Mars surface sample collector and method based on differential bevel gears and cable drive

Abstract

The present application relates to a Mars surface sample collector and method based on differential bevel gears and rope driving, and belongs to the technical field of Mars sampling and returning. It comprises a connecting bracket for installing a driving assembly, the output end of the driving assembly being connected with a differential motion assembly for driving the differential motion assembly, the differential motion assembly driving a rope-driven grabbing assembly to act, and the rope-driven grabbing assembly being used for grabbing and releasing samples. The present application designs a Mars surface sample collector based on differential bevel gears and flexible rope driving, which can realize the actions of sampling point adjustment, jaw clamping and arm recovery fixation under the driving of three motors, reduces the number of driving motors while ensuring the adaptability of the sampling device to the position error of the docking point, simplifies the action of sample collection, improves the reliability of sample collection of the sampling device in the autonomous running state, and reduces the launch mass of the equipment.

Description

TECHNICAL FIELD

[0001] The present application relates to a sample collector and method based on differential bevel gears and rope driving, and belongs to the technical field of Mars sample return. BACKGROUND

[0002] Mars is one of the popular targets for human exploration, and scientists have been studying the soil and rocks on Mars for many years. The Mars sample return mission is a complex and arduous task.

[0003] Mars surface sample collection is an important means of in-situ scientific exploration of Mars and scientific analysis of samples returned to the ground. Due to the long distance between the Earth and Mars, the probe landing on Mars will undergo a long Earth-Mars transfer process. Under the long-distance transportation working condition, the payload that the launch vehicle can carry is limited, so the sampling mechanism is required to have the ability to complete the task under the premise of compact structure and light weight, saving the launch mass index for other aspects of the detection task. In addition, due to the limited position adjustment accuracy of the probe, the sampling device should have the ability to adapt to the working condition of the deviation of the parking position from the ideal sampling point, that is, it is required to have the ability of spatial motion adjustment. In view of the significant time delay RTT of 4-42 minutes in the Earth-Mars interplanetary link, the probe needs to use an on-board autonomous mission planning system to drive the local actuator to realize action control through a pre-programmed instruction set. How to design the sampling device to adapt to the Mars mission is a technical problem faced by the Mars sample return mission.

[0004] Therefore, it is urgent to propose a Mars surface sample collector and method based on differential bevel gears and rope driving to solve the above technical problems. SUMMARY

[0005] To solve the above problems, a Mars surface sample collector and method based on differential bevel gears and rope driving are provided, and a brief summary of the present application is given below to provide a basic understanding of some aspects of the present application. It should be understood that this summary is not an exhaustive summary of the present application. It is not intended to determine the key or important parts of the present application, nor to limit the scope of the present application.

[0006] The technical scheme of the present application:

[0007] The Mars surface sample collector based on differential bevel gears and rope driving comprises:

[0008] Connecting bracket: used for installing the driving assembly;

[0009] Driving assembly: the output end of the driving assembly is connected with the differential motion assembly for driving the differential motion assembly;

[0010] Differential motion assembly: driving the rope-driven grabbing assembly to act, for realizing spatial attitude adjustment;

[0011] Rope-driven grabbing assembly: for grabbing and releasing of samples.

[0012] Preferably, the differential motion assembly comprises a first bevel pinion, a swing rod connector, a second bevel pinion, a large bevel gear, a platform, a swing rod, a first rotating shaft and a second rotating shaft, the swing rod connector is connected with one end of the first rotating shaft and one end of the second rotating shaft respectively on the left and right sides, the middle part of the swing rod connector is connected with the swing rod, the swing rod is connected with the large bevel gear, the large bevel gear is connected with one end of the platform, the large bevel gear is engaged with the first bevel pinion and the second bevel pinion, the first bevel pinion is connected with the first rotating shaft, the other end of the first rotating shaft is connected with the driving assembly, the second bevel pinion is connected with the second rotating shaft, the other end of the second rotating shaft is connected with the driving assembly, and the other end of the platform is connected with the rope-driven grabbing assembly.

[0013] Preferably, the driving assembly comprises a first motor, a second motor, a first worm gear, a second worm gear and two worm shafts, the first motor and the second motor are fixedly connected with a connecting support, the output end of the first motor is connected with the two worm shafts, one worm shaft is engaged with the first worm gear, the first worm gear is connected with the first rotating shaft, the other worm shaft is engaged with the second worm gear, the second worm gear is connected with the second rotating shaft, and the first motor, the second motor and the third motor can be servo motors.

[0014] Preferably, the connecting support is provided with two groups of mounting seats, the worm shafts in the x direction are connected with mounting seat bearings, the first rotating shaft and the second rotating shaft in the y direction are connected with mounting seat bearings, and the swing rod connector is sequentially provided with the first bevel pinion, the first worm gear, the second bevel pinion and the second worm gear on the left and right sides.

[0015] Preferably, the rope-driven grabbing assembly comprises a driving rope, an arm rod, a third motor, a torsional spring, a clamping jaw, a clamping jaw fixing member and a winding rope wheel, the winding rope wheel is rotatably connected with the platform, the winding rope wheel is connected with the output end of the third motor, the third motor is connected with the platform, the other end of the platform is provided with the arm rod, the arm rod is provided with a first pulley, the arm rod is provided with the clamping jaw fixing member, the clamping jaw fixing member is provided with a second pulley, the lower part of the clamping jaw fixing member is rotatably connected with one end of the clamping jaw, the two ends of the torsional spring are respectively pulled tight with the clamping jaw and the clamping jaw fixing member, one end of the driving rope is wound on the winding rope wheel, and the other end of the driving rope sequentially passes through the first pulley, the arm rod, the second pulley and is connected with the clamping jaw.

[0016] Preferably, three clamping jaws are uniformly arranged on the lower surface of the clamping jaw fixing member, one second pulley is arranged on the inner side of each clamping jaw, and the other end of the driving rope is divided into three strands, each strand passes through a second pulley and is connected with a corresponding clamping jaw.

[0017] Preferably, the rope-driven grabbing assembly further comprises a position limiter and a sliding block, the arm rod is a circular straight pipe, the arm rod is rotatably connected to the clamping jaw fixing member through a bearing, the clamping jaw fixing member is provided with the sliding block, and the arm rod is internally and fixedly provided with the position limiter.

[0018] Preferably, the rope-driven grabbing assembly further comprises a fixing frame, the connecting support is connected to the aircraft, one side of the fixing frame is connected to the aircraft, and the other side of the fixing frame is a C-shaped structure with elasticity, and the C-shaped structure is used to establish installation with the arm rod.

[0019] The method for collecting samples on the surface of Mars based on differential bevel gears and rope driving adopts the sample collector on the surface of Mars based on differential bevel gears and rope driving, and comprises the following steps.

[0020] The arm rod is connected to the fixing frame, so that the sample collector on the surface of Mars based on differential bevel gears and rope driving is folded on the lower part of the aircraft, thereby facilitating carrying, stable conveying and reducing the volume.

[0021] When reaching the specified position, the driving assembly is started to drive the first small bevel gear and the second small bevel gear to rotate in the same direction, so that the large bevel gear rotates around the first rotation shaft, the arm rod is separated from the C-shaped structure, and the pitch adjustment of the arm rod is completed by continuous rotation.

[0022] The driving assembly is started to drive the first small bevel gear and the second small bevel gear to rotate in opposite directions, so that the large bevel gear rotates around the swing rod, the platform is driven to rotate by the large bevel gear, and the left-right position adjustment of the arm rod is completed.

[0023] The opened clamping jaws are corresponded to the sample to be grabbed through the position adjustment, the third motor is started, the third motor drives the winding rope wheel to rotate, the driving rope is wound on the winding rope wheel, the other side of the winding rope wheel is shortened, so that the clamping jaws rotate inwardly against the elastic force of the torsional spring, and the multiple clamping jaws jointly collect the sample. After the sample is collected, the opening of the clamping jaws and the in-situ adjustment of the position are realized through the reverse rotation of the motor, and the whole collection process is completed.

[0024] The present application has the following beneficial effects:

[0025] The sample collector on the surface of Mars based on differential bevel gears and flexible rope driving can realize the actions of sampling point adjustment, clamping jaw clamping and arm rod recovery fixation under the driving of three motors, the number of driving motors is reduced while the position error adaptation capability of the sampling device to the parking point is ensured, the action of sample collection is simplified, the reliability of sample collection of the sampling device in the autonomous operation state is improved, and the launch quality of the equipment is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0026] Figure 1 It is a structural schematic view of the sample collector on the surface of Mars based on differential bevel gears and rope driving.

[0027] Figure 2 is a perspective view of a Mars surface sample collector and method based on differential bevel gears and rope drive.

[0028] Figure 3 is a structural schematic diagram of a differential motion assembly.

[0029] Figure 4 is a working principle diagram of a differential motion assembly.

[0030] Figure 5 is a structural schematic diagram of a rope-driven grabbing assembly.

[0031] Figure 6 is a working principle diagram of a rope-driven grabbing assembly.

[0032] Figure 7 is a partial schematic diagram of a rope-driven grabbing assembly.

[0033] Figure 8 is an application schematic diagram of a Mars surface sample collector based on differential bevel gears and rope drive.

[0034] In the figure, 1-connection bracket, 5-sample, 2-1-first motor, 2-2-second motor, 2-3-first worm gear, 2-4-second worm gear, 2-5-worm shaft, 3-1-first small bevel gear, 3-2-pendulum rod connecting piece, 3-3-second small bevel gear, 3-4-large bevel gear, 3-5-platform, 3-6-pendulum rod, 3-7-first rotating shaft, 3-8-second rotating shaft, 4-1-driving rope, 4-2-rope pulley bracket, 4-3-arm rod, 4-4-third motor, 4-5-fixing frame, 4-6-torsional spring, 4-7-clamping jaw, 4-8-clamping jaw fixing piece, 4-9-roping pulley, 4-10-limiter, 4-11-sliding block. DETAILED DESCRIPTION

[0035] In order to make the purpose, technical scheme and advantages of the present application more clear and obvious, the present application will be described below by specific embodiments shown in the drawings. However, it should be understood that these descriptions are only exemplary and are not intended to limit the scope of the present application. In addition, in the following description, the description of known structures and technologies is omitted to avoid unnecessary confusion of the concept of the present application.

[0036] Specific embodiment one: combined Figures 1-8 In this embodiment, the Mars surface sample collector based on differential bevel gears and rope drive of this embodiment comprises:

[0037] Connection bracket 1: used for installing the driving assembly;

[0038] Driving assembly: the output end of the driving assembly is installed with the differential motion assembly for driving the differential motion assembly;

[0039] Differential motion assembly: drive the rope-driven grabbing assembly to move, for realizing space posture adjustment;

[0040] Rope-driven grabbing assembly: for grabbing and releasing the sample 5, which can be a rock sample;

[0041] The device is designed based on differential bevel gears and flexible rope driving, and can realize sampling point adjustment, clamping and arm recovery fixing actions under the driving of three motors, so that the number of driving motors is reduced while the adaptive ability of the sampling device to the position error of the landing point is ensured, the action of sample collection is simplified, the reliability of sample collection of the sampling device in the autonomous running state is improved, and the launch mass of the equipment is reduced;

[0042] The differential motion assembly comprises a first small bevel gear 3-1, a swing rod connecting piece 3-2, a second small bevel gear 3-3, a large bevel gear 3-4, a platform 3-5, a swing rod 3-6, a first rotating shaft 3-7 and a second rotating shaft 3-8, as shown in Figure 1 、 2 The left and right sides of the swing rod connecting piece 3-2 are respectively connected with one end of the first rotating shaft 3-7 and one end of the second rotating shaft 3-8 through bearings, the middle part of the swing rod connecting piece 3-2 is connected with one end of the swing rod 3-6 through a bearing, the swing rod 3-6 is a rotating shaft, the other end of the swing rod 3-6 is connected with the large bevel gear 3-4 through a key, the lower end of the large bevel gear 3-4 is fixedly connected with one end of the platform 3-5, the large bevel gear 3-4 is engaged with the first small bevel gear 3-1 and the second small bevel gear 3-3, the first small bevel gear 3-1 is connected with the middle part of the first rotating shaft 3-7 through a key, the other end of the first rotating shaft 3-7 is connected with a driving assembly, the second small bevel gear 3-3 is connected with the middle part of the second rotating shaft 3-8 through a key, the other end of the second rotating shaft 3-8 is connected with the driving assembly, and the other end of the platform 3-5 is connected with the rope-driven grabbing assembly; through reasonable design and adjustment of the use method, stable connection is further realized on the basis of reducing the occupied space, and space adjustment can be realized;

[0043] The driving assembly comprises a first motor 2-1, a second motor 2-2, a first worm wheel 2-3, a second worm wheel 2-4 and two worm shafts 2-5, the first motor 2-1 and the second motor 2-2 are fixedly connected with the connecting support 1, the output end of the first motor 2-1 is connected with the two worm shafts 2-5, one worm shaft 2-5 is engaged with the first worm wheel 2-3, the first worm wheel 2-3 is keyed connected with the middle part of the first rotating shaft 3-7, the other worm shaft 2-5 is engaged with the second worm wheel 2-4, the second worm wheel 2-4 is keyed connected with the middle part of the second rotating shaft 3-8, the first motor 2-1, the second motor 2-2 and the third motor 4-4 can adopt servo motors, the present application has a self-locking structure, is convenient for positioning and accurate adjustment; the present application uses two symmetrically arranged motors to realize the spatial position adjustment of the sampling claw, reduces the number of driving motors and the mass of the sampling device, so that the sampling capacity of the whole sampling device can be effectively improved under the condition that the maximum take-off mass of the carrier platform remains unchanged;

[0044] The connecting support 1 is provided with two groups of symmetrical mounting seats, the upper and lower ends of the x-direction worm shaft 2-5 are connected with the mounting seat bearings, the first rotating shaft 3-7 and the second rotating shaft 3-8 in the y-direction are connected with the mounting seat bearings, the bearings for y-direction connection are located on the two sides of the worm wheel, the two sides of the swing rod connecting piece 3-2 are sequentially arranged with the first small bevel gear 3-1, the first worm wheel 2-3, one shaft sleeve 2-6, the second small bevel gear 3-3, the second worm wheel 2-4 and the other shaft sleeve 2-6, the first small bevel gear 3-1 and the second small bevel gear 3-3 are symmetrically arranged, the first worm wheel 2-3 and the second worm wheel 2-4 are symmetrically arranged, and the xy is perpendicular;

[0045] The rope-driven grabbing assembly comprises a driving rope 4-1, a rope wheel support 4-2, an arm rod 4-3, a third motor 4-4, a torsional spring 4-6, a clamping jaw 4-7, a clamping jaw fixing piece 4-8 and a rope winding wheel 4-9, the driving rope 4-1 is a flexible rope, the rope winding wheel 4-9 is rotationally connected with the platform 3-5 through the rope wheel support 4-2, the rope winding wheel 4-9 is connected with the output end of the third motor 4-4, the third motor 4-4, the rope wheel support 4-2 and the platform 3-5 are fixedly connected, the other end of the platform 3-5 is fixedly provided with the arm rod 4-3, the upper end of the arm rod 4-3 is provided with a first pulley through a radial rotating shaft, the lower end of the arm rod 4-3 is provided with the clamping jaw fixing piece 4-8, the clamping jaw fixing piece 4-8 is fixedly provided with a second pulley, the lower part of the clamping jaw fixing piece 4-8 is rotationally connected with one end of the clamping jaw 4-7 through a bearing seat, the rotating shaft of the bearing seat is sleeved with the torsional spring 4-6, the two ends of the torsional spring 4-6 are respectively tightly connected or pulled to connect the clamping jaw 4-7 and the clamping jaw fixing piece 4-8, so that the clamping jaw 4-7 is opened, one end of the driving rope 4-1 is wound on the rope winding wheel 4-9, the other end of the driving rope 4-1 sequentially passes through the first pulley, the arm rod 4-3, the second pulley and is fixedly connected with the middle part of the clamping jaw 4-7, and the pulleys and the rope winding wheel 4-9 are all grooved wheels;

[0046] The three clamping jaws 4-7 are arranged circumferentially and evenly below the clamping jaw fixing member 4-8, and the inner side of each clamping jaw 4-7 is correspondingly provided with a second pulley, the other end of the driving rope 4-1 is divided into three strands, each strand is connected with the corresponding clamping jaw 4-7 by passing through a second pulley, and the clamping jaws 4-7 are used to be gathered inward;

[0047] The rope-driven grabbing assembly further comprises a limiter 4-10 and a sliding block 4-11, the arm rod 4-3 is a circular straight pipe, the middle part of the clamping jaw fixing member 4-8 is provided with a circular shaft, the lower part of the clamping jaw fixing member 4-8 is rotationally connected with the arm rod 4-3 through a bearing, the upper part of the circular shaft of the clamping jaw fixing member 4-8 is provided with the sliding block 4-11, and the inner part of the arm rod 4-3 is fixedly provided with the limiter 4-10; the sliding block 4-11 is correspondingly arranged with the limiter 4-10, and is used to limit the rotation angle of the clamping jaw fixing member 4-8;

[0048] The rope-driven grabbing assembly further comprises a fixing frame 4-5, the connecting support 1 is fixedly connected with the spacecraft, one side of the fixing frame 4-5 is fixedly connected with the spacecraft, and the other side of the fixing frame 4-5 is a C-shaped structure with elasticity, and the C-shaped structure is used to be mounted with the arm rod 4-3; the present application has the advantages of light weight, simple structure and small driving quantity;

[0049] The driving quantity of the present application should be as small as possible, the execution mode is simple and reliable, and the programming control is convenient, and the technical problems of the Mars sample return mission are solved.

[0050] Specific implementation method two: combined with Figures 1-8 It is illustrated that the Mars surface sample collection method based on the differential bevel gear and the rope driving in the embodiment adopts the Mars surface sample collector based on the differential bevel gear and the rope driving,

[0051] The method comprises the following steps:

[0052] Step one: the arm rod 4-3 is connected with the fixing frame 4-5, so that the Mars surface sample collector based on the differential bevel gear and the rope driving is folded and gathered on the lower part of the spacecraft, thereby being convenient for carrying and stable conveying;

[0053] Step two: the device reaches the target position on the Mars surface with the spacecraft, the driving assembly is started to make the first small bevel gear 3-1 and the second small bevel gear 3-3 rotate in the same direction, the large bevel gear 3-4 rotates around the first rotation shaft 3-7 and the second rotation shaft 3-8 as the axis, the arm rod 4-3 is separated from the C-shaped structure, and the pitch position adjustment of the arm rod 4-3 is completed by continuing to rotate;

[0054] Step three: the driving assembly is started, the driving assembly works, drives the first small bevel gear 3-1 and the second small bevel gear 3-3 to rotate in the opposite direction, makes the large bevel gear 3-4 rotate around the swing rod 3-6 as the center, drives the platform 3-5 to rotate, and the left-right position adjustment of the arm rod 4-3 is completed.

[0055] Step four: the open jaws 4-7 corresponding to the sample 5 to be grabbed by position adjustment, start the third motor 4-4, the third motor 4-4 drives the winding wheel 4-9 to rotate, the driving rope 4-1 is wound on the winding wheel 4-9, the other side of the winding wheel 4-9 is shortened, so that the jaws 4-7 overcome the elastic force of the torsional spring 4-6 and rotate inward, the multiple jaws jointly act on the sample 5 to collect three jaws under the driving of the driving rope to move downward at the same speed, complete the centripetal folding; after reaching the sample surface, the jaws perform the pre-travel of the end effector, the normal contact force vectors generated by each contact point form a copoint force system, the force polygon is self-closed (∑F_i=0), and a closed force system in a static balance state is formed; after collection, the jaws are opened by reverse rotation of the motor to release the sample to the recovery area, and the whole collection process is completed.

[0056] Example 1:

[0057] Platform swing: combined Figure 1 , Figure 3 The bevel gear and flexible rope driven Mars surface sample collector comprises a connecting bracket 1, a driving assembly, a bevel gear differential assembly and a rope driven grabbing assembly. The rear end of the bevel gear differential assembly is connected with the connecting bracket 1 through shafts 2-5 and 3-7 and is driven by the driving assembly 2 installed on the connecting bracket 1. Figure 1 As shown in the figure, the first motor 2-1 and the second motor 2-2 drive the two small bevel gears 3-1 and 3-3 to rotate in the same direction, and the large bevel gear 3-4 swings together with the swing rod 3-6 under the driving of the two small bevel gears.

[0058] Platform rotation: combined Figure 1 , Figure 4 It is illustrated that the first motor 2-1 and the second motor 2-2 drive the two small bevel gears 3-1 and 3-3 to rotate in opposite directions, and at this time the large bevel gear 3-4 rotates around the swing rod 3-6 under the driving of the small bevel gears 3-1 and 3-3; the other components and connection relationships of the embodiment are the same as the platform swing, and the platform swing and the platform rotation can be operated at the same time.

[0059] Adjust the angle of the sampling and grabbing assembly: combined Figure 5It is explained that the angle of the sampling gripping assembly is adjusted, and when the sampling claws 4-7 contact the ground, the arm lever 4-3 continues to press down to adjust the angle of the clamping jaw fixing member 4-8; the cooperation of the sliding block 4-11 and the arm lever limiter 4-10 limits the adjustment to only a limited angle of the clamping jaw assembly as a whole, so as to prevent the gripping assembly from failing due to unexpected situations during adjustment at a large angle, that is, to achieve the purpose of flexible gripping, and to prevent the large-angle rotation of the clamping jaw fixing member from causing the driving rope to be wound and the movement relationship of the clamping jaw to be disordered; such design can make the sampling device better adapt to actual sampling work and greatly improve the reliability; the other components and connection relationships of the embodiment are the same as the platform rotation and the platform swing;

[0060] Clamping and clamping: combination Figure 1 、 Figure 6 It is explained that after the clamping jaw is moved into position with the arm lever 3-4, the rope drive motor 4-4 drives the winding rope wheel 4-9 to rotate, and the driving rope 4-1 drives the clamping jaw 4-7 to overcome the torque of the torsional spring 4-6 to close, and clamps the fire table rock sample; after the clamping jaw 4-7 contacts the fire table rock sample, the elastic driving rope 4-1 is stretched, and at this time the rope drive motor 4-4 is locked, and the clamping jaw 4-7 applies a stable clamping force to the rock sample 5 under the elastic force of the driving rope 4-1, preventing the sample from loosening; the sampling device is disposed on the lower side of the carrier platform, and when not sampling, the sampling device is fixed by the fixing frame 4-5; the other components and connection relationships of the embodiment are the same as the platform rotation, the platform swing, and the adjustment of the angle of the sampling gripping assembly.

[0061] Combination Figure 1 、 Figure 7 It is explained that the rope drive motor 4-4 is reversed to drive the winding rope wheel 4-9 to release the driving rope 4-1; at this time, the clamping jaw is expanded under the action of the torsional spring 4-6, and the clamped rock sample 5 is released.

[0062] Combination Figure 1 It is explained that the action process of the sampling device is as follows:

[0063] When the sampling operation is not performed, the sampling device is folded on the underside of the aircraft by the fixed frame 4-5, and the sampling claw is in a natural open state 4-7. Further, when the sampling operation is started, the first motor 2-1 is forward, the second motor 2-2 is reversed, the two small bevel gears 3-1 and 3-3 drive the large bevel gear 3-4 and the bevel gear differential platform 3-5 to rotate, and the arm rod 4-3 is separated from the fixed clamp 4-5. Further, the first motor 2-1 and the second motor 2-2 are forward at the same time, the bevel gear differential platform 3-5 swings downward, and the sampling claw 4-7 approaches the ground. Further, the sampling claw 4-7 contacts the ground, and the arm rod 4-3 continues to press downward to adjust the angle of the sampling claw. Further, the rope drive motor 4-4 is forward, driving the rope 4-1 to wind up the rope winding wheel 4-9, the clamp claw 4-7 is folded with the driving rope 4-1 and clamps the sample rock 5, at this time the rope drive motor 4-4 continues to rotate by an angle, the elastic driving rope 4-1 is stretched at this time, and the clamp claw 4-7 generates a clamping force on the rock 5 under the elastic force of the driving rope 4-1. The motor A 2-1 and the motor B 2-2 are reversed at the same time, the arm rod 4-3 swings upward with the large bevel gear 3-4 and the bevel gear differential platform 3-5, and the swing rod 3-6. After the arm rod 4-3 is parallel to the ground, the motor A 2-1 is forward, the motor B 2-2 is reversed, the bevel gear differential platform 3-5 rotates with the large bevel gear 3-4, and the arm rod 4-3 is again stored in the fixed frame 4-5. When the rock sample 5 is released, the rope drive motor 4-4 is reversed, the originally tensioned driving rope 4-1 is relaxed, the clamp claw 4-7 is opened under the action of the torsional spring 4-6, and the sample 5 is separated from the clamp claw 4-7. Under the action of the gravity of Mars, the sample rock 5 falls, the rope drive grabbing assembly 4 is folded under the drive of the rope drive motor 4-4, and the sampling and transfer work is completed.

[0064] It should be noted that in the above embodiments, as long as the technical solutions are not contradictory, they can be arranged and combined. Those skilled in the art can exhaust all possibilities according to the mathematical knowledge of arrangement and combination, and therefore the technical solutions after arrangement and combination are not described one by one, but it should be understood that the technical solutions after arrangement and combination have been disclosed by the present application.

[0065] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. Those skilled in the art can make various changes and modifications to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A Mars surface sample collector based on differential bevel gears and cable drive, characterized in that: include: Connecting bracket (1): used for mounting drive components; Drive component: The output of the drive component is connected to the differential motion component and is used to drive the differential motion component; Differential motion component: drives the rope-driven grasping component to achieve spatial posture adjustment; The differential motion assembly includes a first small bevel gear (3-1), a rocker arm connector (3-2), a second small bevel gear (3-3), a large bevel gear (3-4), a platform (3-5), a rocker arm (3-6), a first rotating shaft (3-7), and a second rotating shaft (3-8). The left and right sides of the rocker arm connector (3-2) are connected to one end of the first rotating shaft (3-7) and one end of the second rotating shaft (3-8), respectively. The middle part of the rocker arm connector (3-2) is connected to the rocker arm (3-6). The rocker arm (3-6) is connected to the large bevel gear (3-8). 3-4) Connection: The large bevel gear (3-4) is connected to one end of the platform (3-5), the large bevel gear (3-4) meshes with the first small bevel gear (3-1) and the second small bevel gear (3-3), the first small bevel gear (3-1) is connected to the first rotating shaft (3-7), the other end of the first rotating shaft (3-7) is connected to the drive assembly, the second small bevel gear (3-3) is connected to the second rotating shaft (3-8), the other end of the second rotating shaft (3-8) is connected to the drive assembly, and the other end of the platform (3-5) is connected to the rope-driven gripping assembly; Rope-driven grasping assembly: used for grasping and releasing the sample (5); The rope-driven gripping assembly includes a drive rope (4-1), an arm (4-3), a third motor (4-4), a torsion spring (4-6), a gripper (4-7), a gripper fixing component (4-8), and a rope reel (4-9). The rope reel (4-9) is rotatably connected to the platform (3-5), and the rope reel (4-9) is connected to the output end of the third motor (4-4). The third motor (4-4) is connected to the platform (3-5), and the other end of the platform (3-5) is provided with an arm (4-3). The arm (4-3) is provided with a first sliding mechanism. The arm (4-3) is equipped with a gripper fixing part (4-8), and the gripper fixing part (4-8) is equipped with a second pulley. The lower part of the gripper fixing part (4-8) is rotatably connected to one end of the gripper (4-7). The two ends of the torsion spring (4-6) are respectively connected to the gripper (4-7) and the gripper fixing part (4-8). One end of the drive rope (4-1) is wound on the rope winding wheel (4-9), and the other end of the drive rope (4-1) passes through the first pulley, passes through the arm (4-3), passes through the second pulley, and connects to the gripper (4-7).

2. The Mars surface sample collector based on differential bevel gears and cable drive according to claim 1, characterized in that: The drive assembly includes a first motor (2-1), a second motor (2-2), a first worm gear (2-3), a second worm gear (2-4), and two worm shafts (2-5). The first motor (2-1) and the second motor (2-2) are fixedly connected to the connecting bracket (1). The output end of the first motor (2-1) is connected to the two worm shafts (2-5). One worm shaft (2-5) meshes with the first worm gear (2-3), and the first worm gear (2-3) is connected to the first rotating shaft (3-7). The other worm shaft (2-5) meshes with the second worm gear (2-4), and the second worm gear (2-4) is connected to the second rotating shaft (3-8).

3. The Mars surface sample collector based on differential bevel gears and cable drive according to claim 2, characterized in that: The connecting bracket (1) has two sets of mounting seats. The worm shaft (2-5) in the x direction is connected to the mounting seat bearing. The first rotating shaft (3-7) and the second rotating shaft (3-8) in the y direction are both connected to the mounting seat bearing. The first small bevel gear (3-1), the first worm wheel (2-3), the second small bevel gear (3-3), and the second worm wheel (2-4) are arranged sequentially on both sides of the rocker arm connector (3-2).

4. The Mars surface sample collector based on differential bevel gears and cable drive according to claim 3, characterized in that: Three grippers (4-7) are evenly arranged circumferentially below the gripper fixing component (4-8). Each gripper (4-7) has a corresponding second pulley on its inner side. The other end of the drive rope (4-1) is divided into three strands, each strand passing around a second pulley and connecting to the corresponding gripper (4-7).

5. The Mars surface sample collector based on differential bevel gear and cable drive according to claim 4, characterized in that: The rope-driven gripping assembly also includes a limiter (4-10) and a slider (4-11). The arm (4-3) is a straight round tube. The arm (4-3) and the gripper fixing component (4-8) are rotatably connected by bearings. The gripper fixing component (4-8) has a slider (4-11). The limiter (4-10) is fixedly installed inside the arm (4-3). The slider (4-11) is correspondingly set with the limiter (4-10).

6. The Mars surface sample collector based on differential bevel gear and cable drive according to claim 5, characterized in that: The rope-driven gripping assembly also includes a mounting frame (4-5), a connecting bracket (1) connected to the aircraft, one side of the mounting frame (4-5) connected to the aircraft, and the other side of the mounting frame (4-5) is a flexible C-shaped structure, which is used to establish installation with the boom (4-3).

7. A method for collecting Martian surface samples based on differential bevel gears and cable drive, characterized in that: The Martian surface sample collector based on differential bevel gears and rope drive as described in claim 6 includes the following steps: The boom (4-3) is connected to the fixed frame (4-5), allowing the Mars surface sample collector, driven by differential bevel gears and ropes, to fold under the spacecraft for easy carrying, stable transport, and reduced volume. Once the designated position is reached, the drive assembly is activated, causing the first small bevel gear (3-1) and the second small bevel gear (3-3) to rotate in the same direction, causing the large bevel gear (3-4) to rotate around the first rotating shaft (3-7). The boom (4-3) disengages from the C-shaped structure and continues to rotate to complete the pitch position adjustment of the boom (4-3). When the drive assembly is activated, the first small bevel gear (3-1) and the second small bevel gear (3-3) rotate in opposite directions, causing the large bevel gear (3-4) to rotate around the swing arm (3-6). The large bevel gear (3-4) drives the platform (3-5) to rotate, thus completing the left and right position adjustment of the arm (4-3). By adjusting the position, the open gripper (4-7) is aligned with the sample (5) to be grasped. The third motor (4-4) is started, and the third motor (4-4) drives the rope winding wheel (4-9) to rotate, so that the drive rope (4-1) winds around the rope winding wheel (4-9). The other side of the rope winding wheel (4-9) becomes shorter, so that the gripper (4-7) overcomes the elastic force of the torsion spring (4-6) and rotates inward. Multiple grippers work together to collect the sample (5).

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