CN115367146A - Three-axis six-rotor type mars aircraft and fixing and locking device thereof - Google Patents
Three-axis six-rotor type mars aircraft and fixing and locking device thereof Download PDFInfo
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- CN115367146A CN115367146A CN202211210656.7A CN202211210656A CN115367146A CN 115367146 A CN115367146 A CN 115367146A CN 202211210656 A CN202211210656 A CN 202211210656A CN 115367146 A CN115367146 A CN 115367146A
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- 239000002360 explosive Substances 0.000 claims description 24
- 230000000977 initiatory effect Effects 0.000 claims description 23
- 230000007246 mechanism Effects 0.000 claims description 19
- 239000013013 elastic material Substances 0.000 claims description 4
- 230000003068 static effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 3
- 230000009471 action Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000037452 priming Effects 0.000 description 1
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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
- B64C25/00—Alighting gear
- B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
- B64C27/12—Rotor drives
- B64C27/14—Direct drive between power plant and rotor hub
-
- 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
- B64G1/64—Systems for coupling or separating cosmonautic vehicles or parts thereof, e.g. docking arrangements
- B64G1/645—Separators
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
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- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
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Abstract
The invention provides a three-axis six-rotor type mars aircraft and a fixing and locking device thereof, and belongs to the field of aerospace mars rotor aircraft. The problem of mars rotor craft configuration design and fixed locking is solved. Mars aircraft includes landing leg, fuselage, rotor arm and rotor, landing leg quantity is three, and three landing leg is along the lower surface of circumferencial direction equipartition at the fuselage, the rotor includes propeller hub, propulsion motor and rotor blade, rotor blade is all installed to the left and right sides of propeller hub, the propeller hub links to each other with the propulsion motor, rotor arm one end is the pivot end, and the rotor is all installed to both sides about the other end, rotor arm quantity is three, and the pivot end of three rotor arm rotates with the fuselage and links to each other. The locking device is mainly used for the Mars aircraft and the fixing and locking thereof.
Description
Technical Field
The invention belongs to the field of aerospace mars rotor crafts, and particularly relates to a three-axis six-rotor type mars craft and a fixing and locking device thereof.
Background
Because the mars earth's surface is rugged and uneven, the mars car can't obtain enough terrain information in the exploration process, there is the complicated terrain area that the mars car can't enter moreover. The Mars aircraft can fly in the air, can acquire richer related terrain information, is matched with the Mars vehicle to finish exploration work, and can enter a complex terrain area to perform exploration work. While the rarefied atmosphere present at the Mars surface provides a great opportunity for rotor flight, the feasibility of Mars rotorcraft has now been demonstrated. There is currently no suitable mars aircraft and mechanism for locking and releasing the aircraft.
Disclosure of Invention
The invention provides a three-axis six-rotor type Mars aircraft and a fixing and locking device thereof, aiming at solving the problems in the prior art.
In order to achieve the purpose, the invention adopts the following technical scheme: the utility model provides a six rotor formula mars crafts of triaxial, mars craft includes landing leg, fuselage, rotor arm and rotor, landing leg quantity is three, and three landing leg is along the lower surface of circumferencial direction equipartition at the fuselage, the rotor includes propeller hub, propulsion motor and rotor blade, rotor blade is all installed to the left and right sides of propeller hub, the propeller hub links to each other with the propulsion motor, rotor arm one end is the pivot end, and the rotor is all installed to both sides about the other end, rotor arm quantity is three, and the axle head and the fuselage rotation of three rotor arm link to each other.
Furthermore, the rotors on the upper side and the lower side of the rotor arm are opposite in rotation direction.
Furthermore, the rotary shaft end and the body of the rotor arm are both provided with cylindrical holes, a rotary pair is formed by penetrating the rotary shaft end through the cylindrical holes, and the center of the rotary pair is provided with a volute spiral spring.
Furthermore, the machine body is provided with a rectangular groove at the rotating shaft, a positioning pin shaft is arranged in the rectangular groove, the positioning pin shaft is connected with the plate spring, and the rotating wing arm is provided with a groove at the rotating shaft.
Furthermore, a cylindrical fixed end is arranged on the outer side of the machine body, and the wrapping belt is connected with the cylindrical fixed end and the rotor wing arm through a priming system
The invention also provides a fixed locking device of the three-axis six-rotor type mars aircraft, which comprises a fixed upright post, two blade locking mechanisms and two initiating explosive devices, wherein the three initiating explosive devices are uniformly distributed on the fixed upright post along the circumferential direction, the two initiating explosive devices are connected with the lower surface of the aircraft body of the mars aircraft, each rotor blade of the mars aircraft is provided with one blade locking mechanism, and the blade locking mechanisms are connected with the fixed upright post.
Furthermore, the paddle locking mechanism comprises a first paddle locking baffle and a second paddle locking baffle, an inner hole of the second paddle locking baffle and an outer shaft of the first paddle locking baffle form a revolute pair, and a third initiating explosive device and a cylindrical spring are arranged at two ends of the revolute pair respectively.
Furthermore, elastic materials are arranged on the inner sides of the first blade locking baffle and the second blade locking baffle.
Furthermore, the bottom of the fixed upright post is connected with the lander.
Compared with the prior art, the invention has the beneficial effects that: the invention aims to design a three-axis six-rotor type Mars aircraft and a fixing and locking scheme thereof, and solves the problems of configuration design and fixing and locking of the Mars rotor type aircraft.
The aircraft main body scheme is the configuration, wherein the coaxial double-rotor type configuration has the advantages of compact structure and more stable flight control system, the multi-rotor type configuration has the advantage of more flexible control, the three-shaft six-rotor type configuration integrates the two configurations of the coaxial double-rotor type and the multi-rotor type, the aircraft has three rotor shafts, each shaft is a coaxial double rotor, the structure is compact, the flight control system is stable and flexible in control, the design consideration is carried out on the fixed locking scheme of the aircraft, and the design of the mars aircraft configuration and the fixed locking scheme has important significance.
Drawings
FIG. 1 is a schematic diagram showing the relative position relationship of the whole parts of a three-axis six-rotor Mars aircraft and a fixing and locking device thereof according to the present invention;
FIG. 2 is a detailed view of the relative positions of the parts of the three-axis six-rotor Mars aircraft and the fixing and locking device thereof;
FIG. 3 is a schematic three-dimensional structure of a three-axis six-rotor Mars aircraft according to the present invention;
figure 4 is a schematic view of a rotor arm according to the present invention at the pivot;
figure 5 is a schematic view of a rotor arm lock release configuration according to the present invention;
FIG. 6 is a schematic view of the securing and locking device of the present invention;
fig. 7 is a schematic structural view of the blade locking mechanism according to the present invention.
1: mars aircraft, 2: fixing and locking device, 3: lander, 1-1: landing leg, 1-2: hub, 1-3: propulsion motor, 1-4: tape, 1-5: 1-6 parts of initiating explosive device I: fuselage, 1-7: rotor arm, 1-8: rotor blade, 1-9: leaf spring, 1-10: positioning pin shaft, 1-11: rotor arm shaft, 1-12: volute spiral spring, 2-1: fixed column, 2-2: initiating explosive device II, 2-3: a second blade locking baffle plate, 2-4: initiating explosive devices III, 2-5: a first blade locking baffle plate, 2-6: a cylindrical spring.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely explained below with reference to the drawings in the embodiments of the present invention.
Referring to fig. 1 to illustrate the present embodiment, a three-axis six-rotor type mars aircraft includes landing legs 1-1, a fuselage 1-6, three rotor arms 1-7, and rotors, where the landing legs 1-1 are three, the three landing legs 1-1 are uniformly distributed on the lower surface of the fuselage 1-6 along the circumferential direction, the rotors include a hub 1-2, a propulsion motor 1-3, and rotor blades 1-8, the rotor blades 1-8 are mounted on the left and right sides of the hub 1-2, the hub 1-2 is connected to the propulsion motor 1-3, one end of each of the rotor arms 1-7 is a rotor shaft end, the rotors are mounted on the upper and lower sides of the other end, the number of the rotor arms 1-7 is three, and the rotor shaft ends of the three rotor arms 1-7 are rotatably connected to the fuselage 1-6.
The lower surface of the airframe 1-6 of the Mars aircraft 1 is provided with three landing legs 1-1, and the landing legs 1-1 and three fixing points uniformly distributed on the circumference of the lower surface of the airframe 1-6 are connected and fixed through screws respectively. After the left end and the right end of the propeller hub 1-2 are respectively provided with the rotor blades 1-8, the whole body is fixedly connected with the propulsion motor 1-3 to form a rotor, and the rotor can rotate at the moment. One end of the rotor arm 1-7 is a rotor arm rotating shaft end, the upper side and the lower side of the other end are respectively connected with two groups of rotors, and the two groups of rotors on the upper side and the lower side of the rotor arm 1-7 are opposite in rotation direction in work to offset the reaction torque. The rotary shaft ends of the rotor arms 1-7 are rotatably connected with the machine body 1-6, and the rotor arms 1-7 work after being unfolded. The Mars aircraft 1 is provided with three rotor arms 1-7, each shaft is a coaxial double rotor, and the Mars aircraft is compact in structure, stable in flight control system and flexible in control.
The rotary shaft ends of the rotor arms 1-7 and the airframe 1-6 are both provided with cylindrical holes, a rotary pair is formed by the rotor arm shafts 1-11 penetrating through the cylindrical holes, the center of the rotary pair is provided with scroll springs 1-12, two ends of the scroll springs 1-12 are respectively fixed at two fixed upright columns at the rotating shaft positions of the airframe 1-6, and the scroll springs 1-12 provide power for the expansion of the rotor arms 1-7. The rotor pair is provided with a rotor arm fixing device, specifically, a rectangular groove is formed in the rotating shaft of the machine body 1-6, a positioning pin shaft 1-10 is arranged in the rectangular groove, the positioning pin shaft 1-10 is connected with a plate spring 1-9, the positioning pin shaft 1-10 moves under the action of force provided by the plate spring 1-9, a groove is formed in the rotating shaft of the rotor arm 1-7, in the releasing process of the rotor arm 1-7, the positioning pin shaft 1-10 always abuts against the outer contour of the rotor arm 1-7 until the positioning pin shaft rotates in the groove of the rotor arm 1-7, the plate spring 1-9 pushes the fixing pin shaft 1-10 into the groove, the fixing of the rotor arm 1-7 is completed, and the unfolding of the rotor arm is realized.
The outer side of the machine body 1-6 is provided with a cylindrical fixed end, the wrapping belts 1-4 are connected with the cylindrical fixed end and the rotor arms 1-7 through the first initiating explosive devices 1-5 to realize the restraint function of the rotor arms 1-7 in the folded state, and after the first initiating explosive devices 1-5 explode, the volute springs 1-12 provide power for the unfolding of the rotor arms 1-7 to complete the release of the rotor arms 1-7.
The embodiment is a fixed locking device of a triaxial six-rotor type mars aircraft, the fixed locking device 2 comprises a fixed upright post 2-1, a paddle locking mechanism and an initiating explosive device 2-2, three initiating explosive devices 2-2 are uniformly distributed on the fixed upright post 2-1 along the circumferential direction, the initiating explosive devices 2-2 are connected with the lower surface of the body 1-6 of the mars aircraft 1, each rotor blade 1-8 of the mars aircraft 1 is provided with a paddle locking mechanism, and the paddle locking mechanisms are connected with the fixed upright post 2-1.
The lower surface of the fuselage 1-6 of the Mars aircraft 1 is provided with three joints which are fixedly connected with the fixed locking device 2 through the second initiating explosive device 2-2, and the release is completed after the second initiating explosive device 2-2 explodes. And releasing the rotor blades 1 to 8 after the blade locking mechanism is unlocked. The bottom of the fixed upright post 2-1 is connected with the lander 3, and the fixed locking device 2 and the lander 3 are connected and fixed through screws.
Specifically, the paddle locking mechanism comprises a first paddle locking baffle 2-5 and a second paddle locking baffle 2-3, inner holes of the second paddle locking baffle 2-3 and outer shafts of the first paddle locking baffle 2-5 form a rotating pair, and two ends of the rotating pair are respectively provided with a third initiating explosive device 2-4 and a cylindrical spring 2-6. Respectively completing the connecting and releasing functions of the blade locking mechanism. One rotor blade 1-8 is restrained by one blade locking mechanism, and the fixed locking device 2 is provided with 12 blade locking mechanisms in total to lock all the rotor blades 1-8. Elastic materials are arranged on the inner sides of the first blade locking baffle 2-5 and the second blade locking baffle 2-3. When the first blade locking baffle plate 2-5 and the second blade locking baffle plate 2-3 rotate around the rotating shaft, the elastic material on the plates deforms, the rotor blades 1-8 are gradually compressed, and the locking of the rotor blades 1-8 is completed.
The overall release process is: after initiating explosive devices III 2-4 in a blade locking mechanism in the fixed locking device 2 are exploded and released, a blade locking baffle II 2-3 rotates around a rotating shaft under the action of the elastic force of cylindrical springs 2-6 to complete the release of each rotor blade 1-8; after the first initiating explosive device 1-5 explodes, the wrapping tape 1-4 does not restrain the rotor arm 1-7 any more, the whole rotor arm 1-7 rotates around the rotor arm shaft 1-11 under the action of the volute spiral spring 1-12, in the rotating process, the plate spring 1-9 props the positioning pin shaft 1-10 against the outer contour of the rotor arm 1-7 through the self elasticity, a groove is formed in the rotor arm 1-7 after the plate spring rotates to the final position, and the plate spring 1-9 props the positioning pin shaft 1-10 into the groove to complete the fixed restraint of the unfolded rotor arm 1-7; and (3) explosive release of the initiating explosive device II 2-2 in the fixed locking device 2 is completed, separation of the Mars aircraft 1 and the lander 3 is completed, and all separation release work is completed.
The three-axis six-rotor type mars aircraft and the fixing and locking device thereof provided by the invention are introduced in detail, a specific example is applied in the text to explain the principle and the implementation mode of the invention, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (9)
1. The utility model provides a six rotor type mars aircraft of triaxial which characterized in that: the mars aircraft (1) is including landing leg (1-1), fuselage (1-6), rotor arm (1-7) and rotor, landing leg (1-1) quantity is three, and three landing leg (1-1) is along the lower surface of circumferencial direction equipartition at fuselage (1-6), the rotor includes propeller hub (1-2), propulsion motor (1-3) and rotor blade (1-8), rotor blade (1-8) are all installed to the left and right sides of propeller hub (1-2), propeller hub (1-2) link to each other with propulsion motor (1-3), rotor arm (1-7) one end is the pivot end, and the rotor is all installed to both sides about the other end, rotor arm (1-7) quantity is three, and the pivot end of three rotor arm (1-7) rotates with fuselage (1-6) and links to each other.
2. The tri-axial six-rotor mars aircraft of claim 1, wherein: the rotary wings on the upper side and the lower side of the rotary wing arms (1-7) are opposite in rotation direction.
3. The tri-axial six-rotor mars aircraft of claim 1, wherein: the rotary wing is characterized in that cylindrical holes are formed in the rotary wing shaft ends of the rotary wing arms (1-7) and the machine body (1-6), the rotary wing arm shafts (1-11) penetrate through the cylindrical holes to form a rotary pair, and a volute spiral spring (1-12) is arranged in the center of the rotary pair.
4. A three-axis six-rotor mars aircraft as claimed in claim 3, wherein: the aircraft is characterized in that a rectangular groove is formed in the rotating shaft of the aircraft body (1-6), a positioning pin shaft (1-10) is arranged in the rectangular groove, the positioning pin shaft (1-10) is connected with the plate spring (1-9), and a groove is formed in the rotating shaft of the rotor arm (1-7).
5. The Mars aircraft of any of claims 1-4, wherein: the outer side of the aircraft body (1-6) is provided with a cylindrical fixed end, and the belt (1-4) is connected with the cylindrical fixed end and the rotor wing arm (1-7) through a first initiating explosive device (1-5).
6. A static locking device for a three-axis six-rotor mars aircraft as claimed in claim 1, wherein: the fixed locking device (2) comprises a fixed stand column (2-1), a paddle locking mechanism and two initiating explosive devices (2-2), three two initiating explosive devices (2-2) are uniformly distributed on the fixed stand column (2-1) along the circumferential direction, the two initiating explosive devices (2-2) are connected with the lower surface of a machine body (1-6) of the mars aircraft (1), a paddle locking mechanism is arranged on each rotor blade (1-8) of the mars aircraft (1), and the paddle locking mechanisms are connected with the fixed stand column (2-1).
7. The securing and locking device of a triaxial six-rotor mars aircraft according to claim 6, wherein: the paddle locking mechanism comprises a first paddle locking baffle (2-5) and a second paddle locking baffle (2-3), an inner hole of the second paddle locking baffle (2-3) and an outer shaft of the first paddle locking baffle (2-5) form a revolute pair, and a third initiating explosive device (2-4) and a cylindrical spring (2-6) are arranged at two ends of the revolute pair respectively.
8. The securing and locking device for a triaxial six-rotor mars aircraft according to claim 7, wherein: elastic materials are arranged on the inner sides of the first blade locking baffle (2-5) and the second blade locking baffle (2-3).
9. The securing device for a tri-axial six-rotor mars aircraft as claimed in claim 6, wherein: the bottom of the fixed upright post (2-1) is connected with the lander (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211210656.7A CN115367146A (en) | 2022-09-30 | 2022-09-30 | Three-axis six-rotor type mars aircraft and fixing and locking device thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211210656.7A CN115367146A (en) | 2022-09-30 | 2022-09-30 | Three-axis six-rotor type mars aircraft and fixing and locking device thereof |
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| Publication Number | Publication Date |
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| CN115367146A true CN115367146A (en) | 2022-11-22 |
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| CN202211210656.7A Pending CN115367146A (en) | 2022-09-30 | 2022-09-30 | Three-axis six-rotor type mars aircraft and fixing and locking device thereof |
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