Mechanical arm for sampling and fixing the surface of a small celestial body

Abstract

A kind of small celestial body surface sampling and fixed mechanical arm, comprising: base joint, shoulder joint, first arm rod, elbow joint, second arm rod, wrist joint, sampling device, separation device and fixing device;The overall structure of sampling device, separation device and fixing device is installed and connected wrist joint;Wrist joint is used to drive the overall structure of sampling device, separation device and fixing device to rotate around the output shaft of wrist joint;Sampling device is used to complete sampling task;Fixing device is used to be fixedly connected with celestial body surface;Separation device is used to execute separation action, and remove the fixed connection relationship between fixing device.The present application can be realized on the surface of small celestial body and fixed, realize the solid connection of external probe and small celestial body, and the separation of fixing device and mechanical arm can be realized.

Description

Technical Field

[0001] This invention relates to the field of deep space exploration technology, specifically to a robotic arm for sampling and fixing the surface of small celestial bodies. Background Technology

[0002] Currently, there are two successful methods for sampling the surface of small celestial bodies: one is to briefly contact the surface of the small celestial body with a robotic arm, excite small fragments of rock with pressurized gas, and collect samples through a ring device, such as the US Osiris-Rex asteroid exploration mission; the other is to launch projectiles at the surface of the small celestial body and then collect samples of debris ejected by the explosion through a sampling rod, such as the Japanese Hayabusa1 / 2 asteroid exploration mission.

[0003] Currently, there are no applications for fixing objects on the surface of small celestial bodies. Summary of the Invention

[0004] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a small celestial body surface sampling and fixing robotic arm, which can realize multi-point sampling at designated locations on the surface of the small celestial body, can realize fixing on the surface of the small celestial body, realize the fixed connection between the external detector and the small celestial body, and can realize the separation of the fixing device and the robotic arm.

[0005] The technical solution of this invention is: A robotic arm for sampling and fixing the surface of a small celestial body includes: a base joint, a shoulder joint, a first arm, an elbow joint, a second arm, a wrist joint, a sampling device, a separation device, and a fixing device; The base joint is fixedly mounted on the detector's housing; The shoulder joint, first arm, elbow joint, second arm, and wrist joint are connected in sequence; The base joint is used to drive the shoulder joint to rotate around the output shaft of the base joint; The shoulder joint is used to drive the first arm to rotate around the output shaft of the shoulder joint; The elbow joint is used to drive the second arm to rotate around the output shaft of the elbow joint; The sampling device, separation device, and fixing device are arranged sequentially along the axial direction; The sampling device, separation device, and fixing device are integrated into the wrist joint; The wrist joint is used to drive the entire structure of the sampling device, separation device, and fixing device to rotate around the output shaft of the wrist joint; The sampling device is used to complete the sampling task; The fixing device is used for fixed connection to the surface of a celestial body; The separation device is used to perform the separation action and release the fixed connection with the fixing device.

[0006] Preferably, the output shaft of the base joint is perpendicular to the surface of the housing.

[0007] Preferably, the axis of the elbow joint output shaft is parallel to the axis of the shoulder joint output shaft.

[0008] Preferably, it further includes: a compression release mechanism; The clamping and releasing mechanism is used to clamp and fix the first arm, elbow joint, second arm, and wrist joint during launch, and to unlock them after orbit insertion.

[0009] Preferably, the sampling device includes: a penetration sampling module, an adhesive sampling module, and a sample delivery module; The penetration sampling module is used to sample debris from the surface of small celestial bodies. The adhesive sampling module is used to sample small weathered particles from the surface of small celestial bodies. The penetration sampling module, adhesive sampling module, and sample delivery module are coaxially mounted. The positive output of the sample delivery module is used to push the penetration sampling module and the adhesive sampling module into the external sample container in sequence.

[0010] Preferably, the sample delivery module is also used to provide the driving force for the separation device to perform the separation action, thereby releasing the fixed connection between the separation device and the fixing device.

[0011] Preferably, the fixing device includes: a fixing motor, a transmission system, a toe assembly, and a coupling; The retainer motor is fixedly installed in the inner cavity of the separation device, and the retainer motor is connected to the transmission system through a coupling; The retainer motor is used to drive the transmission system to push multiple toe components to unfold, tension, and lock.

[0012] Preferably, the separation device includes: a lead screw, a nut, a groove, a ratchet, a push rod assembly, a retaining spring, a separation flange, a steel ball, and a separation housing; One end of the lead screw is connected to the reverse output end of the sample feeding module via a ratchet; The nut is connected to the other end of the lead screw via a threaded connection. The nut and push rod assembly are respectively fitted inside the separate housing, and the nut is used to push the push rod assembly to move axially. The housing and sample delivery module are fixedly connected. A retaining spring is fitted between the outer wall of the push rod assembly and the inner wall of the separation housing to prevent the push rod assembly from moving outward along the axis; Coupling for fixed connection of separation flange; Multiple steel balls are evenly distributed around the perimeter between the push rod assembly and the separation flange. The steel balls rest against the end face of the separation housing, thereby locking and fixing the separation device and the fixing device. The outer wall of the push rod assembly is machined with a groove; the push rod assembly moves outward along the axis, causing the steel ball to fall into the groove, thereby releasing the fixing device from the separating device.

[0013] Preferably, the motor is fixedly connected to the separate housing.

[0014] Preferably, a retaining spring is fitted between the outer wall of the separating housing and the end face of the separating flange, which is used to push the separating flange to move outward along the axis after the steel ball falls into the groove; at the same time as the separating flange and the push rod assembly separate, the retainer motor separates from the transmission system.

[0015] The advantages of this invention compared to the prior art are: 1. The robotic arm of this invention can perform multi-point sampling at different sampling points through the coordinated movement of four joints. It can also perform penetration sampling and adhesion sampling on the surface of small celestial bodies through a sampling device. After sampling is completed, the collected sample and module can be pushed into an external sample container through the sampling device, and finally the sample can be returned.

[0016] 2. The robotic arm of this invention can be fixed at different positions on the surface of a small celestial body through the coordinated movement of four joints. The robotic arm and the detector are fixed to the surface of the small celestial body through a fixing device. After the fixing is completed, the fixing device is separated from the robotic arm through a separation device, so that the fixing device remains on the surface of the small celestial body, and the robotic arm and the detector can fly away from the small celestial body.

[0017] 3. The sampling device and separation device of the present invention share a common drive motor, and the sampling and separation actions of the fixture are realized in a time-sharing manner through a ratchet. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the robotic arm in the clamping state; Figure 2 This is a schematic diagram of the robotic arm in its deployed state. Figure 3 This is a schematic diagram of the anchoring state of the fastener; Figure 4 Schematic diagram of robotic arm sampler, fixture, and separation device; Figure 5 To penetrate the sampling module and sample the status; Figure 6 This refers to the sampling status of the adhesive sampling module; Figure 7 The separation device is in a non-separating state; Figure 8 The separation device is now unlocked. Detailed Implementation

[0019] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0020] This invention provides a robotic arm for sampling the surface of a small celestial body. The arm body has four degrees of freedom and adopts a yaw (base joint 1) + pitch (shoulder joint 2) + pitch (elbow joint 4) + pitch (wrist joint 7) mode.

[0021] A robotic arm for sampling the surface of a small celestial body includes: a base joint 1, a shoulder joint 2, a first arm 3, an elbow joint 4, a clamping and releasing mechanism at the elbow joint 5, a second arm 6, a wrist joint 7, a clamping and releasing mechanism at the sampling bracket 8, a sampling device 9, a separation device 10, a fixing device 11, a clamping and releasing mechanism at the fixing device 12, an electrical connector bracket 13, and a T-shaped ring bracket 14.

[0022] like Figure 1 and Figure 2 As shown, the robotic arm weighs 14.3 kg, has a maximum extended length of 1.76 m, an end-effector output force greater than 20 N, and a repeatability accuracy better than 2.9 mm / 0.2°.

[0023] Base joint 1 is mounted on the top shell of the small celestial body probe. The output shaft of base joint 1 is aligned with the normal to the top plate, providing the yaw rotation degree of freedom for the robotic arm. The joint can rotate continuously and employs a transmission method of motor + planetary reducer + harmonic reducer. The motor assembly consists of a permanent magnet synchronous motor, a single-channel rotary transformer, and a brake. The output end is equipped with a single-channel rotary transformer for closed-loop control of the joint position. The axis of the output shaft of base joint 1 is perpendicular to the surface of the small celestial body probe's shell. It achieves a maximum output torque of not less than 20 Nm, an absolute positioning accuracy better than 0.2 degrees, a maximum rotational speed of not less than 8 degrees / s, a forward starting friction torque not exceeding 0.01 Nm, and a reverse starting friction torque not exceeding 3 Nm.

[0024] The axis of the output shaft of shoulder joint 2 is perpendicular to the axis of the output shaft of base joint 1. The output shaft of base joint 1 is connected to shoulder joint 2 through an adapter. Base joint 1 drives shoulder joint 2 to rotate around the axis.

[0025] The shoulder joint 2 is connected to the arm 3 via a U-shaped bracket 21.

[0026] Shoulder joint 2 and shoulder joint rotary transformer 22 are respectively mounted on both sides of U-shaped bracket 21 to avoid uneven load on the output shaft. Shoulder joint 2 can drive the first arm 3 to rotate, and shoulder joint 2 is used to provide the pitch freedom of the robotic arm.

[0027] The first arm 3 is fixedly connected to the shoulder joint 2 and the elbow joint 4 at both ends by brackets. In one embodiment of the present invention, the length of the first arm 3 is 497 mm. The axis of the output shaft of the elbow joint 4 is parallel to the axis of the output shaft of the shoulder joint 2.

[0028] The first arm 3 is connected to the elbow joint 4 via a ring bracket. The ring bracket also provides a clamping point for the clamping and releasing mechanism 5 at the elbow joint. The clamping and releasing mechanism 5 is used to clamp and fix the robotic arm during launch and unlocks after orbit insertion. The elbow joint 4 provides the robotic arm with pitch freedom and is used to drive the rotation of the second arm 6.

[0029] The two ends of the second arm 6 are connected to the elbow joint 4 and the wrist joint 7 respectively via brackets. In one embodiment of the present invention, the length of the second arm 6 is 574 mm.

[0030] The wrist joint 7 drives the T-shaped ring bracket 14 to rotate, providing the robot arm with pitch freedom. The wrist joint 7 uses a motor + spur gear + harmonic reducer transmission method, and its hollow design facilitates wiring. The motor assembly of the wrist joint 7 consists of a permanent magnet synchronous motor, a single-channel rotary transformer, and a brake. The output end is equipped with a single-channel rotary transformer for closed-loop control of the joint position. It achieves a maximum output torque of not less than 8 Nm, an absolute positioning accuracy better than 0.2 degrees, a maximum speed of not less than 8 degrees / s, a forward starting friction torque not exceeding 0.01 Nm, and a reverse starting friction torque not exceeding 3.5 Nm. The separation device 10 and the fixing device 11 are fixedly connected to the wrist joint 7 via the T-shaped ring bracket 14. The sampling bracket clamping and releasing mechanism 8 is installed on the T-shaped ring bracket 14. The sampling bracket clamping and releasing mechanism 8 is used to clamp and fix the robot arm during launch and unlocks after launch.

[0031] The fixing device 11, the separation device 10 and the sampling device 9 are coaxially mounted.

[0032] Sampling device 9 is used to complete the sampling task; fixing device 11 is used to adopt an anchoring method (such as...). Figure 3 As shown, it is fixed to the surface of the weathered rock; the separation device 10 is used to unlock the fixed connection between the separation and fixing device 11.

[0033] The separation device 10 is connected to the wrist joint 7 via a T-shaped ring bracket 14, using a steel ball lock. The separation device 10 can separate normally under a lateral force of 2.5N and a torque of 0.1Nm, with a separation time of less than 3s.

[0034] The sampling device 9 includes: a penetration sampling module 91, an adhesive sampling module 92, and a sample delivery module 93. The penetration sampling module 91 is used to sample debris from the surface of small celestial bodies, and can collect at least one 10-30 mm particle within 5 seconds; the adhesive sampling module 92 is used to sample weathered small particles from the surface of small celestial bodies, and can collect at least five 1-5 mm particles within 5 seconds.

[0035] The penetration sampling module 91, the adhesive sampling module 92, and the sample delivery module 93 are coaxially mounted. The sample delivery module 93 is used to push the penetration sampling module 91 and the adhesive sampling module 92 into the external sample container in sequence.

[0036] like Figure 4 As shown, the sample delivery module 93 includes: a motor 931, a lead screw nut 932, and a sleeve 933; like Figure 5 As shown, the penetration sampling module 91 and the adhesive sampling module 92 are cascaded in the sleeve 933. The positive output end of the sample delivery module 931 is used to push the penetration sampling module 91 and the adhesive sampling module 92 into the external sample container in sequence.

[0037] like Figure 6 and Figure 7 As shown, the separation device 10 includes: a lead screw 101, a nut 102, a groove 103, a ratchet 104, a push rod assembly 105, a retaining spring 106, a separation flange 107, a steel ball 108, and a separation housing 109.

[0038] One end of the lead screw 101 is connected to the reverse output end of the motor 931 via a ratchet 104; The nut 102 is connected to the other end of the lead screw 101 via a threaded pair; the push rod assembly 105 is fitted inside the separation housing 109, and the nut 102 is used to push the push rod assembly 105 to move axially. The sleeve 933 of the separation housing 109 and the sample delivery module 93 is fixedly connected; A retaining spring 106 is fitted between the outer wall of the push rod assembly 105 and the inner wall of the separation housing 109 to prevent the push rod assembly 105 from moving outward along the axis; The coupling 114 of the fixing device 11 is fixedly connected to the separation flange 107; A plurality of steel balls 108 are evenly distributed around the perimeter between the push rod assembly 105 and the separation flange 107. The steel balls 108 abut against the end face of the separation housing 109, thereby locking and fixing the separation device 10 and the fixing device 11. A groove 103 is machined on the outer wall of the push rod assembly 105; the push rod assembly 105 moves outward along the axis, causing the steel ball 108 to fall into the groove 103, thereby releasing the fixing device 11 from the separating device 10, as shown. Figure 8 As shown.

[0039] A retaining spring 106 is fitted between the end faces of the separation housing 109 and the separation flange 107, which is used to push the separation flange 107 to move outward along the axis after the steel ball 108 falls into the groove 103; at the same time as the separation flange 107 and the push rod assembly 105 separate, the retainer motor 111 separates from the transmission system 112, and the retainer motor 111 remains in the separation housing 109.

[0040] Separation device 10 and sampling device 9 share motor 931: When the motor 931 rotates forward, the sampling device 9 pushes the penetration sampling module 91 and the adhesion sampling module 92, and the separation device 10 is driven and isolated from the motor 931 by the ratchet 104. At this time, the steel ball 108 is held between the push rod assembly 105 and the separation flange 107 by the retaining spring 106, which plays a role in connection and force transmission.

[0041] When the motor 931 reverses, the motor 931 drives the lead screw 101 to rotate via the ratchet 104, and drives the nut 102 to push the push rod assembly 105 outward. The push rod assembly 105 pushes outward against the holding force of the holding spring 106. When the groove 103 moves to the position of the steel ball 108, the steel ball 108 falls into the groove 103, the separation flange 107 separates from the separation device 10, and drives the fixing device 11 to separate from the robotic arm.

[0042] The fixing device 11 can provide a fixing force ≥10N, with a probability of tangential fixing force ≥10N not less than 80%, and a single fixing time not exceeding 30s. For example... Figure 4 As shown, the fixing device 11 includes: a fixing motor 111, a transmission system 112, a toe assembly 113, and a coupling 114; The retainer motor 111 is placed in the inner cavity of the separation device 10, and the retainer motor 111 is connected to the transmission system 112 through the coupling 114; the retainer motor 111 is fixedly connected to the separation housing 109; The retainer motor 111 drives the transmission system 112 to push the 12 sets of toe components 113 to perform unfolding, tensioning, and locking actions. The eight sets of needles 1131 arranged on each toe component 113 achieve fixation to the surface of the small celestial body. When releasing the fixation, the reverse movement of the retainer motor 111 achieves locking release, tension release, and retraction actions.

[0043] The robotic arm for sampling and fixing the surface of small celestial bodies is equipped with three clamping and releasing mechanisms: clamping and releasing mechanism 5 at the elbow joint, clamping and releasing mechanism 8 at the sampling bracket, and clamping and releasing mechanism 12 at the fixing device. During launch, the robotic arm is fixed to withstand the mechanical environment, and it is unlocked after entering orbit. A rod-type clamping and releasing mechanism is used, and the locking is released through a high-temperature resistant cut-off device. The fundamental frequency of the robotic arm in the clamped state reaches above 90Hz.

[0044] The robotic arm cable runs from the end to the root. The cables of the sampling device 9, the separation device 10 and the fixing device 11 run through the central hole of the wrist joint 7. After passing through the central hole, they merge with the cable of the wrist joint 7 and are divided into power harnesses and signal harnesses distributed at both ends of the arm. Finally, they are gathered at the root and connected to the electrical connector bracket 13.

[0045] By calibrating the frictional force of the joint under high and low temperatures, the relationship between motor current, ambient temperature and joint output torque is obtained. The joint torque is controlled by motor current control, realizing the end force output under the configuration of robot arm ground contact detection and whole arm no-power sensor, ensuring that ground contact signal and stable downward pressure are provided when the robot arm is sampled and fixed.

[0046] The end-effector control force accuracy can reach ±4N. The working principle of the small celestial body surface sampling and fixing robotic arm: Upon launch of the probe system, three clamping and release mechanisms lock the robotic arm to the top plate of the probe; after entering orbit, three high-temperature resistant cut-off devices detonate, the clamping and release mechanisms unlock the robotic arm, and the robotic arm unfolds its cruise storage configuration through the movement of multiple joints, experiencing the transfer phase and close-range detection phase along with the entire probe.

[0047] The robotic arm for small celestial body surface sampling and fixation provides two sampling methods and one fixation method for small celestial body surfaces. The sampling process is as follows: (1) In the initial state, the penetrating sampling block 91 is located at the sampling position of the sampling device 9, the fixing device 11 is in the retracted state, and the robotic arm moves to the sampling preparation configuration; (2) The probe descends to a height of 1m above the surface of the small celestial body, and the robotic arm moves toward the surface of the small celestial body by force control method under the configuration of a power sensor; (3) When the robotic arm moves toward the surface of the small celestial body, the current of the base joint 1, shoulder joint 2, elbow joint 4, or wrist joint 7 changes. When the penetrating sampling block 91 contacts the surface of the small celestial body, the current threshold is triggered and the robotic arm applies a constant downward pressure to the surface of the small celestial body. (4) After the robotic arm transmits the ground contact signal to the detector, the jet device configured on the detector jets the air, and the robotic arm applies a constant downward pressure to the surface of the small celestial body. The penetrating sampling module 91 is used to complete the collection of the rubble pile sample. (5) After sampling for 5 seconds, the robotic arm switches to standby mode and the detector flies away from the small celestial body to a safe altitude; (6) The robotic arm moves to the detector monitoring camera through multiple joints and takes a picture to confirm that the sample has been collected; (7) The robotic arm moves to the front of the sample container opening of the detector through multiple joints, and the robotic arm moves towards the sample container opening through a force control method under the configuration of a power sensor; (8) When the robotic arm moves toward the sample container opening, the current of the detection base joint 1, shoulder joint 2, elbow joint 4, or wrist joint 7 changes. When the penetrating sampling block 91 contacts the sample container opening, the current threshold is triggered, and the end of the robotic arm applies pressure along the direction of the sample container opening. (9) The robotic arm maintains force control over the sample container opening, and the sample delivery module 93 pushes the penetration sampling block 91 into the sample container, while the adhesive sampling block 92 reaches the sampling position. (10) After the penetration sampling block 91 is inserted, the robotic arm moves to the sampling preparation configuration through multiple joints, and can carry out the next sampling. (11) Next time, use the adhesive sampling block 92 to sample small particles weathered on the surface of small celestial bodies, following the same procedure as (1) to (10).

[0048] After completing the sampling task using the robotic arm, the robotic arm can then be fixed to the surface of the small celestial body. The specific process is as follows: (1) In the initial state, the fixing device 11 is in the retracted state, and the robotic arm moves to the fixed preparation configuration; (2) The probe descends to the surface of the small celestial body and is supported by the three support legs of the probe. The jet device configured on the probe sprays air to stabilize the probe on the surface of the small celestial body. The robotic arm moves to the surface of the small celestial body through the force control method configured by the power sensor. (3) When the robotic arm moves toward the surface of the small celestial body, the current of the base joint 1, shoulder joint 2, elbow joint 4, or wrist joint 7 changes. When the fixing device 11 contacts the surface of the small celestial body, the current threshold is triggered and a constant downward pressure is applied to the end of the robotic arm in the direction of the normal to the surface of the small celestial body. (4) The fixing device 11 performs the unfolding, tensioning and locking actions to fix the 8 sets of needles 1131 arranged on the toe assembly 113 to the surface of the small celestial body; (5) A constant upward force is applied to the end of the robotic arm in the direction of the normal to the surface of the small celestial body, and the fixation is confirmed by judging the angle changes of the base joint 1, shoulder joint 2, elbow joint 4 and wrist joint 7. (6) The robotic arm transmits a successful fixation signal to the detector, the detector's jet device stops jetting, and the robotic arm achieves the fixed connection between the detector and the small celestial body; (7) The detector performs fixed-point detection on the surface of small celestial bodies; (8) After completing the detection task, the separation device 10 performs the separation action, so that the separation flange 107 and the fixing device 11 are separated from the robotic arm. The torque of the fixing device 11 remains on the surface of the small celestial body, and the detector flies away from the surface of the small celestial body, completing the fixed detection task.

[0049] While the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the invention. Any person skilled in the art can make possible variations and modifications to the technical solutions of the present invention using the disclosed methods and techniques without departing from the spirit and scope of the invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the content of the technical solutions of the present invention, shall fall within the protection scope of the present invention. Where there is no conflict, the embodiments of this application and the technical features thereof can be combined with each other.

[0050] The contents not described in detail in this specification are common knowledge to those skilled in the art.

Claims

1. A robotic arm for sampling and fixing the surface of small celestial bodies, characterized in that, include: The base joint (1), shoulder joint (2), first arm (3), elbow joint (4), second arm (6), wrist joint (7), sampling device (9), separation device (10) and fixing device (11); The base joint (1) is fixedly installed on the outer shell of the detector; The shoulder joint (2), the first arm (3), the elbow joint (4), the second arm (6) and the wrist joint (7) are connected in sequence; The base joint (1) is used to drive the shoulder joint (2) to rotate around the output shaft of the base joint (1); The shoulder joint (2) is used to drive the first arm (3) to rotate around the output shaft of the shoulder joint (2); The elbow joint (4) is used to drive the second arm (6) to rotate around the output shaft of the elbow joint (4); The sampling device (9), the separation device (10), and the fixing device (11) are arranged sequentially along the axial direction; The wrist joint (7) is installed and connected to the overall structure of the sampling device (9), the separation device (10) and the fixing device (11); The wrist joint (7) is used to drive the overall structure of the sampling device (9), the separation device (10) and the fixing device (11) to rotate around the output shaft of the wrist joint (7); The sampling device (9) is used to complete the sampling task; The fixing device (11) is used for fixed connection with the surface of the celestial body; The separation device (10) is used to perform the separation action and release the fixed connection with the fixing device (11).

2. The robotic arm for sampling and fixing the surface of a small celestial body according to claim 1, characterized in that, The output shaft of the base joint (1) is perpendicular to the surface of the outer shell.

3. The robotic arm for sampling and fixing the surface of a small celestial body according to claim 2, characterized in that, The axis of the output shaft of the elbow joint (4) is parallel to the axis of the output shaft of the shoulder joint (2).

4. The robotic arm for sampling and fixing the surface of a small celestial body according to claim 3, characterized in that, Also includes: Pressure release mechanism; The clamping and releasing mechanism is used to clamp and fix the first arm (3), elbow joint (4), second arm (6) and wrist joint (7) during launch, and to unlock after entering the orbit.

5. A robotic arm for sampling and fixing the surface of a small celestial body according to any one of claims 1-4, characterized in that, The sampling device (9) includes: a penetration sampling module (91), an adhesive sampling module (92), and a sample delivery module (93). The penetration sampling module (91) is used to sample debris from the surface of small celestial bodies; The adhesive sampling module (92) is used to sample small particles weathered on the surface of small celestial bodies; The penetration sampling module (91), the adhesive sampling module (92), and the sample delivery module (93) are coaxially mounted; The positive output end of the sample delivery module (93) is used to push the penetration sampling module (91) and the adhesive sampling module (92) into the external sample container in sequence.

6. The robotic arm for sampling and fixing the surface of a small celestial body according to claim 5, characterized in that, The sample delivery module (93) is also used to provide the driving force for the separation device (10) to perform the separation action, thereby releasing the fixed connection between the separation device (10) and the fixing device (11).

7. The robotic arm for sampling and fixing the surface of a small celestial body according to claim 6, characterized in that, The fixing device (11) includes: a fixing motor (111), a transmission system (112), a toe assembly (113), and a coupling (114). The retainer motor (111) is fixedly installed in the inner cavity of the separation device (10), and the retainer motor (111) is connected to the transmission system (112) through the coupling (114). The retainer motor (111) is used to drive the transmission system (112) to push multiple toe assemblies (113) to perform unfolding, tensioning and locking actions.

8. The robotic arm for sampling and fixing the surface of a small celestial body according to claim 7, characterized in that, The separation device (10) includes: a lead screw (101), a nut (102), a groove (103), a ratchet (104), a push rod assembly (105), a retaining spring (106), a separation flange (107), a steel ball (108), and a separation housing (109). One end of the lead screw (101) is connected to the reverse output end of the sample delivery module (93) via a ratchet (104); The nut (102) is connected to the other end of the lead screw (101) via a threaded pair; Nut (102) and push rod assembly (105) are respectively fitted inside the separate housing (109), and nut (102) is used to push push rod assembly (105) to move axially; The housing (109) and the sample delivery module (93) are fixedly connected; A retaining spring (106) is fitted between the outer wall of the push rod assembly (105) and the inner wall of the separation housing (109) to prevent the push rod assembly (105) from moving outward along the axis; The coupling (114) of the fixing device (11) is fixedly connected to the separation flange (107). A plurality of steel balls (108) are evenly distributed around the perimeter between the push rod assembly (105) and the separation flange (107). The steel balls (108) abut against the end face of the separation housing (109), thereby locking and fixing the separation device (10) and the fixing device (11). The outer wall of the push rod assembly (105) is machined with a groove (103); the push rod assembly (105) moves outward along the axis, causing the steel ball (108) to fall into the groove (103), thereby releasing the fixing device (11) from the separating device (10).

9. The robotic arm for sampling and fixing the surface of a small celestial body according to claim 8, characterized in that, Separate housing (109) and fix the motor (111) to the fixed connection.

10. The robotic arm for sampling and fixing the surface of a small celestial body according to claim 9, characterized in that, A retaining spring (106) is fitted between the outer wall of the separation housing (109) and the end face of the separation flange (107) to push the separation flange (107) outward along the axis after the steel ball (108) falls into the groove (103); at the same time as the separation flange (107) and the push rod assembly (105) separate, the retainer motor (111) separates from the transmission system (112).

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