlocking mechanism 5 and the mars rotor craft body 1 are achieved.
Locking and unlocking of the locking and unlocking mechanism of the machine body and the landing leg: after the firer actuating system receives a landing leg unlocking instruction, the landing leg unlocking explosion bolt 6-5 is controlled to be disconnected, so that the left clamping plate 6-3 and the right clamping plate 6-4 of the landing leg are bounced by an angle under the action of the landing leg unlocking torsion spring, and the landing legs 1-9 are returned to the unfolding positions under the restoring force action of the folding hinges 1-8 of the landing legs. After the landing leg is unfolded, the whole four-axis eight-rotor type Mars aircraft completes the unfolding action, and the fuselage unlocking bolt 6-1 is disconnected, so that the fuselage is disconnected with the fuselage unlocking structure support 6-7. After the rotor wing rotates, the Mars aircraft vertically takes off from the bracket to execute a sampling detection task.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (8)
1. A foldable four-axis eight-rotor type Mars aircraft is characterized in that the foldable four-axis eight-rotor type Mars aircraft is installed at the top of a rocket launching cylinder cover, a rocket launching cylinder frame is installed in the center of a Mars lander, and the rocket launching cylinder cover is installed at the top of the rocket launching cylinder frame; it is characterized by comprising: the Mars rotor craft comprises a Mars rotor craft body, a rotor wing locking and unlocking mechanism, a fuselage and a landing leg locking and unlocking mechanism; a rotor wing locking and unlocking mechanism, a machine body and a landing leg locking and unlocking mechanism are arranged above the cylinder cover; the Mars rotor craft body is connected to the fuselage and the landing leg locking and unlocking mechanism and is locked by the rotor locking and unlocking mechanism.
2. The foldable quad-eight-rotor type mars aircraft according to claim 1, wherein the mars rotor aircraft body comprises rotor blades, blade folding hinges, a rotor arm, rotor arm folding hinges, an upper rotor propulsion motor, a lower rotor propulsion motor and an aircraft body, the rotor arm is uniformly distributed at the top of the aircraft body, the rotor arm passes through the rotor arm folding hinges and the aircraft body is connected, the lower rotor propulsion motor is installed on the rotor arm, the upper rotor propulsion motor is installed at the top of the lower rotor propulsion motor, the upper rotor propulsion motor and the rotor of the lower rotor propulsion motor are connected with the rotor blades through the blade folding hinges.
3. The foldable four-axis eight-rotor Mars aircraft according to claim 2, characterized in that the Mars rotor aircraft body further comprises a landing leg folding hinge and landing legs, the landing legs are uniformly distributed at the bottom of the aircraft body, and the landing legs are connected with the aircraft body through the landing leg folding hinge.
4. The foldable quad-quad eight-rotor Mars aircraft according to claim 2, wherein each rotor arm is correspondingly provided with a rotor locking and unlocking mechanism for clamping and locking the rotor arm and clamping and locking the rotor blade.
5. The foldable four-axis eight-rotor type Mars aircraft according to claim 4, wherein the rotor locking mechanism comprises a rotor arm main clamping frame, a rotor arm unfolding bracket, a rotor arm connecting rod hinge, a rotor arm connecting rod, a rotor arm push rod hinge, a rotor arm slider, a rotor arm release spring, a rotor locking main frame, a rotor arm unlocking explosive bolt, a rotor unlocking torsion spring, a rotor unlocking hinge, a rotor locking mechanism bracket and a rotor locking module; wherein the content of the first and second substances,
the bottom of the rotor wing unlocking mechanism bracket is arranged on the rocket launching barrel cover and is connected with the rotor wing unlocking main frame through the rotor wing unlocking torsion spring and the rotor wing unlocking hinge; the left rotor wing unlocking main frame and the right rotor wing unlocking main frame are connected together through the rotor wing unlocking explosive bolt and can rotate around the rotor wing unlocking hinge; when the rotor wing unlocking main frame is in a locking state, the rotor wing unlocking main frame is connected to a rotor wing arm sliding block through a rotor wing arm unlocking explosion bolt, and a rotor wing arm release spring subjected to prepressing is further connected between the rotor wing unlocking main frame and the rotor wing arm sliding block; the rotor arm sliding block is connected with the rotor arm connecting rod through a rotor arm push rod hinge and is connected to the rotor arm unfolding support frame through a rotor arm connecting rod hinge; rotor arm owner presss from both sides frame and rotor arm exhibition strut fixed connection, and rotor arm owner presss from both sides the frame and links to each other with rotor lock-out module.
6. The foldable four-axis eight-rotor Mars aircraft according to claim 5, wherein the rotor locking module comprises a blade upper clamp plate, a blade locking hinge, a blade releasing torsion spring, a blade lower clamp plate and a blade clamp plate tension spring; the rotor arm main clamping frames are connected to the blade upper clamping plate and the blade lower clamping plate through the blade unlocking hinge and the blade release torsion spring, and the left rotor arm main clamping frame and the right rotor arm main clamping frame clamp and lock the rotor arms by utilizing a bottom semi-circular arc structure; the lower blade clamping plate of the rotor blade on the upper side is connected with the lower blade clamping plate of the rotor blade on the lower side through a blade clamping plate tension spring.
7. The foldable four-axis eight-rotor Mars aircraft according to claim 6, wherein the rotor locking module further comprises a blade transverse drawing rod, a blade transverse drawing spring, a blade unlocking explosion bolt, an explosion bolt mounting seat, a blade system release stop block, a blade system locking spring, a locking spring mounting seat, a blade longitudinal drawing spring and a blade longitudinal drawing rod; in a locked state, the horizontal drawing rod and the longitudinal drawing rod of the blade penetrate through the tail end holes of the upper clamping plate and the lower clamping plate of the blade, so that the movement of the clamping plate of the blade is restrained; the other ends of the horizontal drawing rod and the longitudinal drawing rod of the paddle penetrate through special-shaped holes in the explosive bolt mounting seat and are propped against the release stop block of the paddle system; the explosive bolt mounting seat is connected with the blade system release stop dog through a blade unlocking explosive bolt, and is connected to the unlocking spring mounting seat through a blade system unlocking spring; the explosive bolt mounting seat and the unlocking spring mounting seat are respectively and fixedly connected with the left rotor arm main clamping frame and the right rotor arm main clamping frame; the paddle transverse drawing rod is connected with the explosive bolt mounting seat through a paddle transverse drawing spring, and the paddle longitudinal drawing rod is connected with the explosive bolt mounting seat through a paddle longitudinal drawing spring.
8. The foldable four-axis eight-rotor Mars aircraft according to claim 3, wherein the fuselage and landing leg unlocking mechanism comprises a fuselage unlocking bolt, a fuselage support, a landing leg left clamping plate, a landing leg right clamping plate, a landing leg unlocking explosion bolt, a landing leg unlocking torsion spring and a fuselage unlocking mechanism support; the aircraft fuselage is connected to the fuselage support through a fuselage lock-out bolt, and the bottom ridge of the aircraft fuselage is arranged on the ladder of the fuselage support to maintain the locking rigidity; the landing leg left clamping plate is connected to the landing leg right clamping plate through a landing leg unlocking explosion bolt and a landing leg unlocking torsion spring, the two clamping plates clamp and lock the landing leg by means of semi-circular arc surfaces at two ends, the two clamping plates can rotate around the vertical axis of the body locking and unlocking mechanism support, and the body and the landing leg locking and unlocking mechanism are connected to the rocket launching barrel cover through the body locking and unlocking mechanism support.
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| CN202210719084.9A CN115027698A (en) | 2022-06-23 | 2022-06-23 | Eight rotor type mars aircraft of collapsible four-axis |
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| CN202210719084.9A CN115027698A (en) | 2022-06-23 | 2022-06-23 | Eight rotor type mars aircraft of collapsible four-axis |
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