A self-cleaning device for Mars rovers

Abstract

This invention discloses a self-cleaning device for a Mars rover, comprising a lifting mechanism, a scissor mechanism, a support leg mechanism, and a cleaning mechanism. One end of the lifting mechanism is rotatably mounted on the Mars rover, and the other end is connected to the cleaning mechanism via the scissor mechanism. The bottom of the scissor mechanism has a retractable support leg mechanism that drives the lifting mechanism, enabling the scissor mechanism and the front cleaning mechanism to rise, fall, and rotate on the Mars rover. The advantages of this invention are that it avoids the solar panel hinges, and when not in operation, the device retracts into the gap between the retracted solar panel and the rover surface, without occupying additional space on the Mars rover or interfering with the retraction of the solar panels, thus making full use of the remaining space on the Mars rover.

Description

Technical Field

[0001] This invention relates to the field of Martian dust environment technology, specifically a self-cleaning device for a Mars rover. Background Technology

[0002] A Mars rover is a mobile probe launched by humans to land on Mars for exploration. It is a vehicle that travels on the Martian surface to conduct research. The rover's self-cleaning system uses wind power to power its front-end cleaning mechanism and scissor lift mechanism. The front-end cleaning mechanism uses the scissor lift and lifting mechanism to achieve full-coverage cleaning of the rover's solar panel area.

[0003] Due to the limited space resources on the Mars rover, it is necessary to design the overall structural layout of the self-cleaning device to make full use of the space.

[0004] For example, Chinese invention patent document CN113884982A discloses a method for measuring the light depth on the Martian surface. The specification includes a Martian rover with solar panels mounted on its top. After the rover's solar panels are deployed, the self-cleaning device needs to avoid the solar panel hinges during movement, and it must not interfere with the retraction of the rover's solar panels. Therefore, there is an urgent need for a self-cleaning device that can adapt to the space requirements after the rover's solar panels are retracted and the Martian dust environment. Summary of the Invention

[0005] The technical problem to be solved by the present invention is how to provide a self-cleaning device that can adapt to the space requirements after the solar panels of the Mars rover are folded up and the Martian dust environment.

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

[0007] A self-cleaning device for a Mars rover includes a lifting mechanism, a scissor mechanism, a support leg mechanism, and a cleaning mechanism. One end of the lifting mechanism is rotatably mounted on the Mars rover, and the other end is connected to the cleaning mechanism via the scissor mechanism. The bottom of the scissor mechanism is provided with a support leg mechanism that can retract onto the scissor mechanism. Driving the lifting mechanism enables the scissor mechanism and the front cleaning mechanism to rise, fall, and rotate on the Mars rover.

[0008] When the scissor lift mechanism extends or retracts, the support leg mechanism retracts onto the scissor lift mechanism, allowing the support leg mechanism to avoid the solar panel hinge during these movements. Similarly, the scissor lift mechanism can be raised to avoid the solar panel hinge by driving the lifting mechanism. Furthermore, when not in operation, the device retracts into the gap between the retracted solar panel and the rover surface, without occupying additional space on the rover or interfering with the retraction of the solar panel, thus making full use of the remaining space on the rover.

[0009] Preferably, the lifting mechanism consists of a horizontal rotating subunit and a vertical rotating subunit. The horizontal rotating subunit is connected to the internal rotating shaft of the Mars rover, and the rotation of the internal rotating shaft of the Mars rover drives the horizontal rotating subunit to rotate. The end of the horizontal rotating subunit away from the internal rotating shaft of the Mars rover is connected to the vertical rotating subunit, and the vertical rotating subunit is connected to the scissor mechanism. The rotation of the vertical rotating subunit drives the scissor mechanism to lift and lower.

[0010] Preferably, the scissor mechanism includes a hinge unit and an electric push rod. The hinge unit is telescopically mounted on the lifting mechanism. One end of the hinge unit away from the lifting mechanism is connected to the cleaning mechanism. The support leg mechanism is retractable at the bottom of the hinge unit. The fixed end of the electric push rod is fixed to the lifting mechanism, and the other end is connected to the hinge unit. Driving the electric push rod causes the hinge unit to unfold or retract.

[0011] Preferably, the hinge unit consists of multiple sets of X-shaped hinge components. Each X-shaped hinge component includes an upper push rod and a lower push rod. The upper push rod and the lower push rod near the lifting mechanism are respectively hinged to the lifting mechanism. The upper push rod and the lower push rod are rotatably connected and arranged in an X shape. In adjacent X-shaped hinge components, the upper push rod is hinged to the upper push rod, and the lower push rod is hinged to the lower push rod. The drive end of the electric push rod is connected to the upper push rod. The upper push rod and the lower push rod near the sweeping mechanism are respectively hinged to the sweeping mechanism. The support foot mechanism can retract to the bottom of the lower push rod.

[0012] Preferably, the support leg mechanism includes a first motor, a rotating shaft, and a support leg column. The first motor is mounted on the scissor mechanism, and the bottom of the scissor mechanism is provided with a mounting groove. A rotating shaft connected to the output end of the first motor is provided in the mounting groove. The support leg column is fixed on the rotating shaft, and the first motor is driven to rotate, causing the support leg column to close in the mounting groove or disengage from the mounting groove.

[0013] Preferably, the end of the support column is provided with a rolling ball unit.

[0014] Preferably, the cleaning mechanism includes a fixed rod, a rotating rod, a roller brush, and a second motor. The fixed rod is fixed to the end of the scissor mechanism away from the lifting mechanism. Rotating rods that can rotate are provided at both ends of the fixed rod. A roller brush is provided between the rotating rods. A second motor that can drive the roller brush to rotate is provided on the rotating rod.

[0015] Preferably, it also includes a wind power generation mechanism, which includes a wind turbine and a robotic arm, with the wind turbine mounted on the Mars rover via the robotic arm.

[0016] Preferably, the wind power generation mechanism further includes an attitude adjuster, and the wind turbine is connected to the robotic arm through the attitude adjuster.

[0017] Preferably, the wind turbine is electrically connected to the battery inside the Mars rover.

[0018] Compared with the prior art, the beneficial effects of the present invention are: 1. When the scissor lift mechanism extends or retracts, the support leg mechanism retracts onto the scissor lift mechanism, allowing the support leg mechanism to avoid the solar panel hinge during these movements. Similarly, the scissor lift mechanism can be raised to avoid the solar panel hinge by driving the lifting mechanism. Furthermore, when not in operation, the device retracts into the gap between the retracted solar panel and the rover surface, without occupying additional space on the rover or interfering with the retraction of the solar panel, thus making full use of the remaining space on the rover.

[0019] 2. By rotating the sub-unit, wear at the joints can be reduced in Martian dust environments, thus improving the service life of the device and ensuring the continuous cleaning operation of the self-cleaning device.

[0020] 3. Multi-node support is achieved by the support legs rolling on the surface of the Mars rover, which avoids deformation of the overall structure due to its own weight after the scissor mechanism is deployed.

[0021] 4. By incorporating a wind power generation mechanism, the device can operate independently without relying on the power generated by the rover's own solar panels, thus avoiding the waste of excess energy. Furthermore, the power generated by the wind power generation mechanism can also provide a power source for the rover during its hibernation period. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention; Figure 2 for Figure 1 Enlarged view of A in the middle; Figure 3 This is a schematic diagram of the scissor mechanism according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the support leg mechanism according to an embodiment of the present invention; Figure 5 This is a schematic diagram of the cleaning mechanism according to an embodiment of the present invention; Figure 6 This is a front view of an embodiment of the present invention; Figure 7 This is a schematic diagram of the structure after recycling according to an embodiment of the present invention; Figure 8 This is a schematic diagram of a partial structure after recycling according to an embodiment of the present invention. Detailed Implementation

[0023] 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.

[0024] 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.

[0025] 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.

[0026] See Figure 1 This embodiment discloses a self-cleaning device for a Mars rover, including a lifting mechanism 1, a scissor mechanism 2, a support leg mechanism 3, a cleaning mechanism 4, and a wind power generation mechanism 5. One end of the lifting mechanism 1 is rotatably mounted on the Mars rover 6, and the other end is connected to the cleaning mechanism 4 through the scissor mechanism 2. The bottom of the scissor mechanism 2 is provided with a support leg mechanism 3 that can retract onto the scissor mechanism 2. Driving the lifting mechanism 1 enables the scissor mechanism 2 and the front cleaning mechanism 4 to rise, fall, and rotate on the Mars rover 6.

[0027] See Figure 2 The lifting mechanism 1 consists of a horizontal rotating sub-unit 11 and a vertical rotating sub-unit 12. The horizontal rotating sub-unit 11 is connected to the internal rotating shaft of the Mars rover 6. The rotation of the internal rotating shaft of the Mars rover 6 drives the horizontal rotating sub-unit 11 to rotate. The end of the horizontal rotating sub-unit 11 away from the internal rotating shaft of the Mars rover 6 is connected to the vertical rotating sub-unit 12. The vertical rotating sub-unit 12 is connected to the scissor mechanism 2. The rotation of the vertical rotating sub-unit 12 drives the scissor mechanism 2 to rise and fall. Specifically, the rotation of the horizontal rotating sub-unit 11 drives the rotation of the scissor mechanism 2, thereby realizing the rotation of the cleaning mechanism 4. The rotation of the vertical rotating sub-unit 12 drives the scissor mechanism 2 to rise and fall, thereby raising and lowering the cleaning mechanism 4, enabling the cleaning mechanism 4 to achieve full coverage cleaning of the solar panel area of ​​the Mars rover 6.

[0028] Furthermore, the combination of the horizontal rotating subunit 11 and the vertical rotating subunit 12 can reduce wear at the joints in Martian dust environments, improve the service life of the device, and ensure the continuity of the self-cleaning device's cleaning operation.

[0029] See Figure 3 The scissor mechanism 2 includes a hinge unit 21 and an electric push rod 22. The hinge unit 21 is telescopically mounted on the vertical rotating sub-unit 12. One end of the hinge unit 21 away from the vertical rotating sub-unit 12 is connected to the scissor mechanism. The support leg mechanism 3 can retract to the bottom of the hinge unit 21. The fixed end of the electric push rod 22 is fixed to the vertical rotating sub-unit 12, and the other end is connected to the hinge unit 21. Driving the electric push rod 22 causes the hinge unit 21 to unfold or retract, thereby enabling the sweeping mechanism 4 to unfold or retract.

[0030] Specifically, the hinge unit 21 is composed of multiple sets of X-shaped hinge components. In this embodiment, it is composed of 8 sets of X-shaped hinge components. The X-shaped hinge components include an upper push rod 211 and a lower push rod 212. The upper push rod 211 and the lower push rod 212 near the vertical rotation sub-unit 12 are respectively hinged to the vertical rotation sub-unit 12. The upper push rod 211 and the lower push rod 212 are rotatably connected and arranged in an X shape. In adjacent X-shaped hinge components, the upper push rod 211 is hinged to the upper push rod 211, and the lower push rod 212 is hinged to the lower push rod 212. The drive end of the electric push rod 22 is connected to the upper push rod 211. The upper push rod 211 and the lower push rod 212 near the cleaning mechanism 4 are respectively hinged to the cleaning mechanism 4. The support foot mechanism 3 can retract to the bottom of the lower push rod 212.

[0031] See Figure 4 The support leg mechanism 3 includes a first motor (not shown in the figure), a rotating shaft 31, a support leg column 32, and a rolling ball unit 33. The first motor is mounted on the lower push rod 212. In this embodiment, the first motor is a micro motor. The bottom surface of the lower push rod 212 is provided with a mounting groove 2121. The rotating shaft 31, which is connected to the output end of the first motor, is provided in the mounting groove 2121. The support leg column 32 is fixed on the rotating shaft 31. Driving the first motor to rotate causes the support leg column 32 to close in the mounting groove 2121 or to detach from the mounting groove 2121 to support the scissor mechanism 2. The bottom of the support leg column 32 is also provided with a rolling ball unit 33, which rolls on the surface of the Mars rover 6 to achieve multi-node support and prevent the overall structure from deforming due to its own weight after the scissor mechanism 2 is deployed.

[0032] When the scissor mechanism 2 is extended or retracted, the support column 32 is closed in the mounting groove 2121, so that the support column 32 can avoid the solar panel hinge when the scissor mechanism 2 is extended or retracted. Similarly, the scissor mechanism 2 can also be lifted by the lifting mechanism 1 to avoid the solar panel hinge.

[0033] See Figure 5 The cleaning mechanism 4 includes a fixed rod 41, a rotating rod 42, a roller brush 43, and a second motor 44. The fixed rod 41 is fixed to the end of the scissor mechanism 2 away from the lifting mechanism 1. Rotating rods 42 are provided at both ends of the fixed rod 41, and the roller brush 43 is positioned between the rotating rods 42. The second motor 44, capable of driving the roller brush 43 to rotate, is mounted on the rotating rods 42. By rotating the rotating rods 42 so that they are perpendicular to the fixed rod 41, the roller brush 43 is lowered to contact the solar panel, and then the second motor 44 is driven to rotate the roller brush 43 for cleaning.

[0034] See Figure 1 and Figure 6 The wind power generation mechanism 5 includes a wind turbine 51, an attitude adjuster 52, and a robotic arm 53. The wind turbine 51 is connected to one end of the robotic arm 53 via the attitude adjuster 52, and the other end of the robotic arm 53 is fixed to the Mars rover 6. The wind turbine 51 is connected to a battery inside the Mars rover. Specifically, the wind power generation mechanism 5 enables wind power generation on the Martian surface. When the Martian wind is weak and power generation is difficult, the wind turbine 51 is moved to the side wall of the Mars rover 6 via a position controller composed of the attitude adjuster 52 and the robotic arm 53 to reduce wind resistance during the movement of the Mars rover 6. When a local dust storm or a global dust storm occurs on Mars, the wind turbine 51 is moved to the windward side by the robotic arm 53. The wind turbine 51 is fine-tuned by the attitude adjuster 53 to achieve the windward side with maximum power generation efficiency. The electrical energy generated by the wind turbine 51 is stored in the battery inside the Mars rover 6. Meanwhile, the battery can generate electricity for the lifting mechanism 1, scissor mechanism 2, support leg mechanism 3, and cleaning mechanism 4, without using the power generated by the rover's own solar panels, giving the device an independent power source and eliminating the consumption of excess energy; and the power generated by the wind power generation mechanism 5 can also provide power for the rover 5 during its hibernation period.

[0035] In this embodiment, wind power generation mechanisms 5 are provided on both sides of the Mars rover 6.

[0036] Furthermore, the structural components of the device are all made of radiation-resistant metal, which is strong, durable, and able to adapt to the harsh environment on the Martian surface.

[0037] The working principle of this embodiment is as follows: When the Martian wind is weak and it is difficult to generate electricity, the wind turbine 51 is transferred to the side wall of the Mars rover 6 via a posture controller composed of an attitude adjuster 52 and a robotic arm 53, reducing the wind resistance when the Mars rover 6 moves. When a local dust storm or a global dust storm occurs on Mars, the wind turbine 51 is transferred to the windward side by the robotic arm 53. The wind turbine 51 is finely adjusted by the attitude adjuster 53 to achieve the windward side with maximum power generation efficiency. The electrical energy generated by the wind turbine 51 is stored in the battery inside the Mars rover 6.

[0038] When cleaning the solar panels on Mars rover 6: the horizontal rotating sub-unit 11 rotates to drive the scissor mechanism 2 to rotate, thereby realizing the rotation of the cleaning mechanism 4. The vertical rotating sub-unit 12 rotates to drive the scissor mechanism 2 to rise, and then drives the electric push rod 22 to cause the hinge unit 21 to unfold, thereby realizing the unfolding of the cleaning mechanism 4. After unfolding, the first motor drives the support column 32 to disengage from the mounting groove 2121 to support the scissor mechanism 2, preventing the overall structure from deforming due to its own weight after the scissor mechanism 2 unfolds. Then, the rotation of the rotating rod 42 makes it perpendicular to the fixed rod 41, thereby moving the roller brush 43 down to contact the solar panel. Then, the second motor 44 drives the roller brush 43 to rotate for cleaning.

[0039] See Figure 7 and Figure 8 When the solar panels of Mars rover 6 are folded and retracted, the scissor mechanism 2 is retracted. At the same time, the rotation of the rotating rod 42 brings it to the same level as the fixed rod 41. By driving the first motor, the support column 32 is driven to close the mounting groove 2121. Then, the rotation of the vertical rotating sub-unit 12 drives the scissor mechanism 2 to descend, so that the device is in the gap between the upper surface of Mars rover 6 and the folded solar panels.

[0040] When not in use, the device retracts into the gap between the retracted solar panel and the surface of the rover, without taking up extra space on the rover 6 or interfering with the retraction of the rover's solar panel, making full use of the remaining space on the rover. The wind power generation mechanism 5 retracts into the side wall of the rover 6, achieving its function while keeping the volume of the rover 6 relatively unchanged.

[0041] 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.

[0042] 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 self-cleaning device for a Mars rover, characterized in that: It includes a lifting mechanism, a scissor mechanism, a support leg mechanism, and a cleaning mechanism; one end of the lifting mechanism is rotatably mounted on the Mars rover, and the other end is connected to the cleaning mechanism through the scissor mechanism. The bottom of the scissor mechanism is provided with a support leg mechanism that can retract onto the scissor mechanism, driving the lifting mechanism, and enabling the scissor mechanism and the front cleaning mechanism to rise, fall, and rotate on the Mars rover. The support leg mechanism includes a first motor, a rotating shaft, and a support leg column. The first motor is mounted on the scissor mechanism. The bottom of the scissor mechanism is provided with a mounting groove. A rotating shaft connected to the output end of the first motor is provided in the mounting groove. The support leg column is fixed on the rotating shaft. Driving the first motor to rotate causes the support leg column to close in the mounting groove or detach from the mounting groove. When not in use, the self-cleaning device retracts into the gap between the solar panels and the surface of the Mars rover. When the scissor lift mechanism extends or retracts, the support legs are closed within the mounting slot, allowing the support legs to avoid the solar panel hinges when the scissor lift mechanism extends or retracts.

2. The self-cleaning device for a Mars rover according to claim 1, characterized in that: The lifting mechanism consists of a horizontal rotating subunit and a vertical rotating subunit. The horizontal rotating subunit is connected to the internal rotating shaft of the Mars rover. The rotation of the internal rotating shaft of the Mars rover drives the horizontal rotating subunit to rotate. The end of the horizontal rotating subunit away from the internal rotating shaft of the Mars rover is connected to the vertical rotating subunit. The vertical rotating subunit is connected to the scissor mechanism. The rotation of the vertical rotating subunit drives the scissor mechanism to lift and lower.

3. A self-cleaning device for a Mars rover according to claim 1, characterized in that: The scissor lift mechanism includes a hinge unit and an electric push rod. The hinge unit is telescopically mounted on the lifting mechanism. One end of the hinge unit away from the lifting mechanism is connected to the cleaning mechanism. The support leg mechanism is retractable at the bottom of the hinge unit. The fixed end of the electric push rod is fixed to the lifting mechanism, and the other end is connected to the hinge unit. Driving the electric push rod causes the hinge unit to unfold or retract.

4. A self-cleaning device for a Mars rover according to claim 3, characterized in that: The hinge unit consists of multiple sets of X-shaped hinge components. Each X-shaped hinge component includes an upper push rod and a lower push rod. The upper and lower push rods near the lifting mechanism are respectively hinged to the lifting mechanism. The upper and lower push rods are rotatably connected and arranged in an X shape. In adjacent X-shaped hinge components, the upper push rod is hinged to the upper push rod, and the lower push rod is hinged to the lower push rod. The drive end of the electric push rod is connected to the upper push rod. The upper and lower push rods near the sweeping mechanism are respectively hinged to the sweeping mechanism. The support foot mechanism can retract to the bottom of the lower push rod.

5. A self-cleaning device for a Mars rover according to claim 1, characterized in that: The end of the support column is equipped with a rolling ball unit.

6. A self-cleaning device for a Mars rover according to claim 1, characterized in that: The cleaning mechanism includes a fixed rod, a rotating rod, a roller brush, and a second motor. The fixed rod is fixed to the end of the scissor mechanism away from the lifting mechanism. Rotating rods that can rotate are provided at both ends of the fixed rod. A roller brush is provided between the rotating rods. A second motor that can drive the roller brush to rotate is provided on the rotating rod.

7. A self-cleaning device for a Mars rover according to claim 1, characterized in that: It also includes a wind power generation mechanism, which comprises a wind turbine and a robotic arm, with the wind turbine mounted on the Mars rover via the robotic arm.

8. A self-cleaning device for a Mars rover according to claim 7, characterized in that: The wind power generation mechanism also includes an attitude adjuster, through which the wind turbine is connected to the robotic arm.

9. A self-cleaning device for a Mars rover according to claim 7, characterized in that: The wind turbine is electrically connected to the battery inside the Mars rover.

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