Asteroid sampling end effector

Abstract

The application discloses a star soil sampling end effector and relates to the technical field of star soil sampling. The main body comprises a telescopic cover plate, a limiting part, a movable part and a lifting part. The limiting part comprises a limiting frame sleeved on the left side surface of the telescopic cover plate, an inclined rod movably connected to the inside of the telescopic cover plate and the limiting frame, a connecting rod screwedly connected to the top surface of the inclined rod, a spring fixed at the top end of the connecting rod and a fixed frame fixed at the top end of the spring. The lower surface of the fixed frame is attached to the middle part of the upper surface of the limiting frame. The movable part comprises a movable plate hinged to the top end of the limiting frame. The lifting part comprises a first connecting column fixed to the right end of the upper surface of the limiting frame. Compared with the mode that the telescopic cover plate is not limited, the scheme increases the connection between the left end of the telescopic cover plate and the shovel, so that the left side of the telescopic cover plate is not affected by the weight of the sample, the deformation of the telescopic cover plate is avoided, the sample is prevented from leaking from the inside of the shovel, and the integrity of sample collection is greatly improved.

Description

Technical Field

[0001] This invention relates to the field of spherical soil sampling technology, specifically a spherical soil sampling end effector. Background Technology

[0002] In the Mars sample return plan, surface sampling relies on the end-effector of the robotic arm on the lander. The robotic arm needs to perform sampling posture movements, and the end-effector's mechanism is used to sample surface and shallow samples.

[0003] Due to limitations in the reach and load capacity of the robotic arm, the area that can be utilized for surface sampling on Mars is limited. However, to expand the functionality and significance of surface sampling operations, the sampler should be capable of shoveling and digging out surface particles; to obtain samples from the lower layers, it should have the ability to scrape the surface; for rock sampling, it should be capable of grasping large rock particles; and for sample transfer, the sampling chamber should be airtight. However, existing technologies have the following shortcomings: The existing actuators use a lead screw motor to move the telescopic cover after the sampling process is completed, thereby confining the collected sample inside the bucket. However, because the sample itself has weight, the telescopic cover may not fit tightly enough against the left side of the bucket, causing the sample to leak from inside the bucket. Summary of the Invention

[0004] The purpose of this invention is to address the problem that existing actuators, after completing the sampling process, use a lead screw motor to drive a telescopic cover plate to move, thereby confining the collected sample inside the bucket. However, due to the weight of the sample itself, the telescopic cover plate may not fit tightly enough against the left side of the bucket, causing the sample to leak from inside the bucket. This invention provides a star soil sampling end effector.

[0005] To achieve the above objectives, the present invention provides the following technical solution: This invention relates to a star soil sampling end effector, comprising: Main components, including telescopic cover; The limiting component includes a limiting frame sleeved on the left side surface of the telescopic cover, an inclined rod movably connected to the telescopic cover and the inside of the limiting frame, a connecting rod threaded to the top surface of the inclined rod, a spring fixed to the top of the connecting rod, and a fixing frame fixed to the top of the spring. The lower surface of the fixed frame is in contact with the middle of the upper surface of the limiting frame; The movable component includes a movable plate hinged to the top of the limiting frame, and two sets of movable plates are provided. The lifting component includes a first connecting post fixed to the inner side of the right end of the upper surface of the limit frame, and there are two sets of the first connecting posts.

[0006] The connection between the limiting frame and the telescopic cover plate ensures that the left side of the telescopic cover plate is not affected by the sample weight, preventing deformation and sample leakage from the bucket. The threaded connection between the connecting rod and the inclined rod allows for quick replacement when the inclined rod wears out. Under the spring force, the inclined rod moves upwards when compressed. Once the telescopic cover plate is fully fitted with the limiting frame, the inclined rod descends into the telescopic cover plate due to the limiting hole in the center, thus fixing the telescopic cover plate inside the limiting frame and providing support for the left end of the telescopic cover plate, keeping it in a horizontal position.

[0007] As a further embodiment of the present invention: a first magnetic block is embedded inside the left side of any group of movable plates, a second magnetic block is embedded inside the right end of the front and rear sides of the limiting frame, and a movable plate is fixed to the inner surface of any group of movable plates.

[0008] Since the movable plate and the limiting frame are hinged, when the movable plate is pushed, the first magnetic block and the second magnetic block separate, and the movable plate flips upward. At the same time, the moving plate connected to the inner side of the movable plate flips upward synchronously.

[0009] As a further embodiment of the present invention: a first movable column is sleeved on the upper surface of any group of the first connecting columns, and an inclined plate is fixed on the inner surface of the top of the first movable column, and two groups of inclined plates are provided in total. The height of the left side of the inclined plate is lower than the height of the right side.

[0010] After the movable plate flips upward, it fits into the inclined plate. As the movable plate flips upward continuously, it drives the inclined plate to move upward synchronously. When the inclined plate moves upward, the first movable column moves upward synchronously on the first connecting column.

[0011] As a further embodiment of the present invention: a fixed column is fixed to the top left surface of the first movable column, a second movable column is fixed to the left surface of the fixed column, and a second connecting column is sleeved inside the bottom end of the second movable column.

[0012] By setting a fixed column to support and install the first movable column, and then supporting and installing the second movable column, with the fixed column connecting them, when the first movable column moves upward, the second movable column moves upward synchronously.

[0013] As a further embodiment of the present invention: a fixing rod is fixed to the inner surface of the top end of the second movable column, and a baffle is fixed to the inner surface of the fixing rod.

[0014] The second movable column is supported and installed by a fixed rod, which in turn supports and installs the baffle. When the fixed rod moves upward along with the second movable column, the baffle moves upward synchronously.

[0015] As a further embodiment of the present invention: a lead screw nut is fixed to the top right side of the telescopic cover plate, a lead screw is connected to the lead screw nut by internal threads, and a lead screw motor is fixed to the right end of the lead screw. The output end of the lead screw motor is connected to the lead screw.

[0016] The rotation of the output end of the set lead screw motor drives the lead screw to rotate at high speed, thereby causing the lead screw nut to move horizontally on the lead screw, which in turn pushes the telescopic cover plate to move left and right.

[0017] As a further embodiment of the present invention: a housing is fixed to the right side surface of the lead screw motor, and a bucket swing motor is fixed to the inner surface of the middle part of the housing.

[0018] The housing protects the actuator components, and the bucket swing motor drives the bucket to tilt.

[0019] As a further embodiment of the present invention: a screw reducer is fixed to the output end of the bucket swing motor, and a swing arm is fixed to the output end of the screw reducer. Two sets of swing arms are provided.

[0020] A screw reducer is used to drive the rotation of the swing arm, thereby enabling the bucket to tilt.

[0021] As a further embodiment of the present invention: a bucket is fixed inside the left side of the swing arm, and bionic bucket teeth are fixed on the outer surface of the bucket, with a total of four sets of bionic bucket teeth.

[0022] The designed bucket is used to excavate samples. The shape of the biomimetic bucket teeth is based on the forelegs of the Himalayan marmot. The biomimetic bucket teeth can reduce the sampling resistance on the Martian surface and improve the digging efficiency, which is of practical significance.

[0023] As a further embodiment of the present invention: a ground-scraping sled is fixed on the top surface of any one group of the bionic bucket teeth, and a total of four groups of ground-scraping sleds are provided.

[0024] The sled-like structure is designed to peel and transport the sample soil.

[0025] Compared with the prior art, the beneficial effects of the present invention are: By using a limiting frame and a diagonal rod, when the telescopic cover moves to the left, after the cover contacts the diagonal rod, the rod moves upward due to its shape and the spring force. When the cover is fully fitted with the limiting frame, the diagonal rod descends into the cover due to the limiting hole in the middle of the cover, thus fixing the cover inside the limiting frame and providing support for the left end of the cover. Compared to not limiting the cover, this solution, by increasing the connection between the left end of the cover and the bucket, prevents the left side of the cover from being affected by the weight of the sample, thus avoiding deformation and sample leakage from the bucket and greatly improving the integrity of sample collection.

[0026] Based on the first beneficial effect, when the telescopic cover moves to the left and begins to contact the limiting frame, the movable plate flips upward simultaneously with the movable plate, causing the movable plate to move upward in sync with the inclined plate. This causes the first movable column connected to the surface of the inclined plate to move upward in sync, thereby causing the second movable column to move upward in sync. Consequently, the fixed rod connected to the surface of the second movable column moves upward in sync with the baffle, completely exposing the gap inside the limiting frame. This ensures that the telescopic cover moves normally inside the limiting frame. In this scheme, when the telescopic cover has not moved into the bucket, the limiting frame is in a closed state, preventing samples from falling into the limiting frame during sample collection and causing the limiting frame to be blocked by samples, thus affecting the normal movement of the telescopic cover inside the limiting frame.

[0027] Based on the first beneficial effect, by using biomimetic technology to create a ground-scraping sled and biomimetic bucket teeth, when the bucket swing motor and screw reducer drive the swing arm to rotate, the ground-scraping sled contacts the ground. The swing arm continues to rotate, allowing the ground-scraping sled to peel and transport the surface sample, exposing the bottom sample. Then, the swing arm moves upward in the opposite direction, and the biomimetic bucket teeth scoop the sample into the bucket. With the help of the lead screw motor and lead screw nut, the telescopic cover plate connected to the lead screw nut moves towards the bucket, so that the bucket is in a closed state, thus completing the sample collection. This scheme not only ensures that the single sampling volume meets the target, but also integrates soil breaking, soil entry, sampling, recovery, and sealing, greatly enhancing its functionality. Attached Figure Description

[0028] Figure 1 This is a three-dimensional schematic diagram of the present invention; Figure 2 This is a cross-sectional side view of the present invention; Figure 3 This is a structural diagram of the telescopic cover plate of the present invention; Figure 4 This is a structural diagram of the limiting frame of the present invention; Figure 5 This is a structural diagram of the movable plate of the present invention; Figure 6 This is a cross-sectional view of the limiting frame of the present invention.

[0029] In the diagram: 1. Main body; 11. Shell; 12. Lead screw motor; 13. Lead screw; 14. Lead screw nut; 15. Telescopic cover plate; 16. Bucket swing motor; 17. Screw reducer; 18. Swing arm; 19. Bucket; 191. Ground-scraping sled; 192. Bionic bucket teeth; 2. Limiting component; 21. Limiting frame; 22. Diagonal rod; 23. Connecting rod; 24. Spring; 25. Fixed frame; 3. Movable component; 31. Movable plate; 32. First magnetic block; 33. Moving plate; 34. Second magnetic block; 4. Lifting component; 41. First connecting column; 42. First movable column; 43. Diagonal plate; 45. Fixed column; 46. Second movable column; 47. Second connecting column; 48. Fixed rod; 49. Baffle. Detailed Implementation

[0030] To make the technical problems, technical solutions and advantages of the present invention clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0031] Please see Figures 1 to 3 , Figure 6 In this embodiment of the invention, a star soil sampling end effector includes: a main body 1, including a telescopic cover plate 15; The limiting component 2 includes a limiting frame 21 sleeved on the left side surface of the telescopic cover plate 15, an inclined rod 22 movably connected to the telescopic cover plate 15 and the inside of the limiting frame 21, a connecting rod 23 threadedly connected to the top surface of the inclined rod 22, a spring 24 fixed to the top of the connecting rod 23, and a fixing frame 25 fixed to the top of the spring 24. The lower surface of the fixed frame 25 is in contact with the middle of the upper surface of the limiting frame 21; The movable component 3 includes a movable plate 31 hinged to the top of the limiting frame 21, and two sets of movable plates 31 are provided. The lifting component 4 includes a first connecting post 41 fixed to the inner side of the right end of the upper surface of the limit frame 21. There are two sets of the first connecting post 41.

[0032] In this embodiment: when the telescopic cover plate 15 moves to the left, after the telescopic cover plate 15 contacts the inclined rod 22, the inclined rod 22 moves upward continuously due to the shape of the inclined rod 22 and the elastic force of the spring 24. When the telescopic cover plate 15 is completely fitted with the limiting frame 21, the inclined rod 22 moves downward into the inside of the telescopic cover plate 15 under the elastic force of the spring 24 because a limiting hole is opened in the middle of the telescopic cover plate 15, thereby fixing the telescopic cover plate 15 inside the limiting frame 21. When the diagonal rod 22 wears out, since the diagonal rod 22 and the connecting rod 23 are connected by threads, the diagonal rod 22 can be removed from the connecting rod 23 by rotating the diagonal rod 22. After placing the new diagonal rod 22 at the bottom of the connecting rod 23, the diagonal rod 22 can be fixed to the bottom of the connecting rod 23 by rotating the diagonal rod 22. This step prevents samples from leaking out of the bucket, thus improving the integrity of sample collection.

[0033] Please refer to this carefully. Figure 4 and Figure 5 A first magnetic block 32 is embedded inside the left side of any set of movable plates 31, and a second magnetic block 34 is embedded inside the right end of the front and rear sides of the limiting frame 21. A movable plate 33 is fixed on the inner surface of any set of movable plates 31. A first movable column 42 is sleeved on the upper surface of any group of first connecting columns 41, and an inclined plate 43 is fixed on the inner surface of the top of the first movable column 42. There are two groups of inclined plates 43. Among them, the height of the left side of the inclined plate 43 is lower than the height of the right side; A fixing post 45 is fixed to the top left surface of the first movable post 42, and a second movable post 46 is fixed to the left side surface of the fixing post 45. A second connecting post 47 is sleeved inside the bottom end of the second movable post 46. A fixing rod 48 is fixed to the inner surface of the top of the second movable column 46, and a baffle 49 is fixed to the inner surface of the fixing rod 48.

[0034] In this embodiment: when the telescopic cover plate 15 moves to the left and begins to contact the limiting frame 21, since the movable plate 31 and the limiting frame 21 are hinged, when the movable plate 31 is pushed, the first magnetic block 32 and the second magnetic block 34 separate, and the movable plate 31 flips upward. At the same time, the moving plate 34 connected to the inner side of the movable plate 31 flips upward synchronously, so that the moving plate 34 moves upward synchronously in conjunction with the inclined plate 43, driving the first movable column 42 connected to the surface of the inclined plate 43 to move upward synchronously. Since the fixed column 45 connects the first movable column 42 and the second movable column 46 together, the second movable column 46 moves upward synchronously in conjunction with the fixed rod 48 connected to the surface of the second movable column 46, and the baffle 49 moves upward synchronously in conjunction with the fixed rod 48 connected to the surface of the second movable column 46, so that the gap inside the limiting frame 21 is completely exposed.

[0035] This step prevents the sample from falling into the limiting frame 21 during sample collection, which could cause the limiting frame 21 to be blocked by the sample and affect the normal movement of the telescopic cover 15 inside the limiting frame 21.

[0036] Please refer to this carefully. Figure 1 and Figure 2The top right side of the telescopic cover plate 15 is fixed with a lead screw nut 14, and the lead screw nut 14 is internally threaded with a lead screw 13. The right end of the lead screw 13 is fixed with a lead screw motor 12. The output end of the lead screw motor 12 is connected to the lead screw 13; A housing 11 is fixed to the right side surface of the lead screw motor 12, and a bucket swing motor 16 is fixed to the inner surface of the middle part of the housing 11. A screw reducer 17 is fixed to the output end of the bucket swing motor 16, and a swing arm 18 is fixed to the output end of the screw reducer 17. There are two sets of swing arms 18. A bucket 19 is fixed inside the left side of the swing arm 18, and bionic bucket teeth 192 are fixed on the outer surface of the bucket 19. There are four sets of bionic bucket teeth 192. Any set of bionic bucket teeth 192 has a ground-scraping sled 191 fixed on its top surface, and there are four sets of ground-scraping sleds 191.

[0037] In this embodiment: when the bucket swing motor 16 and the screw reducer 15 drive the swing arm 18 to rotate, thereby driving the bucket 19 to rotate synchronously, so that after the ground sled 191 connected to the surface of the bucket 19 contacts the ground, the swing arm 18 continues to rotate, so that after the ground sled 191 peels and transports the surface sample, the bottom sample is exposed, and the swing arm 18 moves in the opposite direction upward. The bionic bucket 192 scoops the sample into the bucket 19. With the setting of the lead screw motor 12 and the lead screw nut 14, the telescopic cover plate 15 connected to the lead screw nut 14 is driven to move towards the bucket 19, so that the bucket 19 is in a closed state, thereby completing the collection of the sample; This step not only ensures that the single sampling volume meets the target, but also integrates soil breaking, soil filling, sampling, recycling, and sealing, greatly enhancing its functionality.

[0038] Working principle: When the bucket swing motor 16 and screw reducer 15 drive the swing arm 18 to rotate, thereby driving the bucket 19 to rotate synchronously, the ground-peeling sled 191 connected to the surface of the bucket 19 contacts the ground. The swing arm 18 continues to rotate, allowing the ground-peeling sled 191 to peel and transport the surface sample, exposing the bottom sample. Then, the swing arm 18 moves in the opposite direction, upwards, and the bionic bucket 192 scoops the sample into the bucket 19. The screw motor 12 and screw nut 14... Under the current setting, the telescopic cover plate 15 connected to the lead screw nut 14 moves towards the bucket 19, so that the bucket 19 is in a closed state, thereby completing the sample collection; when the telescopic cover plate 15 moves to the left and begins to contact the limiting frame 21, since the movable plate 31 and the limiting frame 21 are hinged, when the movable plate 31 is pushed, the first magnetic block 32 and the second magnetic block 34 separate, and the movable plate 31 flips upward. At the same time, the moving plate 31 is connected to the inner side of the movable plate 31. The movable plate 34 flips upward synchronously, causing the movable plate 34 to move upward synchronously in conjunction with the inclined plate 43. This causes the first movable column 42 connected to the surface of the inclined plate 43 to move upward synchronously. Since the fixed column 45 connects the first movable column 42 and the second movable column 46 together, the second movable column 46 moves upward synchronously in conjunction with the fixed rod 48 connected to the surface of the second movable column 46. This causes the baffle 49 to move upward synchronously in conjunction with the fixed rod 48 connected to the surface of the second movable column 46, thus exposing the gap inside the limiting frame 21 completely. When the telescopic cover plate 15 continues to move to the left, after the telescopic cover plate 15 contacts the inclined rod 22, the inclined rod 22 moves upward continuously due to the shape of the inclined rod 22 and the elastic force of the spring 24. When the telescopic cover plate 15 is completely fitted with the limiting frame 21, the inclined rod 22 moves downward into the telescopic cover plate 15 under the elastic force of the spring 24 because a limiting hole is opened in the middle of the telescopic cover plate 15. This fixes the telescopic cover plate 15 inside the limiting frame 21.

[0039] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in the present invention, based on the technical solution and inventive concept of the present invention, should be covered within the scope of protection of the present invention.

Claims

1. A star soil sampling end effector, characterized in that, include: The main component (1) includes a telescopic cover plate (15); The limiting component (2) includes a limiting frame (21) sleeved on the left side surface of the telescopic cover (15), an inclined rod (22) movably connected to the telescopic cover (15) and the inside of the limiting frame (21), a connecting rod (23) threaded to the top surface of the inclined rod (22), a spring (24) fixed to the top of the connecting rod (23), and a fixing frame (25) fixed to the top of the spring (24). The lower surface of the fixed frame (25) is in contact with the middle part of the upper surface of the limiting frame (21); The movable component (3) includes a movable plate (31) hinged to the top of the limiting frame (21), and there are two sets of movable plates (31); The lifting component (4) includes a first connecting post (41) fixed on the inner side of the right end of the upper surface of the limit frame (21), and there are two sets of the first connecting post (41); A first magnetic block (32) is embedded inside the left side of any set of movable plates (31), and a second magnetic block (34) is embedded inside the right end of the front and rear sides of the limiting frame (21). A movable plate (33) is fixed on the inner surface of any set of movable plates (31). A first movable column (42) is sleeved on the upper surface of any one of the first connecting columns (41), and an inclined plate (43) is fixed on the inner surface of the top end of the first movable column (42). There are two sets of inclined plates (43). Among them, the height of the left side of the inclined plate (43) is lower than the height of the right side; A fixed column (45) is fixed on the top left side surface of the first movable column (42), and a second movable column (46) is fixed on the left side surface of the fixed column (45). A second connecting column (47) is sleeved inside the bottom end of the second movable column (46). A fixing rod (48) is fixed on the inner surface of the top of the second movable column (46), and a baffle (49) is fixed on the inner surface of the fixing rod (48). Since the telescopic cover plate (15) has a limiting hole in the middle, the inclined rod (22) moves down into the telescopic cover plate (15) under the elastic force of the spring (24), thereby fixing the telescopic cover plate (15) inside the limiting frame (21).

2. The star soil sampling end effector according to claim 1, characterized in that, The top right side of the telescopic cover plate (15) is fixed with a lead screw nut (14), and the lead screw nut (14) is internally threaded with a lead screw (13). The right end of the lead screw (13) is fixed with a lead screw motor (12). The output end of the lead screw motor (12) is connected to the lead screw (13).

3. The end effector for spherical soil sampling according to claim 2, characterized in that, The right side surface of the lead screw motor (12) is fixed with a housing (11), and the inner surface of the middle part of the housing (11) is fixed with a bucket swing motor (16).

4. The end effector for spherical soil sampling according to claim 3, characterized in that, The output end of the bucket swing motor (16) is fixed with a screw reducer (17), and the output end of the screw reducer (17) is fixed with a swing arm (18). There are two sets of swing arms (18).

5. The end effector for spherical soil sampling according to claim 4, characterized in that, The swing arm (18) has a bucket (19) fixed inside on the left side, and bionic bucket teeth (192) are fixed on the outer surface of the bucket (19). There are four sets of bionic bucket teeth (192).

6. The star soil sampling end effector according to claim 5, characterized in that, Any group of the bionic bucket teeth (192) has a ground-scraping sled (191) fixed on the top surface, and there are four groups of ground-scraping sleds (191).

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