Integrated lift base rotary-sampling device

Abstract

The invention provides a lifting base integrated rotary digging ground surface sampling device. The sampling device comprises a lifting base device, a mechanical arm assembly and a terminal sampler. The lifting base device has a mechanical arm lifting mechanism. The mechanical arm assembly comprises a waist joint, a shoulder joint, a first arm rod, an elbow joint, a second arm rod and a wrist joint connected in series. The mechanical arm lifting mechanism is connected to the waist joint. The terminal sampler comprises a sampler body, a rotary device, a sample packaging assembly, a locking and releasing device and a rotary digging sampler. The rotary device comprises a rotary device driving motor and a rotary device high-precision transmission bevel gear. The locking and releasing device comprises a locking ring, a locking steel ball and a locking and releasing device driving assembly. A force sensor is installed at the front end of the top. Not only has sensitive ground sensing ability, but also has full-closed design of motor, reducer, sensor and the like, and is easy to control heat and prevent dust.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of deep space extraterrestrial sampling, and particularly relates to a lifting base integrated rotary digging extraterrestrial surface sampling device. BACKGROUND

[0002] Deep space extraterrestrial sampling activities began in the 1960s, and the objects to be sampled include the moon, planets, comets and second planets, and the sampling methods include scraping, digging, shoveling, drilling, grinding and clamping. Among various extraterrestrial sampling tasks, shoveling and drilling sampling account for the first majority. The surface of extraterrestrial celestial bodies is covered with weathered layers of different particle sizes, formed by the impact of countless meteorites, rock physical disintegration and radiation damage, and has experienced billions of years of radiation, which contains volatile chemical elements and isotopes by radiation, and the study of its samples has important scientific significance for exploring the formation and evolution of the universe and revealing the origin and evolution of life.

[0003] The unmanned autonomous sampling device on the surface of extraterrestrial celestial bodies is an important part of the landing sampler. The first majority of extraterrestrial celestial body surface sampling tasks in various countries use a jointed mechanical arm composed of two arm rods. In order to adapt to the first range of sampling points and sample transfer, the mechanical arm has low stiffness, resulting in low positioning accuracy of the sampler at the end of the mechanical arm, high joint driving torque of the mechanical arm and complex control.

[0004] Therefore, in view of the multifunctional requirements of the unmanned autonomous sampling process of the end sampler, it is of great significance to develop a lifting base integrated rotary digging extraterrestrial surface sampling device. SUMMARY

[0005] The purpose of the present application is to provide a lifting base integrated rotary digging extraterrestrial surface sampling device to solve the problems existing in the prior art.

[0006] The technical scheme adopted to achieve the purpose of the present application is that the lifting base integrated rotary digging extraterrestrial surface sampling device comprises a lifting base device, a mechanical arm assembly and an end sampler.

[0007] The lifting base device has a mechanical arm lifting mechanism.

[0008] The mechanical arm assembly is a four-degree-of-freedom two-arm rod jointed mechanical arm assembly. The mechanical arm assembly comprises a waist joint, a shoulder joint, a first arm rod, an elbow joint, a second arm rod and a wrist joint connected in series. The waist joint is a yaw joint. The shoulder joint is a pitch joint. The elbow joint is a pitch joint. The wrist joint is a pitch joint. The waist joint is connected to the mechanical arm lifting mechanism. The output end of the wrist joint is connected to the end sampler.

[0009] The terminal sampler comprises a sampler body, a rotating device and an integrated rotary digging sampling packaging device.

[0010] The integrated rotary digging sampling packaging device is connected with the output end of the rotating device.

[0011] In operation, the integrated rotary digging sampling packaging device is placed on the surface of the extraterrestrial object by controlling the downward movement of the mechanical arm assembly.

[0012] Further, the mechanical arm lifting mechanism is a ball screw nut mechanism.

[0013] Further, the second arm rod is provided with an arm-mounted camera.

[0014] Further, the second arm rod is provided with a ground-touching sensing device near the wrist joint, which feeds back the ground-touching information of the terminal sampler.

[0015] Further, the rotary digging sampler is provided with a rotary digging claw at the end away from the sample packaging assembly.

[0016] The technical effects of the present application are self-evident.

[0017] A. The structure is simple, and no complex mechanical structure and electrical auxiliary are needed.

[0018] B. The base device can be lifted, so that the sample can be collected in a large range when the base device is lowered, and the primary packaging container can be transferred when the base device is lifted, thereby shortening the length of the mechanical arm.

[0019] C. The mechanical arm adopts a high-strength lightweight circular tube and a multi-joint structure, has a short arm span and high rigidity, and has a small driving torque of the maximum stress joint.

[0020] D.The integrated end sampler can realize the functions of "rotary digging sampling" and "primary packaging", the front end sharp top is provided with a force sensor, which not only has sensitive ground sensing ability, but also can monitor the operation force in the whole process. The motor, reducer and sensor are fully enclosed, and the heat control and dust prevention are easy. The application can be used for unmanned autonomous surface sample collection of extraterrestrial objects. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 It is a structure schematic diagram of the sampling device;

[0022] Figure 2 It is a structure schematic diagram of the liftable base device

[0023] Figure 3 It is a structure schematic diagram of the mechanical arm assembly;

[0024] Figure 4 It is a structure schematic diagram of the waist joint;

[0025] Figure 5 It is a structure schematic diagram of the shoulder joint;

[0026] Figure 6 It is a structure schematic diagram of the wrist joint;

[0027] Figure 7 It is a structure schematic diagram of the end sampler;

[0028] Figure 8 It is a structure schematic diagram of the end sampler;

[0029] Figure 9 It is a structure schematic diagram of the locking and releasing device;

[0030] Figure 10 It is a schematic diagram of the locking and releasing state of the sample packaging locking and releasing device;

[0031] Figure 11 It is a picking and sampling working process of the end sampler;

[0032] Figure 12 It is a schematic diagram of the rotary digging sampler rotary digging claw;

[0033] Figure 13 It is a mechanical arm locking state of the surface sampling device;

[0034] Figure 14 It is a pre-sampling state of the mechanical arm of the surface sampling device;

[0035] Figure 15 It is a mechanical arm of the surface sampling device reaching a predetermined position of the transfer primary packaging device.

[0036] In the figure: liftable base device 1, lifting base 101, ball screw 102, planetary reduction drive motor 103, lifting rack 104, mechanical arm assembly 2, waist joint 201, waist joint mounting seat 2011, harmonic reducer 2012, bevel gear I 2013, hollow cup motor I 2014, shoulder joint 202, hollow cup motor II 2022, first arm interface 2023, bevel gear II 2024, bevel gear III 2025, steel wheel 2026, wave wheel 2027, flexible wheel 2028, elbow joint 203, wrist joint 205, wrist joint box 2051, sampler angular displacement sensing assembly 2052, wrist joint box cover 2053, sampler transmission assembly 2054, planetary reduction motor 2055, end sampler 3, sampler body 301, rotary device 302, sample packaging assembly 303, locking release device 304, rotary excavator sampler 305. DETAILED DESCRIPTION

[0037] The application will be further described below in conjunction with the embodiments, but should not be understood as limiting the above-mentioned subject matter of the application to the following embodiments. Various replacements and changes can be made according to ordinary technical knowledge and conventional means in the art without departing from the above-mentioned technical idea of the application, and all of them should be included in the protection scope of the application.

[0038] Embodiment 1

[0039] Referring to Figure 1 and Figure 2 , the embodiment discloses a liftable base integrated rotary excavator surface sampling device, which comprises a liftable base device 1, a mechanical arm assembly 2 and an end sampler 3.

[0040] The liftable base device 1 comprises a lifting base 101, a ball screw 102, a planetary reduction drive motor 103 and a lifting rack 104.

[0041] Referring to Figure 3 , the mechanical arm assembly 2 comprises a waist joint 201, a shoulder joint 202, a first arm rod, an elbow joint 203, a second arm rod and a wrist joint 205 connected in series.

[0042] Referring to Figure 4 , the waist joint 201 comprises a waist joint mounting seat 2011, a harmonic reducer 2012, a bevel gear I 2013 and a hollow cup motor I 2014.

[0043] Referring to Figure 5The shoulder joint 202 comprises a hollow cup motor II 2022, a first arm interface 2023, a bevel gear II 2024, a bevel gear III 2025, a steel wheel 2026, a wave wheel 2027, and a flexible wheel 2028. The hollow cup motor II 2022 drives the first arm rod to pitch through a pair of bevel gears, a harmonic reducer, and the rigid wheel of the harmonic reducer.

[0044] Referring to Figure 6 The wrist joint 205 comprises a wrist joint box 2051, a sampler angular displacement sensing assembly 2052, a wrist joint box cover 2053, a sampler transmission assembly 2054, and a planetary reduction motor 2055. Figure 6 Fig. 6a and Fig. 6b respectively show different views of the wrist joint.

[0045] The mechanical arm assembly 2 has four rotational degrees of freedom: a waist joint yaw degree of freedom, a shoulder pitch degree of freedom, an elbow joint pitch degree of freedom, and a wrist joint pitch degree of freedom, each of which is linked to complete various actions.

[0046] Referring to Figure 7 , Figure 8 and Figure 9 The end sampler 3 comprises a sampler body 301, a slewing device 302, a sample packaging assembly 303, a locking and releasing device 304, and a rotary digging sampler 305. The slewing device 302 comprises a slewing device driving motor 3021 and a slewing device high-precision transmission bevel gear 3022. The locking and releasing device 304 comprises a locking ring 3041, a locking steel ball 3042, and a locking and releasing device driving assembly 3043. The sampler body 301 is connected with the output shaft of the wrist joint 205. The wrist joint 205 drives the sampler body assembly to make 360° rotary motion. The slewing device 302 is fixedly connected to the sampler body 301.

[0047] The integrated rotary digging sampling packaging device is connected with the output end of the slewing device 302. The integrated rotary digging sampling packaging device comprises the sample packaging assembly 303, the locking and releasing device 304, and the rotary digging sampler 305. The sample packaging assembly 303 is in the form of a barrel structure with one end open. The locking and releasing device 304 clamps the sample packaging assembly 303 and blocks the opening of the sample packaging assembly 303. The rotary digging sampler 305 is arranged at the opening of the sample packaging assembly 303. The end of the rotary digging sampler 305 is provided with a rotary digging claw. The sampling and packaging functions of the end sampler are multiplexed through the “rotary digging” method. Figure 10 When the locking and releasing device 304 is in the locking state, the rotary digging sampler 305 is in communication with the inner cavity of the sample packaging assembly 303. Figure 10 Fig. 6a and Fig. 6b respectively show the locking state and the releasing state. Figure 10 ​

[0048] In operation, the mechanical arm assembly 2 lowers the integrated rotary digging sampler packaging device to the surface of the extraterrestrial object. Referring to Figure 11 , the rotary digging sampler 305 rotates at high speed to sample. The mechanical arm assembly 2 lifts the end sampler 3, rotates by 180°, and collects the soil sample into the sample packaging assembly 303.

[0049] The embodiment is directed to the collection and excavation of surface samples. The end sampler adopts a rotary digging form. To improve the mechanism's pertinence and reduce the surface sampling packaging process, the primary packaging mechanism and the surface sampling mechanism are integrated, so that the sampling mechanism has a more balanced combination of "collection" and "collection" capabilities. Shallow excavation, primary packaging, sample transfer, and other composite functions are achieved.

[0050] Embodiment 2:

[0051] The main structure of this embodiment is the same as that of embodiment 1, wherein the mechanical arm lifting mechanism is a ball screw nut mechanism. The ball screw nut mechanism is used to realize large-scale sampling and sample transfer of the mechanical arm assembly 2.

[0052] Embodiment 3:

[0053] The main structure of this embodiment is the same as that of embodiment 1, wherein the second arm rod is provided with an arm-mounted camera 204.

[0054] Embodiment 4:

[0055] The main structure of this embodiment is the same as that of embodiment 1, wherein the second arm rod is provided with a ground-touching sensing device near the wrist joint 205, which feeds back the ground-touching information of the end sampler 3.

[0056] Embodiment 5:

[0057] The main structure of this embodiment is the same as that of embodiment 1, wherein referring to Figure 12 , the rotary digging sampler 305 is provided with a rotary digging claw at the end away from the sample packaging assembly 303.

[0058] Embodiment 6:

[0059] The main structure of this embodiment is the same as that of embodiment 1, wherein the sample packaging assembly and the sample packaging locking and releasing device are connected by a locking driving device. The clamping and releasing of the sample packaging assembly are controlled by the clockwise and counterclockwise rotation of the locking planetary reducer motor.

[0060] When the lunar soil is excavated to a certain depth, the end sampler will start the digging sampling mode. The front tip of the rotary digging sampler is inserted into the sample lunar soil, anchoring the end sampler. Then, the high-speed rotation completes the sampling and primary packaging of the sample lunar soil while performing the sampling operation.

[0061] The mechanical arm assembly of the embodiment has four degrees of freedom. All the joints are rotary joints. The waist-shoulder-elbow-wrist scheme is adopted. The joints from the root to the end are waist yaw joint, shoulder pitch joint, elbow pitch joint, and wrist pitch joint. Two arm rods are arranged between the three pitch joints. The end of the wrist joint is provided with an end sampler. The mechanical arm is provided with a camera.

[0062] The waist joint of the embodiment is used to drive the mechanical arm to rotate and adjust the mechanical arm in a 120° sector. The waist joint mainly comprises a hollow cup motor, bevel gears, a harmonic reducer, a waist joint mounting seat, etc. The motor drives the shoulder joint mounting seat to rotate through a pair of bevel gears, a harmonic reducer, and a soft output. In particular, the transmission mode of bevel gear reduction + harmonic reducer is adopted to minimize the size and mass of the mechanism. Compared with the traditional gear transmission, the transmission mode has the advantages of small size, light weight, large torsional stiffness, large carrying capacity, and stable transmission. The most prominent advantage is high transmission precision and high repeat positioning accuracy. The transmission precision can reach 5'.

[0063] The shoulder joint of the embodiment is similar to the waist joint. The shoulder joint mainly comprises a hollow cup motor, bevel gears, a harmonic reducer, a shoulder joint mounting seat, and a large arm interface. The motor drives the large arm tube to pitch through a pair of bevel gears, a harmonic reducer, and a rigid wheel output of the harmonic reducer. The elbow joint structure is the same as the shoulder joint. The shoulder joint and the elbow joint jointly constitute the length (pitch) adjustment part of the mechanical arm. With the rotation of the two, the mechanical arm can be stretched to a maximum length of 1.4 m.

[0064] In the wrist joint module of the embodiment, the small arm tube is directly connected with the wrist joint box flange. A ground contact sensing device is arranged on the small arm tube near the wrist joint box flange. The device can sense the torque in two directions and accurately feedback the ground contact information of the end sampler. The wrist joint module comprises a wrist joint box, a box cover, a transmission assembly, an angle sensing assembly, etc.

[0065] The liftable base device of the embodiment is the mounting base of the mechanical arm and the auxiliary support of the mechanical arm during launching and extraterrestrial transfer. The liftable base mainly comprises a liftable base for mounting the waist joint of the mechanical arm, a ball screw, a planetary reduction drive motor, a displacement sensor, and a lifting frame. The ball screw and the nut are arranged between the liftable base and the frame. The planetary reduction motor drives the ball screw to drive the liftable base to ascend and descend. The movement is stable and reliable, the control is stable and simple, and the attitude angle relative to the lander is kept unchanged during the lifting of the base.

[0066] Embodiment 7:

[0067] Referring to Figures 13-15The embodiment is used to describe the main working process of the device of any one of embodiments 1-6:

[0068] a) The sampling device is fixed on the support consolidated with the lander through the compression release mechanism in the ground launch stage, ground-star transfer section, ring-star section and powered descent stage. After the lander achieves soft landing, the sampling mechanical arm assembly is separated from the liftable device and released, and is ready for sampling.

[0069] b) The sampling device is powered on for self-checking, including motor self-checking, sensor self-checking, etc.

[0070] c) The motors of the joints of the mechanical arm work cooperatively to control the mechanical arm to lower, and place the integrated rotary digging end sampler near the surface of the extraterrestrial body.

[0071] d) The position of the end sampler is roughly judged by means of the camera carried by the arm, so that it enters the sampling operation area.

[0072] e) The position information of the sensors on the end sampler is checked to see whether each component enters the preliminary sampling state. The position and posture of the end sampler relative to the surface of the extraterrestrial body are included. The rotary digging sampler barrel is perpendicular to the lunar surface, and the front end tip of the sampler first contacts the surface of the extraterrestrial body.

[0073] f) The rotary digging sampler barrel is continuously kept perpendicular to the lunar surface, and continues to dig and sample downward at the working feed speed until the predetermined sampling depth is reached, while the primary packaging of the sample is completed. Finally, the rotary digging sampler is reversed to close it, the rotary digging sampler is lifted, and the single sampling is completed.

[0074] g) The sample is collected multiple times as required, and the steps a-f are repeated until the sample of the predetermined quality is collected.

[0075] h) After the last surface sampling is completed, the sample packaging assembly moves to the position required for transfer. The position is kept, and the liftable base device and the mechanical arm jointly act to transfer to the top of the return vehicle. During the transfer process, the position of the sampler relative to the lunar surface does not change.

[0076] i) The mechanical arm is controlled to extend, the sample packaging assembly is transferred to the sealing device, and the locking release device of the end sampling is actuated to release the sample packaging assembly.

[0077] j) After that, the mechanical arm rotates outward to leave the take-off channel of the ascender, and the surface sampling mechanism work is completed.

Claims

1. A liftable base integrated rotary-sampling device, characterized in that: The device comprises a liftable base device (1), a mechanical arm assembly (2) and an end sampler (3); The liftable base device (1) is provided with a mechanical arm lifting mechanism; The mechanical arm assembly (2) is a four-degree-of-freedom two-section arm pole joint type mechanical arm assembly; the mechanical arm assembly (2) comprises a waist joint (201), a shoulder joint (202), a first arm pole, an elbow joint (203), a second arm pole and a wrist joint (205) connected in sequence; the waist joint (201) is a yaw joint; the shoulder joint (202) is a pitch joint; the elbow joint (203) is a pitch joint; the wrist joint (205) is a pitch joint; the waist joint (201) is connected with the mechanical arm lifting mechanism; An arm-mounted camera (204) is arranged on the second arm pole; the wrist joint (205) is connected with the end sampler (3); a ground-touching sensing device is arranged on the second arm pole close to the wrist joint (205) to feed back the ground-touching information of the end sampler (3); The end sampler (3) comprises a sampler body (301), a rotating device (302) and an integrated rotary digging sampler packaging device; the sampler body (301) is connected with the output shaft of the wrist joint (205); the wrist joint (205) drives the sampler body (301) to rotate by 360°; the rotating device (302) is fixedly connected to the sampler body (301); The integrated rotary digging sampler packaging device is connected with the output end of the rotating device (302); the integrated rotary digging sampler packaging device comprises a sample packaging assembly (303), a locking and releasing device (304) and a rotary digging sampler (305); the sample packaging assembly (303) is in the form of a barrel with an open end; the locking and releasing device (304) clamps the sample packaging assembly (303) and blocks the open end of the sample packaging assembly (303); the rotary digging sampler (305) is arranged at the open end of the sample packaging assembly (303); when the locking and releasing device (304) is in the locking state, the rotary digging sampler (305) is in communication with the inner cavity of the sample packaging assembly (303); During operation, the mechanical arm assembly (2) is controlled to lower down, and the integrated rotary digging sampler packaging device is placed on the surface of an extraterrestrial object; the rotary digging sampler (305) rotates at high speed to sample; the mechanical arm assembly (2) lifts the end sampler (3), rotates by 180° and then collects the soil sample into the sample packaging assembly (303).

2. The lift-ofi base integrated auger soil surface sampling device of claim 1, wherein: The mechanical arm lifting mechanism is a ball screw nut mechanism.

3. The lift-ofi base integrated auger soil surface sampling device of claim 1, wherein: The rotary digging sampler (305) is provided with a rotary digging claw at the end away from the sample packaging assembly (303).

Images