A mechanical arm mechanism of a lunar surface sampling device

Abstract

A mechanical arm mechanism of a lunar surface sampling device, the drive shaft is fixed on the bracket, the left end is connected to the motor, the left and right worms are installed on the drive shaft, the contact end of the worm has a support plate, and the non-contact end of the worm is respectively fixed on two On the outer ring of the one-way overrunning clutch, the inner ring of the overrunning clutch is fixed on the transmission shaft, the main shaft and the transmission shaft are vertically installed on the bracket, the left worm gear is connected to the main shaft and meshed with the left worm, and one end of the right worm gear is supported on the bracket , the other end of the right worm gear is connected to the first connecting rod through the eccentric shaft, and the right worm gear meshes with the right worm; The upper sliding sleeve is connected with the main shaft; the upper and lower sleeves are installed on the main shaft, and the upper sliding sleeve can rotate around the main shaft; Relatively rotatable; the lower sleeve is connected with the other end of the first connecting rod.

Description

technical field [0001] The invention relates to a mechanical arm structure, in particular to a two-degree-of-freedom mechanical arm structure for lunar surface sampling. Background technique [0002] In deep space exploration activities, after the lander achieves a soft landing on the surface of the star, it detects and samples the surface of the star, and returns the obtained valuable samples to the earth, which is an important task and key technology in deep space exploration. The lunar surface sampling device mainly collects the lunar surface and shallow lunar soil, and transfers the obtained lunar soil samples to the return hatch through the mechanical arm, and then sends them into the return cabin through the transfer mechanism. [0003] The robotic arm belongs to the field of robotics. It has been widely used in various industrial occasions. The traditional industrial robotic arm is designed to meet the needs of the ground. The sampling robotic arm and the industrial r...

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Problems solved by technology

[0007] The "Phoenix" launched by the United States in July 2008 is equipped with on-site sampling and online analysis functions. The sampling device is a three-degree-of-freedom robotic arm, and an external bucket with local degrees of freedom is used to dig the surface soil of the polar regions of Mars. , since the scientific goal of the "Phoenix" is designed for sampling the ice layer in the Arctic region of Mars, each degree of freedom of the robotic arm is driven by a corresponding motor, which is similar to the design of a traditional industrial robotic arm, but the outside world cannot obtain it. Know the relevant technical details

[0008] At present, no unmanned autonomous sampling research has been carried out in China, and there is no design of a star sampling manipulator based on landers and patrols.

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