A gimbal detector based on Mars wind for detecting on the surface of Mars

Abstract

The application discloses a holder detector based on Mars wind for detecting on the surface of Mars, which comprises a spherical truss, a connecting rod, a supporting mechanism, a double universal mechanism, a detecting system, a sliding mechanism and a Mars wind power capturing mechanism, the supporting mechanism is arranged in the inner center of the spherical truss through the connecting rod, the inner center of the supporting mechanism is provided with the double universal mechanism, and the inner center of the double universal mechanism is provided with the detecting system capable of rotating; the connecting rod is provided with a rack, the connecting rod is provided with the sliding mechanism matched with the rack, one end of the Mars wind power capturing mechanism is connected with the supporting mechanism, and the other two ends are respectively connected with adjacent sliding mechanisms. The holder detector is strong in mobility, moves with the wind, is not limited by the terrain and can realize the detection work in the area with large terrain fluctuation.

Description

Technical Field

[0001] This invention relates to the field of deep space exploration technology, specifically to a gimbal detector that uses Martian winds to explore the surface of Mars. Background Technology

[0002] Human exploration of deep space is a crucial component of space missions, an inevitable trend in the development of the space industry, and an essential path for expanding humanity's understanding of the universe. Mars, as the planet most similar to Earth, will become a key target for human exploration. Since the beginning of the 21st century, major spacefaring nations have joined the wave of deep space exploration missions, making Mars exploration and asteroid exploration research hotspots. Over the past few decades, a foreign aerospace agency has launched multiple spacecraft to Mars, including artificial satellites, landers, and rovers, greatly increasing human understanding of the planet. This preliminary work is paving the way for future in-depth exploration and manned Mars missions.

[0003] Mars possesses abundant mineral and energy resources, and as a vanguard for Earth's outward exploration, it can help humanity explore other celestial bodies more quickly and effectively. Therefore, developing Martian resources and establishing a Martian base has become an inevitable trend and a competitive focus in global space activities. Mars probes are an indispensable tool for completing the series of tasks required for Mars exploration. Whether it's patrolling and measuring the Martian surface, studying Martian environmental information, or detecting and collecting resource reserves, Mars probes are essential.

[0004] Currently, most Mars probes are rovers, which can only conduct exploration on flat terrain. They cannot explore areas with large terrain undulations, such as Martian ravines or canyons, and may even get stuck in such areas until their energy runs out, preventing them from achieving their scientific exploration goals. Summary of the Invention

[0005] The technical problem to be solved by this invention is how to achieve the detection of areas with large topographic relief.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution:

[0007] A gimbal probe for probing the Martian surface based on Martian wind includes a spherical truss, connecting rods, a support mechanism, a double universal joint mechanism, a detection system, a sliding mechanism, and a Martian wind capture mechanism. The support mechanism is located at the center of the spherical truss via the connecting rods. The double universal joint mechanism is located at the center of the support mechanism, and the rotatable detection system is located at the center of the double universal joint mechanism.

[0008] The connecting rod is equipped with a rack and a sliding mechanism that cooperates with the rack. One end of the Mars wind capture mechanism is connected to the support mechanism, and the other two ends are respectively connected to the adjacent sliding mechanisms. Driving the sliding mechanism causes it to move on the connecting rod, so that the Mars wind capture mechanism follows the movement of the sliding mechanism to expand or retract.

[0009] This invention has a simple structure, low manufacturing cost, high mobility, and high environmental adaptability. The gimbal detector moves with the wind and is not limited by terrain, enabling it to perform detection work in areas with large terrain undulations.

[0010] Preferably, the spherical truss adopts a skeleton structure, which consists of radial keels and latitudinal keels.

[0011] Preferably, the support mechanism consists of three sets of support rings, the center of the three sets of support rings is the same as the center of the spherical truss, and the three sets of support rings are arranged perpendicular to each other. One end of the connecting rod is connected to the inner wall of the spherical truss, and the other end is connected to the support ring in the radial direction. Each support ring between adjacent connecting rods is connected to a set of Martian wind capture mechanism, and the double universal mechanism is set inside the three sets of support rings.

[0012] Preferably, the double universal joint mechanism includes a first annular member and a second annular member with mutually perpendicular axes, and an axial connecting assembly. The first annular member is rotatably disposed inside the second annular member, and both the first and second annular members are rotatably connected to a support mechanism through the axial connecting assembly.

[0013] Preferably, the detection system is rotatably connected to the first annular component via a U-shaped rotating component.

[0014] Preferably, the detection system consists of a power supply, a triaxial accelerometer, pressure and temperature sensors, a magnetometer, an anemometer, a positioning system unit, and a camera.

[0015] Preferably, the Martian wind-capturing mechanism is a sail.

[0016] Preferably, the sliding mechanism includes a slider, a mounting bracket, a stepper motor, and a transmission gear. The slider is hollow inside and is sleeved on a connecting rod. The mounting bracket is provided on the slider. The stepper motor is fixed on the mounting bracket. The output end of the stepper motor is connected to the transmission gear. The transmission gear meshes with a rack on the connecting rod. The Mars wind-catching mechanism is connected to the slider.

[0017] Preferably, the output end of the stepper motor is connected to the transmission gear through a bevel gear structure. The bevel gear structure includes a driving bevel gear, a driven bevel gear, and a rotating shaft. The output end of the stepper motor is connected to the driving bevel gear, and the rotating shaft is rotatably mounted on the slider. One end of the rotating shaft is connected to the driven bevel gear that meshes with the driving bevel gear, and the other end is connected to the transmission gear.

[0018] Preferably, the sliding mechanism further includes a positioning structure, which includes a spring tightening and releasing device, a positioning pin, and a spring. The spring tightening and releasing device, the positioning pin, and the spring are disposed inside the slider. One end of the positioning pin is connected to the slider through the spring, and the other end is disposed radially toward the connecting rod. Both ends of the connecting rod are provided with positioning holes that can cooperate with the positioning pin.

[0019] The spring tensioning and release device uses an infrared laser sensor to determine whether the sliding mechanism has reached the end of its stroke. When the sliding mechanism reaches the end of the Mars wind capture mechanism's unfolding or retraction, the laser emitted by the infrared laser sensor undergoes a signal change due to entering the positioning hole. The spring tensioning and release device releases the positioning pin, and the spring releases its elastic potential energy to push the positioning pin into the positioning hole, thereby locking the sliding mechanism and fixing the Mars wind capture mechanism. Conversely, when the laser emitted by the infrared laser sensor leaves the positioning hole, the signal changes abruptly. The spring tensioning and release device retracts the positioning pin, causing it to disengage from the positioning hole on the connecting rod, thereby unlocking the sliding mechanism and allowing the Mars wind capture mechanism to enter the unfolding or retraction process.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] 1. The present invention has a simple structure, low manufacturing cost, strong mobility, and high environmental adaptability. The gimbal detector moves with the wind and is not limited by the terrain, enabling it to perform detection work in areas with large terrain undulations.

[0022] 2. The Mars wind capture mechanism is driven by two sliding mechanisms with the same speed and perpendicular direction of movement to achieve retraction or extension, thus realizing that the retraction and extension speeds of any Mars wind capture mechanism are the same.

[0023] 3. The U-shaped rotating component and double universal joint mechanism ensure that the detection direction of the detection system is stabilized when the gimbal detector rolls, thus guaranteeing the continuity of the detection system during detection.

[0024] 4. The detection system integrates a power supply, a three-axis accelerometer, pressure and temperature sensors, a magnetometer, an anemometer, a positioning system unit, and a camera, and has a high degree of system integration. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0026] Figure 2 This is a schematic diagram of the structure of the double universal joint mechanism according to an embodiment of the present invention;

[0027] Figure 3 for Figure 1 Enlarged view of A in the middle;

[0028] Figure 4 This is a schematic diagram of the sliding mechanism according to an embodiment of the present invention;

[0029] Figure 5 This is an exploded view of the sliding mechanism according to an embodiment of the present invention;

[0030] Figure 6 This is a partial cross-sectional view of the sliding mechanism according to an embodiment of the present invention. Detailed Implementation

[0031] To facilitate understanding of the technical solution of the present invention by those skilled in the art, the technical solution of the present invention will now be further described in conjunction with the accompanying drawings.

[0032] In this application, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection, an electrical connection, or a communication connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances.

[0033] In this application, unless otherwise expressly specified and limited, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise expressly and specifically limited.

[0034] See Figure 1 and Figure 2 This embodiment discloses a gimbal detector for probing the Martian surface based on Martian wind, including a spherical truss 1, a connecting rod 2, a support mechanism 3, a double universal mechanism 4, a detection system 5, a sliding mechanism 6, and a Martian wind capture mechanism 7.

[0035] The spherical truss 1 adopts a skeleton structure, which consists of radial and latitudinal keels. The keels are made of a composite material of carbon fiber and Kevlar. Furthermore, the keels are covered with a flexible sail material, which is lightweight, high-strength, and durable, improving the rolling performance of the gimbal probe and ensuring that the gimbal probe can explore Martian ravines and canyons that cannot be accessed by the transmission rover.

[0036] The support mechanism 3 is fixed to the center of the spherical truss 1 by 6 sets of connecting rods 2. A double universal joint mechanism 4 is provided at the center of the support mechanism 3. A rotatable detection system 5 is provided at the center of the double universal joint mechanism 4.

[0037] The support mechanism 3 consists of three sets of support rings. The center of the three sets of support rings is the same as the center of the spherical truss 1, and the three sets of support rings are arranged perpendicular to each other. One end of the connecting rod 2 is connected to the inner wall of the spherical truss 1, and the other end is connected to the support ring in the radial direction. Each support ring between adjacent connecting rods 2 is connected to a set of Martian wind capture mechanism 7. The double universal mechanism 4 is set inside the three sets of support rings.

[0038] See Figure 2 The dual universal joint mechanism 4 includes a first annular component 41 and a second annular component 42 with mutually perpendicular axes, and an axial connecting assembly 43. The first annular component 41 is rotatably disposed inside the second annular component 42 via the axial connecting assembly 43. Both the first annular component 41 and the second annular component 42 are rotatably connected to a support ring via the axial connecting assembly 42. The detection system 5 is rotatably connected to the first annular component 41 via a U-shaped rotating component 8.

[0039] The detection system 5 consists of a power supply, a triaxial accelerometer, pressure and temperature sensors, a magnetometer, an anemometer, a positioning system unit, and a camera, enabling the exploration of the Martian surface.

[0040] See Figures 3 to 5 The connecting rod 2 is provided with a rack 21, and the connecting rod 2 is provided with a sliding mechanism 6 that cooperates with the rack 21.

[0041] The sliding mechanism 6 includes a slider 61, a mounting bracket 62, a stepper motor 63, a transmission gear 64, a bevel gear structure 65, and a positioning mechanism 66. The slider 61 is hollow and sleeved on the connecting rod 2. The mounting bracket 62 is fixed to the bottom of the slider 61. The stepper motor 63 is fixed to the mounting bracket 62. The output end of the stepper motor 63 is connected to the transmission gear 64 through the bevel gear structure 65. The transmission gear 64 meshes with the rack 21 on the connecting rod 2. (See reference...) Figure 6The positioning structure 66 includes a spring tensioning and releasing device 662, a positioning pin 661, and a spring 663. The spring tensioning and releasing device 662, the positioning pin 661, and the spring 663 are inside the slider 61. One end of the positioning pin 661 is connected to the slider through the spring 663, and the other end is arranged radially toward the connecting rod 21. Both ends of the connecting rod 21 are provided with positioning holes that can cooperate with the positioning pin 661.

[0042] Furthermore, the bevel gear structure 65 includes a driving bevel gear 651, a driven bevel gear 652, and a rotating shaft 653. The output end of the stepper motor 63 is connected to the driving bevel gear 651. The rotating shaft 653 is rotatably mounted on the slider 61. One end of the rotating shaft 653 is connected to the driven bevel gear 652 that meshes with the driving bevel gear 651, and the other end is connected to the transmission gear 64.

[0043] Each set of Mars wind capture mechanisms 7 is connected at one end to the support ring between adjacent connecting rods 2, and at the other two ends to adjacent sliders 61 respectively. In this embodiment, 12 sets of Mars wind capture mechanisms 7 are provided. Furthermore, the Mars wind capture mechanism 7 is a sail.

[0044] Specifically, the spring tensioning and releasing device 662 uses an infrared laser sensor to determine whether the sliding mechanism 6 has reached the end of its stroke. When the sliding mechanism 6 reaches the end of the unfolding or retracting of the Mars wind-capturing mechanism 7, the laser emitted by the infrared laser sensor undergoes a sudden signal change due to entering the positioning hole. The spring tensioning and releasing device 662 releases the positioning pin 661, and the spring 663 releases elastic potential energy to push the positioning pin 661 into the positioning hole to lock the sliding mechanism 6, thus fixing the Mars wind-capturing mechanism 7. Conversely, when the laser emitted by the infrared laser sensor undergoes a sudden signal change due to leaving the positioning hole, the spring tensioning and releasing device 662 retracts the positioning pin 661, causing it to disengage from the positioning hole on the connecting rod 2, thereby unlocking the sliding mechanism 6 and allowing the Mars wind-capturing mechanism 7 to enter the unfolding or retracting process.

[0045] The working principle of this embodiment is as follows: the deployed state of the Mars wind capture mechanism 7 of the gimbal probe is as follows: Figure 1As shown, each set of Mars wind capture mechanisms 7 is connected to two sliders 61 simultaneously, enabling two types of movement. When the Mars wind capture mechanism 7 is deployed, the spring tension release device 662 retracts the positioning pin 661, unlocking the sliding mechanism 6. The sliding mechanism 6 uses a stepper motor 63 to drive the transmission gear 64 through a bevel gear structure 65, which meshes with the rack 21 on the connecting rod 2. At this time, the slider 61 moves outward along the connecting rod 2, simultaneously deploying the Mars wind capture mechanism 7. The infrared laser sensor installed on the slider 61 determines whether the deployment is complete. Once the deployment is complete, the spring tension release device 662 releases the positioning pin 661, locking the sliding mechanism 6. This process releases the Mars wind capture mechanism 7, which is in a follow-up motion as the sliding mechanism 6 deploys. When the Mars wind capture mechanism 7 is fully deployed, the Martian wind propels the Mars wind capture mechanism 7, which in turn causes the spherical truss 1 to roll on the Martian surface, enabling the gimbal probe to perform path detection on the Martian surface. When the sliding mechanism 6 moves inward along the connecting rod 2, it drives the Mars wind-capturing mechanism 7 to retract. The infrared laser sensor determines whether the retraction is complete. Once complete, the spring retraction release device 661 releases the positioning pin 661, and the sliding mechanism 6 is locked. This is the action of retracting the Mars wind-capturing mechanism 7.

[0046] This invention has a simple structure, low manufacturing cost, high mobility, and high environmental adaptability. The gimbal detector moves with the wind and is not limited by terrain, enabling it to perform detection work in areas with large terrain undulations.

[0047] In addition, the Mars wind capture mechanism 7 is driven by two sliding mechanisms 6 with the same speed and perpendicular movement direction to achieve retraction or deployment, ensuring that the deployment and retraction speeds of any Mars wind capture mechanism 7 are the same. At the same time, the U-shaped rotating part 8 and the double universal joint mechanism 4 are designed to stabilize the detection direction of the detection system 5 when the gimbal detector rolls, ensuring the continuity of the detection system 5 during detection.

[0048] The detection system 5 integrates a power supply, a three-axis accelerometer, pressure and temperature sensors, a magnetometer, an anemometer, a positioning system unit, and a camera, exhibiting a high degree of system integration.

[0049] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the invention can be implemented in other specific forms without departing from its spirit or essential characteristics. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within the present invention, and no reference numerals in the claims should be construed as limiting the scope of the claims.

[0050] The above embodiments are merely examples of implementation methods of the invention. The scope of protection of the present invention is not limited to the above embodiments. For those skilled in the art, several modifications and improvements can be made without departing from the concept of the present invention, and these all fall within the scope of protection of the present invention.

Claims

1. A gimbal probe for probing the Martian surface based on Martian winds, characterized in that: It includes a spherical truss, connecting rods, a support mechanism, a double universal joint mechanism, a detection system, a sliding mechanism, and a Martian wind capture mechanism. The support mechanism is set at the center of the spherical truss via the connecting rods. The double universal joint mechanism is set at the center of the support mechanism. The detection system, which can rotate, is set at the center of the double universal joint mechanism. The connecting rod is provided with a rack and a sliding mechanism that cooperates with the rack. One end of the Mars wind capture mechanism is connected to the support mechanism, and the other two ends are respectively connected to the adjacent sliding mechanism. Driving the sliding mechanism causes it to move on the connecting rod, so that the Mars wind capture mechanism follows the movement of the sliding mechanism to open or close. The support mechanism consists of three sets of support rings. The center of the three sets of support rings is the same as the center of the spherical truss, and the three sets of support rings are set perpendicular to each other. One end of the connecting rod is connected to the inner wall of the spherical truss, and the other end is connected to the support ring in the radial direction. The support rings between adjacent connecting rods are all connected to a set of Martian wind capture mechanism. The double universal mechanism is set inside the three sets of support rings. The sliding mechanism includes a slider, a mounting bracket, a stepper motor, and a transmission gear. The slider is hollow inside and is fitted onto a connecting rod. The mounting bracket is mounted on the slider. The stepper motor is fixed on the mounting bracket. The output end of the stepper motor is connected to the transmission gear. The transmission gear meshes with the rack on the connecting rod. The Mars wind-catching mechanism is connected to the slider.

2. The gimbal detector for probing the Martian surface based on Martian winds according to claim 1, characterized in that: The spherical truss adopts a skeleton structure, which consists of radial keels and latitudinal keels.

3. A gimbal probe for probing the Martian surface based on Martian winds according to claim 1, characterized in that: The dual universal joint mechanism includes a first annular component and a second annular component with mutually perpendicular axes, as well as an axial connection assembly. The first annular component is rotatably disposed inside the second annular component, and both the first and second annular components are rotatably connected to a support mechanism through the axial connection assembly.

4. A gimbal probe for probing the Martian surface based on Martian winds according to claim 3, characterized in that: The detection system is connected to the first annular component via a U-shaped rotating component.

5. A gimbal probe for probing the Martian surface based on Martian winds according to claim 1, characterized in that: The detection system consists of a power supply, a three-axis accelerometer, pressure and temperature sensors, a magnetometer, an anemometer, a positioning system unit, and a camera.

6. A gimbal probe for probing the Martian surface based on Martian winds according to claim 1, characterized in that: The Martian wind-capturing mechanism is a sail.

7. A gimbal probe for probing the Martian surface based on Martian winds according to claim 1, characterized in that: The output end of the stepper motor is connected to the transmission gear through a bevel gear structure. The bevel gear structure includes a driving bevel gear, a driven bevel gear, and a rotating shaft. The output end of the stepper motor is connected to the driving bevel gear. The rotating shaft is rotatably mounted on the slider. One end of the rotating shaft is connected to the driven bevel gear that meshes with the driving bevel gear, and the other end is connected to the transmission gear.

8. A gimbal probe for probing the Martian surface based on Martian winds according to claim 1, characterized in that: The sliding mechanism further includes a positioning structure, which includes a spring tensioning and releasing device, a positioning pin, and a spring. The spring tensioning and releasing device, the positioning pin, and the spring are disposed inside the slider. One end of the positioning pin is connected to the slider through the spring, and the other end is disposed radially toward the connecting rod. Both ends of the connecting rod are provided with positioning holes that can cooperate with the positioning pin. The spring tensioning and release device uses an infrared laser sensor to determine whether the sliding mechanism has reached the end of its stroke. When the sliding mechanism reaches the end of the Mars wind capture mechanism's unfolding or retraction, the laser emitted by the infrared laser sensor undergoes a signal change due to entering the positioning hole. The spring tensioning and release device releases the positioning pin, and the spring releases its elastic potential energy to push the positioning pin into the positioning hole, thereby locking the sliding mechanism and fixing the Mars wind capture mechanism. Conversely, when the laser emitted by the infrared laser sensor leaves the positioning hole, the signal changes abruptly. The spring tensioning and release device retracts the positioning pin, causing it to disengage from the positioning hole on the connecting rod, thereby unlocking the sliding mechanism and allowing the Mars wind capture mechanism to enter the unfolding or retraction process.

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