A sampling robotic arm and a Mars aircraft

Abstract

The present invention provides a sampling robotic arm and a Mars aircraft, belonging to the field of robotic arms. It solves the problems of the traditional robotic arm being heavy and large in size, and some telescopic robotic arms requiring additional motors for adjustment, with poor convenience and the need to increase additional weight. It includes a robotic arm wrist ring, a motor, a sliding seat, a threaded shaft, and a grasping component. The robotic arm wrist ring is a three-section telescopic sleeve structure. The motor is fixedly connected inside the uppermost sleeve. A threaded shaft with an external thread is provided on the output shaft of the motor. The lower part of the threaded shaft is threadedly connected to a sliding seat with an internal threaded hole. The sliding seat is slidably connected inside the lowermost sleeve of the robotic arm wrist ring. The grasping component is rotatably connected to the end of the robotic arm wrist ring, and the lower end of the sliding seat is connected to the grasping component. It can use the motor to drive the fingertips to complete the grasping of the sampling object and can provide a greater weight margin for the aircraft sampling to a greater extent.

Description

Technical Field

[0001] The present invention belongs to the field of robotic arms, and particularly relates to a sampling robotic arm and a Mars aircraft. Background Art

[0002] Mars has a geographical location adjacent to the Earth and similar physical characteristics, and is considered to be one of the extraterrestrial planets suitable for human immigration. Therefore, Mars exploration has been widely studied by scientific researchers. The detection methods for the Mars surface environment mainly include using Mars satellites to conduct circumferential shooting of the Mars surface. However, the detection accuracy of Mars satellites is low, and the detection range is limited to observation;

[0003] Mars rovers can study the physical characteristics of the Mars surface. However, Mars rovers are greatly affected by the terrain of the Mars surface and cannot reach concave and convex positions; the Mars surface has a thin atmosphere similar to the Earth's environment, which makes it possible for Mars drones to fly on the Mars surface, greatly improving the sampling range of Mars; currently, no country in the world has carried out Mars sampling and return. For sampling, basically a robotic arm is used to sample in a small range, and relying on a Mars aircraft to sample and return the Mars surface on a large scale is helpful for studying the composition of the Mars surface and is of great significance to the Mars exploration mission;

[0004] Traditional robotic arms are heavy and large in size. Some telescopic robotic arms need to be adjusted with additional motors, which is inconvenient and requires additional weight. Summary of the Invention

[0005] In view of this, the present invention aims to provide a sampling robotic arm and a Mars aircraft to solve the problems that traditional robotic arms are heavy and large in size and cannot well adapt to Mars drones.

[0006] To achieve the above object, according to one aspect of the present invention, a sampling robotic arm is provided, which includes a robotic arm wrist ring, a motor, a sliding seat, a threaded shaft, and a grasping assembly. The robotic arm wrist ring is a three-section telescopic sleeve structure. The motor is fixedly connected inside the uppermost sleeve. A threaded shaft with an external thread is provided on the output shaft of the motor. The lower part of the threaded shaft is threadedly connected to a sliding seat with an internal threaded hole. The sliding seat is slidably connected inside the lowermost sleeve of the robotic arm wrist ring. The grasping assembly is rotatably connected to the end of the robotic arm wrist ring, and the lower end of the sliding seat is connected to the grasping assembly. The grasping assembly includes a plurality of push rods, a plurality of connecting rods, a plurality of first sliders, a plurality of fingertips, a plurality of single-piece connecting rods, and a plurality of second sliders. The plurality of push rods are fixedly connected to the lower part of the sliding seat in a circumferentially evenly distributed manner. One end of each push rod away from the sliding seat is hinged to a first slider. The plurality of connecting rods are hinged to the lower part of the lowermost sleeve of the robotic arm wrist ring in a circumferentially evenly distributed manner. The connecting rods correspond to the first sliders one by one. Each connecting rod slidably passes through the corresponding first slider. One end of each connecting rod away from the robotic arm wrist ring is hinged to a fingertip, and the hinged position is at the upper end of the fingertip. One end of each push rod away from the robotic arm wrist ring is connected to a set of single-piece connecting rod assemblies. Each set of single-piece connecting rod assemblies includes two single-piece connecting rods. The two single-piece connecting rods are symmetrically arranged on both sides with respect to the short-side midline of the corresponding push rod. The lower ends of the two single-piece connecting rods in each set of single-piece connecting rod assemblies are hinged to a second slider. Each fingertip slidably passes through the corresponding second slider.

[0007] Furthermore, the sliding seat is coaxially arranged with the threaded shaft, and the projections of the rotation points of the corresponding first slider and second slider on the horizontal plane coincide.

[0008] Furthermore, the plurality of connecting rods expand outward with respect to the axis of the robotic arm wrist ring.

[0009] Furthermore, the plurality of fingertips contract inward with respect to the axis of the robotic arm wrist ring.

[0010] Furthermore, a plurality of depressions are provided along the length direction of the lower part of each fingertip.

[0011] Furthermore, the number of fingertips is four.

[0012] According to another aspect of the present invention, a rotor-type Mars aircraft for Mars exploration sampling and return including the above sampling robotic arm is provided. It further includes: a communication component, a drone rotor system, a drone control box, and an aircraft bracket. The communication component is located at the upper end of the drone control box. A plurality of drone rotor systems are circumferentially evenly distributed around the drone control box. A plurality of aircraft brackets are circumferentially evenly distributed below the drone control box.

[0013] Furthermore, the drone rotor system adopts a multi-rotor coaxial contra-rotating double-rotor structure with two blades, and the number of the drone rotor systems is four.

[0014] Furthermore, the drone control box adopts a regular hexahedron structure.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] 1. It can use the motor to drive the fingertips to complete the grasping of the sampling object.

[0017] 2. The mechanical arm structure is designed with a small weight and a reliable working mode, which can provide a greater weight margin for the sampling of the aircraft to a greater extent. The wrist ring of the mechanical arm can be contracted and expanded, minimizing the interference during the landing process of the aircraft. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings that form a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0019] Figure 1 is a schematic structural diagram of a sampling manipulator according to the present invention;

[0020] Figure 2 is a schematic cross-sectional structural diagram of a sampling manipulator according to the present invention;

[0021] Figure 3 is a schematic structural diagram of a rotor-type Mars aircraft for Mars exploration sampling and return according to the present invention.

[0022] Communication component 1; Drone rotor system 2; Drone control box 3; Aircraft bracket 4; Aircraft sampling manipulator 5; Manipulator wrist ring 5-1; Push rod seat 5-2; Link 5-3; First slider 5-4; Fingertip 5-5; Single-piece link 5-6; Motor 5-7; Sliding seat 5-8; Second slider 5-9; Threaded shaft 5-10. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0023] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments.

[0024] Refer to the attached drawings to illustrate this embodiment. According to one aspect of the present invention, a sampling robotic arm is provided, which includes a robotic arm wrist ring 5-1, a motor 5-7, a sliding seat 5-8, a threaded shaft 5-10, and a grasping component. The robotic arm wrist ring 5-1 is a three-stage telescopic sleeve structure. The motor 5-7 is fixedly connected inside the uppermost sleeve. A threaded shaft 5-10 with an external thread is provided on the output shaft of the motor 5-7. The lower part of the threaded shaft 5-10 is threadedly connected to a sliding seat 5-8 with an internal threaded hole. The sliding seat 5-8 is slidably connected inside the lowermost sleeve of the robotic arm wrist ring 5-1. The grasping component is rotatably connected to the end of the robotic arm wrist ring 5-1, and the lower end of the sliding seat 5-8 is connected to the grasping component. The grasping component includes a plurality of push rods 5-2, a plurality of connecting rods 5-3, a plurality of first sliders 5-4, a plurality of fingertips 5-5, a plurality of single-piece connecting rods 5-6, and a plurality of second sliders 5-9. The plurality of push rods 5-2 are fixedly connected to the lower part of the sliding seat 5-8 in a circumferentially evenly distributed manner. One end of each push rod 5-2 away from the sliding seat 5-8 is hinged to a first slider 5-4. The plurality of connecting rods 5-3 are hinged to the lower part of the lowermost sleeve of the robotic arm wrist ring 5-1 in a circumferentially evenly distributed manner. The connecting rods 5-3 correspond to the first sliders 5-4 one by one. Each connecting rod 5-3 slidably passes through the corresponding first slider 5-4. One end of each connecting rod 5-3 away from the robotic arm wrist ring 5-1 is hinged to a fingertip 5-5, and the hinged position is at the upper end of the fingertip 5-5. One end of each push rod 5-2 away from the robotic arm wrist ring 5-1 is connected to a group of single-piece connecting rod assemblies. Each group of single-piece connecting rod assemblies has two single-piece connecting rods 5-6. The two single-piece connecting rods 5-6 are symmetrically arranged on both sides with respect to the short side midline of the corresponding push rod 5-2. The lower ends of the two single-piece connecting rods 5-6 in each group of single-piece connecting rod assemblies are hinged to a second slider 5-9. Each fingertip 5-5 slidably passes through the corresponding second slider 5-9. The number of fingertips 5-5 is four, providing grasping stability under economic conditions.

[0025] In this embodiment, the sliding seat 5-8 and the threaded shaft 5-10 are coaxially arranged, and the projections of the rotation points of the corresponding first slider 5-4 and second slider 5-9 on the horizontal plane coincide, providing grasping stability and reducing the existence of dead points.

[0026] In this embodiment, the plurality of connecting rods 5-3 expand outward with respect to the axis of the robotic arm wrist ring 5-1, and the plurality of fingertips 5-5 contract inward with respect to the axis of the robotic arm wrist ring 5-1, facilitating grasping.

[0027] In this embodiment, a plurality of depressions are provided along the length direction of the lower part of each fingertip 5-5, increasing the frictional force of grasping and facilitating the grasping of samples.

[0028] According to another aspect of the present invention, there is provided a rotor-type Mars aircraft for Mars exploration sampling and return, including the above-mentioned sampling robotic arm, and it further includes: a communication component 1, a drone rotor system 2, a drone control box 3, and an aircraft support 4. The communication component 1 is located at the upper end of the drone control box 3. A plurality of drone rotor systems 2 are evenly distributed circumferentially around the drone control box 3. The drone control box 3 has a regular hexahedron structure. A plurality of aircraft supports 4 are evenly distributed circumferentially at the lower part of the drone control box 3. The communication component 1 is a communication module, and its main function is to communicate with the satellite in real time. This module uses existing technologies and will not be elaborated too much.

[0029] In this embodiment, the drone rotor system 2 adopts a multi-rotor coaxial contra-rotating double rotor with two blades. The number of the drone rotor systems 2 is four. The drone rotor system 2 is used to improve the flight power of the rotor-type Mars drone and realize the vertical take-off and landing performance of the drone. This module uses existing technologies and will not be elaborated too much.

[0030] During use, before grasping the material, the three sections of the sleeve of the robotic arm wrist ring 5-1 are in a state where they cannot be extended further. When a sample needs to be grasped, the motor 5-7 runs to drive the threaded shaft 5-10 to rotate. The rotation of the threaded shaft 5-10 will drive the downward movement through the sliding seat 5-8. The downward movement of the sliding seat 5-8 will drive the push rod seat 5-2 to move downward. During the downward movement of the push rod seat 5-2, it will drive the connecting rod 5-3 to move through the first slider 5-4. In this way, the hinge point between the connecting rod 5-3 and the fingertip 5-5 will rotate around the hinge point between the robotic arm wrist ring 5-1 and the connecting rod 5-3 in a way that is closer to the axis of the robotic arm wrist ring 5-1. At the same time, the push rod seat 5-2 will drive the second slider 5-9 to move downward through the single-piece connecting rod 5-6. The second slider 5-9 will drive the fingertip 5-5 to move, so that the concave ends of the fingertips 5-5 approach each other, thus grasping the sampling object tightly. The downward movement of the push rod seat 5-2 will provide a double force to grasp the object tightly, thereby improving the clamping force and obtaining a better clamping experience;

[0031] When the sampling object needs to be released, reverse the operation of the motor 5-7 to release the sampling object. After releasing the object, continuously operating the motor 5-7 will continue to drive the sliding seat 5-8 to move upward until the push rod seat 5-2 fits on the lowermost sleeve of the robotic arm wrist ring 5-1. In this way, the three sections of the sleeve of the robotic arm wrist ring 5-1 will be retracted upward in sequence, thereby achieving the purpose of shortening the robotic arm wrist ring 5-1 and being able to reduce the interference problem during landing.

[0032] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific embodiments described. According to the content of this specification, many modifications and variations can be made. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can well understand and utilize the present invention.

Claims

1. A sampling robotic arm, characterized in that: It includes a robotic arm wrist ring (5-1), a motor (5-7), a sliding seat (5-8), a threaded shaft (5-10) and a grasping component. The robotic arm wrist ring (5-1) is a three-section telescopic sleeve structure. The motor (5-7) is fixedly connected inside the uppermost sleeve. A threaded shaft (5-10) with an external thread is provided on the output shaft of the motor (5-7). The lower part of the threaded shaft (5-10) is threadedly connected to a sliding seat (5-8) with an internal threaded hole. The sliding seat (5-8) is slidably connected inside the lowermost sleeve of the robotic arm wrist ring (5-1). The grasping component is rotatably connected to the end of the robotic arm wrist ring (5-1), and the lower end of the sliding seat (5-8) is connected to the grasping component. The grasping component includes a plurality of push rods (5-2), a plurality of connecting rods (5-3), a plurality of first sliders (5-4), a plurality of fingertips (5-5), a plurality of single-piece connecting rods (5-6) and a plurality of second sliders (5-9). The plurality of push rods (5-2) are fixedly connected to the lower part of the sliding seat (5-8) in a circumferentially evenly distributed manner. One end of each push rod (5-2) away from the sliding seat (5-8) is hinged to a first slider (5-4). The plurality of connecting rods (5-3) are hinged to the lower part of the lowermost sleeve of the robotic arm wrist ring (5-1) in a circumferentially evenly distributed manner. The connecting rods (5-3) correspond to the first sliders (5-4) one by one. Each connecting rod (5-3) slidably passes through the first slider (5-4) at the corresponding position. One end of each connecting rod (5-3) away from the robotic arm wrist ring (5-1) is hinged to a fingertip (5-5), and the hinged position is located at the upper end of the fingertip (5-5). One end of each push rod (5-2) away from the robotic arm wrist ring (5-1) is connected to a set of single-piece connecting rod assemblies. Each set of single-piece connecting rod assemblies has two single-piece connecting rods (5-6). The two single-piece connecting rods (5-6) are symmetrically arranged on both sides with respect to the short-side midline of the corresponding push rod (5-2). The lower ends of the two single-piece connecting rods (5-6) in each set of single-piece connecting rod assemblies are hinged to a second slider (5-9). Each fingertip (5-5) slidably passes through the second slider (5-9) at the corresponding position.

2. The sampling robotic arm according to claim 1, characterized in that: The sliding seat (5-8) and the threaded shaft (5-10) are coaxially arranged, and the projections of the rotation points of the corresponding first slider (5-4) and second slider (5-9) on the horizontal plane coincide.

3. The sampling robotic arm according to claim 1, characterized in that: The plurality of connecting rods (5-3) expand outward with respect to the axis of the robotic arm wrist ring (5-1).

4. A sampling robotic arm according to claim 1, characterized in that: The plurality of fingertips (5-5) contract inward with respect to the axis of the robotic arm wrist ring (5-1).

5. A sampling robotic arm according to claim 1, characterized in that: A plurality of depressions are provided along the length direction of the lower part of each fingertip (5-5).

6. The sampling robotic arm according to claim 1, characterized in that: The number of the connecting rods (5-3) is four.

7. A rotorcraft-type Mars aircraft for Mars exploration sampling and return, comprising a sampling robotic arm as described in any one of claims 1-6, further comprising: A communication component (1), a drone rotor system (2), a drone control box (3) and an aircraft support (4). The communication component (1) is located at the upper end of the drone control box (3). A plurality of drone rotor systems (2) are circumferentially evenly distributed around the drone control box (3). A plurality of aircraft supports (4) are circumferentially evenly distributed at the lower part of the drone control box (3).

8. A rotor-type Mars aircraft for Mars exploration sampling and return according to claim 7, characterized in that: The drone rotor system (2) uses a multi-rotor coaxial contra-rotating double-rotor structure with two blades, and the number of the drone rotor systems (2) is four.

9. The rotor-type Mars aircraft for Mars exploration sampling and return according to claim 8, characterized in that: The drone control box (3) adopts a regular hexahedron structure.

Images