A linkage cable-driven sampler for a mars vehicle

Abstract

The application relates to a connecting rod type rope-driven sampler for a Mars spacecraft and belongs to the technical field of space Mars spacecrafts. The sampler solves the problem that a Mars surface sample collecting device cannot be installed at the bottom of a multi-rotor Mars spacecraft, thereby affecting task execution. The sampler comprises a supporting arm mechanism, a wire wheel driving motor, a claw end wire wheel, a claw arm, a motor end wire wheel, a rope, a spring and a wire distribution wheel. One end of the supporting arm mechanism is provided with the motor end wire wheel, the other end of the supporting arm mechanism is provided with the claw end wire wheel, the other end of the supporting arm mechanism is further provided with the wire distribution wheel and the claw arm, one end of the rope is wound on the motor end wire wheel, the other end of the rope is sequentially wound on the claw end wire wheel, the wire distribution wheel and the claw arm, the output end of the wire wheel driving motor is connected with the motor end wire wheel, and the two ends of the spring are respectively connected with the claw arm and the supporting arm mechanism. The sampler has a clever structure, reduces the complexity of controlling the sampler during task execution, is not prone to damage, and provides guarantee for smooth task execution.

Description

Technical Field

[0001] This invention relates to a sampler for Mars spacecraft, belonging to the field of aerospace Mars spacecraft technology. Background Technology

[0002] The surface of Mars contains a vast amount of rocks, which are an important part of the geological record and can reveal the history and evolution of Mars. By studying the rocks on the Martian surface, we can understand the structure, rock types, composition, and geological history of the Martian surface.

[0003] There are many ways for humans to explore Mars, but the most common method is using Mars rovers. Mars rovers work in conjunction with Mars helicopters to explore Mars. The wide field of vision of the Mars helicopters can be used to increase the exploration area and efficiency, collect more types of surface rock samples, and obtain more data and other beneficial effects.

[0004] However, the harsh environment on the Martian surface makes the complex structure of existing rock collection devices prone to damage, and they are difficult to install on the bottom of multi-rotor spacecraft, increasing the difficulty and cost of Martian sampling.

[0005] Therefore, there is an urgent need to propose a linkage-type tethered sampler for Mars spacecraft to solve the above-mentioned technical problems. Summary of the Invention

[0006] This invention addresses the problem that Mars surface sample collection devices cannot be installed on the bottom of multi-rotor Mars spacecraft, thus affecting mission execution. It provides a linkage-type tethered sampler for Mars spacecraft. A brief overview of the invention is given below to provide a basic understanding of certain aspects of the invention. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention.

[0007] The technical solution of the present invention:

[0008] A linkage-type rope-driven sampler for a Mars spacecraft includes a support arm mechanism, a spool drive motor, a claw-end spool, a claw arm, a motor-end spool, a rope, a spring, and a spool divider. One end of the support arm mechanism is equipped with the motor-end spool, and the other end is equipped with the claw-end spool, a spool divider, and the claw arm. One end of the rope is wound around the motor-end spool, and the other end of the rope sequentially passes over the claw-end spool and the spool divider to connect to the claw arm. The output end of the spool drive motor is connected to the motor-end spool, and both ends of the spring are connected to the claw arm and the support arm mechanism, respectively.

[0009] Preferably, the outrigger mechanism includes a linkage drive motor, an upper linkage, a claw arm mounting base, a lower linkage, and a mounting base. The two ends of the parallel upper and lower linkages are connected to the mounting base and the claw arm mounting base, respectively. The linkage drive motor is connected to the mounting base, and the output end of the linkage drive motor is connected to the lower linkage. The wire pulley drive motor is connected to the mounting base, and the motor end wire pulley is connected to the mounting base. A claw end wire pulley is mounted on the upper part of the claw arm mounting base, and a wire distribution pulley and a claw arm are mounted on the lower part of the claw arm mounting base.

[0010] Preferably, there are three branching reels and three claw arms. The branching reels and claw arms are arranged equidistantly around the circumference. The reels and claw arms are set correspondingly. One end of the claw arm is connected to the claw arm mounting base. The other end of the rope passes around the claw end reel and splits into three branch ropes. Each of the three branch ropes passes around the corresponding branching reel and connects to the middle of the claw arm.

[0011] Preferably, the spring is a torsion spring, which is coaxially arranged with one end of the claw arm, with one end of the spring pressing against the claw arm and the other end of the spring pressing against the claw arm mounting base.

[0012] Preferably, the dividing wheel is located below one end of the claw arm.

[0013] Preferably, the other end of the claw arm is machined with several grooves.

[0014] Preferably, the middle of the rope is located between the upper and lower connecting rods.

[0015] Preferably, the linkage-type rope-driven sampler for Mars spacecraft is connected to the Mars spacecraft via a mounting base, and the lower plane of the claw arm mounting base is set parallel to the outer bottom surface of the Mars spacecraft.

[0016] The present invention has the following beneficial effects:

[0017] This invention allows for space-saving folding during the transport of a Mars multi-rotor spacecraft, and enables the entire mechanism to unfold and perform sample collection tasks during the Martian surface sampling process. The unfolding mechanism compresses the volume, facilitating the storage or release of samples at the bottom of the Mars multi-rotor spacecraft. During retraction, the grappling hook structure clamps the samples, preventing them from falling out. The ingenious structure reduces the complexity of controlling the sample during mission execution, is low-cost, and not easily damaged, thus ensuring the smooth progress of the mission. Attached Figure Description

[0018] Figure 1 This is a three-dimensional diagram of a linkage-type tethered sampler used in a Mars spacecraft.

[0019] Figure 2 A side view of a linkage-type tethered sampler used in a Mars spacecraft;

[0020] Figure 3This is a schematic diagram of the grasping state of a linkage-type rope-driven sampler used in a Mars spacecraft.

[0021] Figure 4 This is a diagram showing the retracted state of a multi-rotor Mars spacecraft carrying a linkage-type tethered sampler for Mars spacecraft.

[0022] Figure 5 This is a diagram showing the deployed state of a multi-rotor Mars spacecraft carrying a linkage-type tethered sampler for Mars spacecraft.

[0023] In the diagram: 1-Spindle drive motor, 2-Connecting rod drive motor, 3-Upper connecting rod, 4-Claw arm mounting base, 5-Claw end spindle, 6-Claw arm, 7-Lower connecting rod, 8-Mounting base, 9-Motor end spindle, 10-Rope, 11-Spring, 12-Spindle reel. Detailed Implementation

[0024] To make the objectives, technical solutions, and advantages of this invention clearer, the invention is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0025] Specific implementation method one: Combining Figure 1-5 This embodiment describes a linkage-type rope-driven sampler for a Mars spacecraft, comprising a support arm mechanism, a sheave-driven motor 1, a claw-end sheave 5, a claw arm 6, a motor-end sheave 9, a rope 10, a spring 11, and a sheave 12. One end of the support arm mechanism is equipped with the motor-end sheave 9, and the other end is equipped with the claw-end sheave 5, the sheave 12, and the claw arm 6. Most of the rope 10 is wound around the motor-end sheave 9, and the other end of the rope 10 sequentially passes over the claw-end sheave 5 and the sheave 12 before connecting to the claw arm 6. The output end of the sheave-driven motor 1 is connected to the motor-end sheave 9. The spring 11 is connected at both ends to the claw arm 6 and the support arm mechanism, respectively. The claw arm 6 is a telescopic gripper. This invention can be folded up to save space during the transportation of the Mars multi-rotor spacecraft, and can be deployed to perform sample collection tasks during the sample collection process on the Martian surface. The opening compresses the volume, making it convenient to store or release sample storage space at the bottom of the Mars multi-rotor spacecraft. When retracted, the hook gripping structure can clamp the sample and prevent it from falling off. The ingenious structure reduces the complexity of controlling it during the execution of the task, is low in cost and not easily damaged, and provides a guarantee for the smooth progress of the task.

[0026] Specific Implementation Method Two: Combining Figure 1-5This embodiment describes a linkage-type rope-driven sampler for a Mars spacecraft. The support arm mechanism includes a linkage drive motor 2, an upper linkage 3, a claw arm mounting base 4, a lower linkage 7, and a mounting base 8. The two ends of the parallel upper linkage 3 and lower linkage 7 are respectively shaft-connected to the mounting base 8 and the claw arm mounting base 4. The linkage drive motor 2 is bolted to the mounting base 8, and its output end is connected to the shaft at one end of the lower linkage 7 or the upper linkage 3. The sheave drive motor 1 is bolted to the mounting base 8, and its motor-end sheave 9 is shaft-connected to the mounting base 8. The claw arm mounting base 8... The upper part of the base 4 is equipped with a claw end pulley 5, and the lower part of the claw arm mounting base 4 is hinged with a radially arranged split pulley 12 and a claw arm 6. When the connecting rod drive motor 2 rotates, it directly drives the upper connecting rod 3 to rotate around the motor shaft. The upper connecting rod 3, the telescopic claw mounting base 4, the lower connecting rod 7, and the motor mounting base 8 form a four-bar linkage structure. While the upper connecting rod 3 rotates, the motor mounting base 8 is a fixed part. The lower connecting rod 7 rotates at the same angle as the upper connecting rod. Since the upper connecting rod 3 and the lower connecting rod 7 have the same length and the same swing angle, the telescopic claw mounting base 4 always maintains a constant angle with the horizontal plane.

[0027] Specific implementation method three: Combining Figure 1-5 This embodiment describes a linkage-type rope-driven sampler for a Mars spacecraft. It comprises three wire-distributing reels 12 and three claw arms 6, equidistantly arranged circumferentially. The reels 12 and claw arms 6 are correspondingly positioned. One end of each claw arm 6 is shaft-connected to a claw arm mounting base 4. The other end of a rope 10 passes over the claw end reel 5 and splits into three branch ropes. Each branch rope passes over its corresponding wire-distributing reel 12 and connects to the middle of the claw arm 6, resulting in uniform force distribution. Initially, the rope 10 is in a contracted state. After the motor end reel 9 rotates forward, the claw arms 6 lose the constraint of the rope 10, and the elastic potential energy of the retaining spring 11 is converted into kinetic energy, resulting in an inward clamping force. The three claw arms 6 then contract inward, entering a contracted or grasping state.

[0028] Specific implementation method four: Combination Figure 1-5 This embodiment describes a linkage-type rope-driven sampler for a Mars spacecraft. The spring 11 is a torsion spring, and the spring 11 is coaxially arranged with one end of the claw arm 6. One end of the spring 11 presses against the claw arm 6, and the other end of the spring 11 presses against the claw arm mounting base 4.

[0029] Specific Implementation Method Five: Combining Figure 1-5 This embodiment describes a linkage-type rope-driven sampler for a Mars spacecraft, wherein the splitter wheel 12 is located below one end of the claw arm 6.

[0030] Specific Implementation Method Six: Combination Figure 1-5This embodiment describes a linkage-type rope-driven sampler for a Mars spacecraft, wherein the other end of the claw arm 6 is machined with several grooves.

[0031] Specific implementation method seven: Combination Figure 1-5 This embodiment describes a linkage-type rope-driven sampler for a Mars spacecraft. The middle of the rope 10 is located between the upper link 3 and the lower link 7. To prevent the rope 10 from sliding and rubbing against the telescopic claw mounting base 4 during the stretching process, which would shorten its service life, a claw-end pulley 5 is used. This allows the sliding friction to be converted into rolling friction, increasing the service life of the telescopic rope 10. At the same time, the pulley drive motor 1 can tighten or loosen the telescopic rope 10 with less force. In addition, the gap between the upper link 3 and the lower link 7 is used to optimize the rope's layout and avoid scratching.

[0032] Specific implementation method eight: Combination Figure 4-5 This embodiment describes a linkage-type rope-driven sampler for a Mars spacecraft. The sampler is connected to the Mars spacecraft via a mounting base 8. The lower plane of the claw arm mounting base 4 is parallel to the outer bottom surface of the Mars spacecraft. The linkage drive motor 2 controls the upper linkage 3 to fit snugly against the bottom of the Mars multi-rotor spacecraft, saving space and facilitating portability. It also controls the claw arm height for easy sample collection. The claw arm 6 is connected to the telescopic claw mounting base 4 via bearings. In the retracted state (e.g., ...), ... Figure 5 The tension generated by spring 11 causes the claw arm 6 to clamp the rock sample on the Martian surface, and the multi-rotor Mars spacecraft carries it to the sample container. After the multi-rotor Mars spacecraft carries the sample to the sample container, the linkage drive motor 2 retracts the rope 10, and the claw arm 6 returns to its extended state (as shown in the image). Figure 4 The Martian surface sample fell into the sample container, and the Martian surface sample collection mission ended.

[0033] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be permuted and combined. Those skilled in the art can exhaust all possibilities based on the mathematical knowledge of permutation and combination. Therefore, the present invention will not describe the technical solutions after permutation and combination one by one, but it should be understood that the technical solutions after permutation and combination have been disclosed by the present invention.

[0034] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A linkage-type tethered sampler for a Mars spacecraft, characterized in that: The system includes a support arm mechanism, a wire pulley drive motor (1), a claw end wire pulley (5), a claw arm (6), a motor end wire pulley (9), a rope (10), a spring (11), and a wire divider (12). One end of the support arm mechanism is equipped with a motor end wire pulley (9), and the other end of the support arm mechanism is equipped with a claw end wire pulley (5). The other end of the support arm mechanism is also equipped with a wire divider (12) and a claw arm (6). One end of the rope (10) is wound around the motor end wire pulley (9), and the other end of the rope (10) passes through the claw end wire pulley (5) and the wire divider (12) in sequence and connects to the claw arm (6). The output end of the wire pulley drive motor (1) is connected to the motor end wire pulley (9), and the two ends of the spring (11) are connected to the claw arm (6) and the support arm mechanism, respectively. The outrigger mechanism includes a linkage drive motor (2), an upper linkage (3), a claw arm mounting base (4), a lower linkage (7), and a mounting base (8). The two ends of the parallel upper linkage (3) and lower linkage (7) are connected to the mounting base (8) and the claw arm mounting base (4), respectively. The linkage drive motor (2) is connected to the mounting base (8), and the output end of the linkage drive motor (2) is connected to the lower linkage (7). The spool drive motor (1) is connected to the mounting base (8), and the motor end spool (9) is connected to the mounting base (8). The upper part of the claw arm mounting base (4) is equipped with a claw end spool (5), and the lower part of the claw arm mounting base (4) is equipped with a spool (12) and a claw arm (6). There are three line dividers (12) and three claw arms (6). The line dividers (12) and claw arms (6) are arranged equidistantly around the circumference. The line dividers (12) and claw arms (6) are set in correspondence. One end of the claw arm (6) is connected to the claw arm mounting base (4). The other end of the rope (10) passes around the claw end line divider (5) and is divided into three branch ropes. Each of the three branch ropes passes around the corresponding line divider (12) and is connected to the middle of the claw arm (6). The spring (11) is a torsion spring. The spring (11) is coaxially arranged with one end of the claw arm (6). One end of the spring (11) presses against the claw arm (6), and the other end of the spring (11) presses against the claw arm mounting seat (4). The linkage-type rope-driven sampler for Mars spacecraft is connected to the Mars spacecraft via a mounting base (8), and the lower plane of the claw arm mounting base (4) is set parallel to the outer bottom surface of the Mars spacecraft.

2. A linkage-type tethered sampler for a Mars spacecraft according to claim 1, characterized in that: The dividing wheel (12) is located below one end of the claw arm (6).

3. A linkage-type tethered sampler for a Mars spacecraft according to claim 1, characterized in that: The other end of the claw arm (6) is machined with several grooves.

4. A linkage-type tethered sampler for a Mars spacecraft according to claim 1, characterized in that: The middle part of the rope (10) is located between the upper link (3) and the lower link (7).

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