Flexible four-bar sampling mechanical arm

Abstract

The invention relates to a flexible four-bar sampling mechanical arm, which comprises a substrate and a sampling flange, wherein the substrate is provided with a motor and coil spring retractors, wherein the four coil spring retractors are arranged in a square form, a coil spring retracting device is adopted as the coil spring retractor, each coil spring retracting device comprises a coil spring retracting box, a coil spring window is arranged on the coil spring retracting box, a restoration turntable and a coil spring are arranged inside the coil spring retracting box, one end of the coil spring is connected with the restoration turntable, the other end of the coil spring stretches out of the coil spring window to be connected with the sampling flange, and two sides of the coil spring are respectively provided with a toothed hole; and a motor shaft is connected with a bevel gear, the bevel gear is respectively engaged with four small bevel gears, the four small bevel gears are connected with the substrate in a rotating way respectively through four rotating shafts, the four rotating shafts are respectively connected with four driving belt wheels which can be matched with the coilspring, the four driving belt wheels are engaged with the toothed holes at two sides of each coil spring to drive the coil springs, and the four coil spring retractors are collectively connected withan installation flange.

Description

technical field [0001] The invention relates to an automatically controlled sampling device, in particular to a flexible and light four-rod sampling mechanical arm used on a planet. Background technique [0002] With the rapid development of automatic control and robot technology, humans are increasingly using robots and other automated equipment to collect rock and soil on the surface of planets in deep space celestial bodies, and robots working in harsh operating environments and inaccessible space, etc. The power supply of automation equipment is generally provided by solar energy, etc., and the power of these green energy sources is limited, which puts forward requirements on the power of the autosampler. At the same time, since the autosampler needs to be transported from the local area to space or remote places, this also puts forward requirements on the size and weight of the sampler, that is, under the premise of realizing the function, the smaller the power consumpt...

AI Technical Summary

Problems solved by technology

Because they are hard-connected, they have the disadvantages of occupying a large space after shrinking, small working stroke and heavy weight after expansion, and once the stretching force exceeds the strength of the sub-rod, the sampling rod will fail as a whole

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