A planetary surface mobile sampling robot

Abstract

The application discloses a planetary surface mobile sampling robot, and relates to the field of sampling robots, which comprises a mobile vehicle body, two wheel units distributed on the left and right sides of the mobile vehicle body, a mechanical arm arranged at the front end of the mobile vehicle body and movable along three axes, an auxiliary wheel arranged at the tail end of the mechanical arm and lifted off and contacted with the ground under the drive of the mechanical arm, a projection area and a non-projection area of the mobile vehicle body on the ground are located in the moving range of the auxiliary wheel, an extension arm arranged at the tail end of the mechanical arm, a sampling device arranged at the end of the extension arm away from the mechanical arm, and a drive unit arranged at the tail end of the mechanical arm and connected with the auxiliary wheel and the extension arm respectively to drive the auxiliary wheel to rotate and drive the extension arm to unfold and fold relative to the mechanical arm, so that the sampling robot can not only sample, but also switch among three-wheel, four-wheel and five-wheel states, the passability on soft ground and rugged road surfaces is improved, and the robot can also assist in escaping from trouble in sinking and sliding, so that the overall obstacle-crossing performance is improved.

Description

Technical Field

[0001] This application relates to the field of sampling robot technology, and more particularly to a planetary surface mobile sampling robot. Background Technology

[0002] As humanity's exploration of outer space continues to deepen, planetary exploration has become an important direction for the development of space science and engineering technology, especially the exploration and development of near-Earth celestial bodies such as the Moon and Mars. Such exploration missions typically require completing a series of complex steps, including "landing, movement, and sampling." Among these, achieving stable and reliable ground movement and sampling operations in complex, unknown, and terrain-varying planetary environments is one of the key technologies determining the success of the exploration mission.

[0003] Currently, planetary surface sampling robots mostly use ordinary four-wheeled locomotion when traversing planetary surfaces. However, while existing four-wheeled locomotion mechanisms can maintain a certain level of stability on low- to medium-undulating terrain, their obstacle-crossing ability is insufficient, making it difficult to cope with complex terrain environments such as ruggedness, potholes, and soft ground on planetary surfaces, thus affecting the stability and reliability of sampling missions.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] The technical problem to be solved by this application is to provide a planetary surface mobile sampling robot that improves obstacle-crossing performance, in order to address the above-mentioned deficiencies of the prior art.

[0006] The technical solution adopted by this application to solve the technical problem is as follows:

[0007] A planetary surface mobile sampling robot, comprising:

[0008] Mobile vehicle body;

[0009] Two wheel units are distributed on the left and right sides of the mobile vehicle body;

[0010] A robotic arm is positioned at the front end of the mobile vehicle and can move along three axes;

[0011] An auxiliary wheel is located at the end of the robotic arm to lift the vehicle body off the ground and into contact with it under the drive of the robotic arm; both the projected area and the non-projected area of ​​the moving vehicle body on the ground are within the range of movement of the auxiliary wheel.

[0012] An extension arm is provided at the end of the robotic arm;

[0013] A sampling device is disposed at the end of the extension arm away from the robotic arm;

[0014] A drive unit is disposed at the end of the robotic arm and is connected to the auxiliary wheel and the extension arm respectively, so as to drive the auxiliary wheel to rotate and drive the extension arm to unfold and close relative to the robotic arm.

[0015] The planetary surface mobile sampling robot, wherein the auxiliary wheels include:

[0016] The first side plate is connected to the robotic arm;

[0017] The second side plate is arranged opposite to the first side plate;

[0018] Multiple blades are respectively hinged to the first side plate and the second side plate, and are arranged around the periphery of the first side plate and the second side plate to enclose and form an accommodating space;

[0019] A variable diameter drive assembly is located within the receiving space and is hinged to the first side plate and the second side plate respectively; the variable diameter drive assembly is used to drive the second side plate to move closer to and away from the first side plate, so as to drive the blade to fold and extend.

[0020] The planetary surface mobile sampling robot, wherein the blades include:

[0021] Two blade bodies are arranged symmetrically and are hinged to the first side plate and the second side plate respectively;

[0022] A hinge is located between the two blade bodies and is hinged to each of the two blade bodies respectively.

[0023] The planetary surface mobile sampling robot, wherein the variable diameter drive assembly includes:

[0024] Multiple driven rocker arms, one end of which is hinged to the second side plate;

[0025] Multiple active swing arms correspond one-to-one with the driven swing arms; one end of each active swing arm is hinged to the end of the driven swing arm away from the second side plate and forms a V-shaped angle; the opening of the V-shaped angle faces the blade; the other end of each active swing arm is provided with multiple toothed grooves;

[0026] The engagement module is rotatably mounted on the first side plate; the engagement module is used to alternately engage with the plurality of tooth grooves to drive the active rocker arm to rotate and drive the V-shaped angle to open and close.

[0027] The planetary surface mobile sampling robot, wherein the meshing module includes:

[0028] At least one drive;

[0029] The first gear is connected to the driver in a one-to-one correspondence and rotates along a plane parallel to the first side plate and the second side plate;

[0030] The spiral space gear is annular and parallel to the first side plate; the inner wall of the spiral space gear meshes with the first gear, and the spiral space gear is provided with spiral teeth on the side near the second side plate, the spiral teeth being used to mesh with the tooth groove.

[0031] The planetary surface mobile sampling robot, wherein the robotic arm includes:

[0032] The first connecting arm is connected at one end to the moving vehicle body and can rotate along the horizontal plane;

[0033] The second connecting arm is connected to the other end of the first connecting arm and can rotate relative to the first connecting arm along a vertical plane; the extension arm and the auxiliary wheel are both located at the end of the second connecting arm away from the first connecting arm.

[0034] The planetary surface mobile sampling robot, wherein the wheel unit includes:

[0035] Two wheels, one in front and one behind;

[0036] Two drive components are connected to each wheel in a corresponding manner and are used to drive the wheels to rotate.

[0037] The planetary surface mobile sampling robot also includes:

[0038] A rocker arm is disposed on one side of the mobile vehicle body and connected to one of the wheel units; the rocker arm is rotatable relative to the mobile vehicle body in a vertical plane.

[0039] Two connecting pieces are fixedly installed on the other side of the mobile vehicle body and distributed front and back; the two connecting pieces are connected one-to-one with the two wheels of another wheel unit.

[0040] The planetary surface mobile sampling robot also includes:

[0041] The camera unit is located at the front end of the mobile vehicle.

[0042] The planetary surface mobile sampling robot also includes:

[0043] A solar power supply unit is installed on the mobile vehicle body and connected to the wheel unit, the robotic arm, the sampling device and the drive unit respectively to provide power.

[0044] Beneficial effects: Compared with the prior art, this application adds the coordination between the auxiliary wheel, the robotic arm, the extension arm and the drive unit. While ensuring the basic function of the sampling device, it can be adjusted to three-wheel, four-wheel and five-wheel states, which improves the passability of the mobile vehicle on soft ground and rough roads. It can also assist in getting out of trouble when the mobile vehicle sinks or slips, thereby improving the overall obstacle crossing performance. Attached Figure Description

[0045] Figure 1 This is a reference diagram showing the usage status of the planetary surface mobile sampling robot when the auxiliary wheels are digging soil in this application;

[0046] Figure 2 This is a reference diagram showing the usage status of the planetary surface mobile sampling robot in this application when it travels to a soft ground environment;

[0047] Figure 3 This is a schematic diagram of the auxiliary wheel in this application;

[0048] Figure 4 This is a schematic diagram of the assembly structure of the variable diameter drive assembly on the first template;

[0049] Figure 5 This is a schematic diagram of the vortex-shaped spatial gear in this application;

[0050] Figure 6 This is a schematic diagram of the blade structure in this application;

[0051] Figure 7 This is a schematic diagram of the assembly structure of the active and driven rocker arms in this application;

[0052] Figure 8 This is a partial structural diagram of the vehicle body in this application;

[0053] Figure 9 This is a reference diagram showing the usage state of the planetary surface moving sampling robot when the wheel unit connected to the rocker arm in this application passes over an obstacle;

[0054] Figure 10 This is a reference diagram showing the usage status of the planetary surface mobile sampling robot when traversing rugged terrain.

[0055] Figure 11 This is a schematic diagram of the robotic arm in this application;

[0056] Figure 12 This is a reference diagram showing the usage state of the planetary surface moving sampling robot when the extension arm is deployed relative to the robotic arm in this application;

[0057] Figure 13This is a reference diagram showing the usage state of the planetary surface mobile sampling robot in this application when it adopts the folding transportation mode;

[0058] Figure 14 This is a functional principle block diagram of the planetary surface mobile sampling robot in this application. Detailed Implementation

[0059] To make the objectives, technical solutions, and effects of this application clearer and more explicit, the following detailed description of this application is provided with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only for explaining this application and are not intended to limit this application.

[0060] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the term “comprising” as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The term “and / or” as used herein includes all or any units and all combinations of one or more associated listed items.

[0061] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.

[0062] This application provides a planetary surface mobile sampling robot for planetary surface sampling (such as lunar or Martian surface sampling exploration), such as... Figure 1 and Figure 12As shown, the planetary surface mobile sampling robot includes: a mobile vehicle body 1, two wheel units 2, a robotic arm 3, an auxiliary wheel 4, an extension arm 5, a sampling device 6, and a drive unit 7; the two wheel units 2 are distributed on the left and right sides of the mobile vehicle body 1; the robotic arm 3 is located at the front end of the mobile vehicle body 1 and can move along three axes; the auxiliary wheel 4 is located at the end of the robotic arm 3 to lift off and contact the ground under the drive of the robotic arm 3; the projection area and non-projection area of ​​the mobile vehicle body 1 on the ground are both within the movement range of the auxiliary wheel 4; the extension arm 5 is located at the end of the robotic arm 3; the sampling device 6 is located at the end of the extension arm 5 away from the robotic arm 3; the drive unit 7 is located at the end of the robotic arm 3 and is connected to the auxiliary wheel 4 and the extension arm 5 respectively to drive the auxiliary wheel 4 to rotate and drive the extension arm 5 to unfold and close relative to the robotic arm 3.

[0063] Specifically, the mobile vehicle body 1 carries the wheel unit 2 and the robotic arm 3. The robotic arm 3 carries the auxiliary wheel 4, the extension arm 5, the sampling device 6, and the drive unit 7. There are two wheel units 2, distributed on the left and right sides of the mobile vehicle body 1, so that the mobile vehicle body 1 can move forward and backward by activating the wheel units 2. The robotic arm 3 is located at the front end of the mobile vehicle body 1 and is capable of three-axis movement, thereby moving the auxiliary wheel 4 and the sampling device 6 in three axes.

[0064] Drive unit 7 is used to drive auxiliary wheel 4 and extension arm 5 respectively; when drive unit 7 drives extension arm 5 to close relative to robotic arm 3 (e.g. Figure 1 , Figure 2 and Figure 10 When the sampling device 6 is retracted (as shown), it will not adversely interfere with the movement of the mobile vehicle 1. The end of the integrated structure formed by the robotic arm 3 and the extension arm 5 only has an auxiliary wheel 4. Therefore, by moving the robotic arm 3, the auxiliary wheel 4 can be brought into contact with the ground. Then, the drive unit 7 drives the auxiliary wheel 4 to rotate, thus the auxiliary wheel 4 can act as a power wheel, increasing the power for the mobile vehicle 1 to move forward or backward. When the drive unit 7 drives the extension arm 5 to unfold relative to the robotic arm 3 (as shown), the sampling device 6 is retracted without causing adverse interference to the movement of the mobile vehicle 1. Figure 12 As shown, when the robotic arm 3 and the extension arm 5 form an integral structure, the end of the structure only has a sampling device 6, which can be used to perform sampling.

[0065] It should be noted that, driven by the robotic arm 3, both the projected and non-projected areas of the mobile vehicle 1 on the ground are within the range of movement of the auxiliary wheel 4; that is, when the extension arm 5 closes relative to the robotic arm 3, the robotic arm 3 can drive the auxiliary wheel 4 to move directly below the mobile vehicle 1 (between the two wheel units 2) and contact the ground; the robotic arm 3 can also drive the auxiliary wheel 4 to move in front of the mobile vehicle 1 (in front of the two wheel units 2) and contact the ground.

[0066] When the planetary surface mobile sampling robot travels to a soft ground environment, insufficient traction may occur; in this case, the drive unit 7 will bring the extension arm 5 relative to the robotic arm 3 together, and the robotic arm 3 will move the auxiliary wheel 4 directly under the mobile vehicle body 1 (e.g., Figure 2 (As shown) After contacting the ground, the auxiliary wheel 4 is driven to rotate by the drive unit 7. At this time, the four-wheel mode is switched to the five-wheel state. The overall weight of the planetary surface mobile sampling robot is concentrated inside, which greatly reduces the load specific pressure of a single wheel, increases the overall grounding area, and is more suitable for driving on soft ground or for pulling out and getting out of trouble when a local wheel sinks.

[0067] When the planetary surface mobile sampling robot travels to a rugged terrain environment, it may encounter insufficient traction. In this case, the drive unit 7 will retract the extension arm 5 relative to the robotic arm 3, and the robotic arm 3 will move the auxiliary wheel 4 to the front of the mobile vehicle 1 (i.e., as shown in the image). Figure 10 As shown, after the mobile vehicle 1 is in the non-projection area of ​​the ground and makes contact with the ground, the auxiliary wheel 4 is driven to rotate by the drive unit 7. At this time, the four-wheel mode is switched to the five-wheel state, and the traction of the planetary surface mobile sampling robot is enhanced.

[0068] When the front wheels of the planetary surface mobile sampling robot sink and slip, causing the mobile vehicle 1 to be unable to move forward, the drive unit 7 will close the extension arm 5 relative to the robotic arm 3, and the robotic arm 3 will move the auxiliary wheel 4 to the front of the mobile vehicle 1 (i.e., the non-projection area of ​​the mobile vehicle 1 on the ground) and make it contact the ground. At the same time, the robotic arm 3 will continue to press down the auxiliary wheel 4, which can lift the front wheel through the auxiliary wheel 4, so that only the auxiliary wheel 4 and the rear wheel are in contact with the ground. At this time, the four-wheel mode is switched to the three-wheel state, increasing the wheelbase of the mobile vehicle 1 and improving the passability of the planetary surface mobile sampling robot.

[0069] Once the planetary surface mobile sampling robot moves to a sampling point for scientific exploration, the drive unit 7 extends the extension arm 5 relative to the robotic arm 3, lifting the auxiliary wheels 4 off the ground. The sampling device 6 becomes the end effector of the integrated structure formed by the robotic arm 3 and the extension arm 5. Thus, by moving the robotic arm 3, sampling can be performed at the sampling point using the sampling device 6. In this application, the sampling device 6 adopts existing technology and is capable of grasping (grabbing objects with end effectors) and surface scraping (scraping soil from the ground). The structure of the sampling device 6 will not be described in detail here.

[0070] Therefore, compared with the prior art, this application adds the coordinated cooperation between the auxiliary wheel 4, the robotic arm 3, the extension arm 5 and the drive unit 7, which ensures that the sampling device 6 can perform the basic function of sampling, and can be adjusted to three-wheel, four-wheel and five-wheel states. This improves the passability of the mobile vehicle 1 on soft ground and rough roads, and can also assist in getting out of trouble when the mobile vehicle 1 sinks or slips, thereby improving the overall obstacle crossing performance.

[0071] In one embodiment of this application, the drive unit 7 includes a motor and two electromagnetic clutches (a first electromagnetic clutch and a second electromagnetic clutch). The motor has two output shafts, one of which is connected to the auxiliary wheel 4 via the first electromagnetic clutch, and the other output shaft is connected to the extension arm 5 via the second electromagnetic clutch. That is, the auxiliary wheel 4 and the extension arm 5 constitute two loads for the motor, and the two electromagnetic clutches are used to switch the motor's drive between the two loads by engaging. When the second electromagnetic clutch is energized and the first electromagnetic clutch is de-energized, the motor drives the extension arm 5 to rotate, thereby enabling the extension arm 5 to extend or retract relative to the robotic arm 3, adjusting the sampling device 6 to a sampling state or a non-sampling state. When the second electromagnetic clutch is de-energized and the first electromagnetic clutch is energized, the motor drives the auxiliary wheel 4 to rotate.

[0072] Since the technology of switching the drive of a single motor between two loads using an electromagnetic clutch is existing technology, it will not be elaborated on here.

[0073] In another embodiment of this application, the drive unit 7 includes two motors, which are respectively connected to the auxiliary wheel 4 and the extension arm 5, thereby realizing independent control of the auxiliary wheel 4 and the extension arm 5. When the motor connected to the auxiliary wheel 4 is started, the auxiliary wheel 4 rotates; when the motor connected to the extension arm 5 is started, the extension arm 5 can be extended and retracted relative to the robotic arm 3.

[0074] One embodiment of this application, such as Figure 3 and Figure 4 As shown, the auxiliary wheel 4 includes: a first side plate 41, a second side plate 42, multiple blades 43, and a variable diameter drive assembly 44; the first side plate 41 is connected to the robotic arm 3; the second side plate 42 is arranged opposite to the first side plate 41; the multiple blades 43 are respectively hinged to the first side plate 41 and the second side plate 42, and are arranged around the periphery of the first side plate 41 and the second side plate 42 to enclose and form an accommodating space; the variable diameter drive assembly 44 is located in the accommodating space and is respectively hinged to the first side plate 41 and the second side plate 42; the variable diameter drive assembly 44 is used to drive the second side plate 42 to move closer to and away from the first side plate 41, so as to drive the blades 43 to fold and extend.

[0075] Specifically, both the first side plate 41 and the second side plate 42 are circular structures and coaxially arranged. The first side plate 41 is connected to the robotic arm 3, and both the second side plate 42 and the first side plate 41 are connected to multiple blades 43, thereby forming an accommodating space through the first side plate 41, the second side plate 42, and the multiple blades 43. The blades 43 are capable of extending and folding. The variable diameter drive assembly 44 is used to drive the second side plate 42 to move closer to and away from the first side plate 41. When the second side plate 42 moves away from the first side plate 41, all blades 43 extend, the outer diameter of the auxiliary wheel 4 decreases, but the axial height of the auxiliary wheel 4 increases. When the first side plate 41 moves closer to the first side plate 41, all blades 43 fold, the outer diameter of the auxiliary wheel 4 increases, and the axial height of the auxiliary wheel 4 decreases.

[0076] Therefore, in this application, by adjusting the distance between the first side plate 41 and the second side plate 42 through the variable diameter drive assembly 44, the folding and extension states of the blades 43 can be adjusted, thereby achieving variable diameter of the auxiliary wheel 4. When all blades 43 are folded, the outer diameter of the auxiliary wheel 4 increases, and the contact position between the auxiliary wheel 4 and the ground (i.e., the middle folded part of the blades 43) becomes sharper; at this time, the auxiliary wheel 4 can be driven to rotate by the drive unit 7, and digging can be performed by the auxiliary wheel 4. When all blades 43 are extended relative to the folded state, the outer diameter of the auxiliary wheel 4 decreases, and the contact position between the auxiliary wheel 4 and the ground is no longer sharp, thereby increasing the contact area between the auxiliary wheel 4 and the ground, which is more conducive to the movement of the auxiliary wheel 4 on the ground; at this time, the auxiliary wheel 4 can be driven to rotate by the drive unit 7, thereby increasing the traction of the mobile vehicle 1 through the auxiliary wheel 4 to adapt to soft ground, rugged roads and other terrains with high obstacle levels.

[0077] One implementation method in this embodiment, such as Figure 6 As shown, the blade 43 includes two blade bodies 431 and a hinge 432. The two blade bodies 431 are symmetrically arranged and hinged to the first side plate 41 and the second side plate 42, respectively. The hinge 432 is located between the two blade bodies 431 and is hinged to both blade bodies 431. The two blade bodies 431 are hinged together by the hinge 432, which enables the blade 43 to unfold and close. It should be noted that the hinge between the two blade bodies 431 forms a V-shaped angle, with the opening of the V-shaped angle facing into the receiving space. When the blade 43 is folded, the V-shaped angle decreases; when the blade 43 is unfolded, the V-shaped angle increases.

[0078] It should be noted that a notch 433 is provided between the two blade bodies 431 near the hinge 432. This notch 433 allows space for the movement of the two blade bodies 431, ensuring that they can fold and unfold relative to each other, making the deformation process of the blade 43 smoother. Furthermore, there is a gap between each pair of adjacent blades 43, providing sufficient space for the folding and unfolding of the blade 43. The end of the blade body 431 near the hinge 432 is wider, while the end away from the hinge 432 is narrower. This design ensures both the smoothness of the second side plate 42 in driving the blade 43 to fold and unfold, and the structural strength of the blade 43 when it is in a folded state for digging.

[0079] One implementation method in this embodiment, such as Figure 4 As shown, the variable diameter drive assembly 44 includes multiple driven rocker arms 441, multiple driven rocker arms 442, and a meshing module 443. One end of the driven rocker arm 441 is hinged to the second side plate 42. The multiple driven rocker arms 442 correspond one-to-one with the driven rocker arms 441. One end of the driven rocker arm 442 is hinged to the end of the driven rocker arm 441 away from the second side plate 42 and forms a V-shaped angle. The opening of the V-shaped angle is arranged facing the blade 43. The other end of the driven rocker arm 442 is provided with multiple tooth grooves. The meshing module 443 is rotatably mounted on the first side plate 41. The meshing module 443 is used to alternately mesh with the multiple tooth grooves to drive the driven rocker arm 442 to rotate and drive the V-shaped angle to open and close.

[0080] Specifically, the driven swing rod 441 and the driving swing rod 442 are hinged one-to-one to form a swing rod group; there are multiple swing rod groups in the accommodating space, which are evenly distributed along the circumference of the first side plate 41 and the second side plate 42. In the swing rod group, the driving swing rod 442 and the driven swing rod 441 are hinged to form a V-shaped angle. The V-shaped angle can be opened and closed, and when the V-shaped angle is opened, the driving swing rod 442 rotates, and the driven swing rod 441 can not only rotate but also move towards or away from the first side plate 41. One end of the active rocker arm 442 is connected to the driven rocker arm 441. The other end of the active rocker arm 442 is provided with multiple toothed grooves. The multiple toothed grooves are arranged sequentially along the rotation direction of the active rocker arm 442, and the multiple toothed grooves are used to alternately mesh with the meshing module 443. When the position of the toothed groove meshing with the meshing module 443 changes, the active rocker arm 442 can generate a rotational motion, pulling the driven rocker arm 441 to rotate and move closer to or away from the first side plate 41, opening and closing at a V-shaped angle, thereby realizing the extension and folding of the blade 43.

[0081] like Figure 4As shown, the first side plate 41 is also provided with a plurality of positioning rods 45, the number of which is equal to the number of the rocker arm group and they correspond one-to-one. One end of the positioning rod 45 is connected to the first side plate 41, and the other end is rotatably connected to the active rocker arm 442, so that when the engagement module 443 is started, the active rocker arm 442 will rotate without deflection, so as to ensure the stability of the variable diameter movement of the auxiliary wheel 4.

[0082] In this application, there are four rocker arm groups, and the sharp corners of the V-shaped included angles of the four rocker arm groups are all arranged towards the central axis of the first side plate 41; that is, the four rocker arm groups are arranged in a cross shape, and the center of the cross shape is located on the central axis of the first side plate 41, so as to ensure the stability of the variable diameter dynamic support of the four rocker arm groups to the auxiliary wheel 4.

[0083] The meshing module 443 includes at least one driver 4431, a first gear 4432, and a spiral space gear 4433. The first gear 4432 is connected to the driver 4431 in a one-to-one correspondence and rotates along a plane parallel to the first side plate 41 and the second side plate 42. The spiral space gear 4433 is annular and parallel to the first side plate 41. The inner wall of the spiral space gear 4433 meshes with the first gear 4432. The spiral space gear 4433 is provided with spiral teeth 4435 on the side of the spiral space gear 4433 near the second side plate 42. The spiral teeth 4435 are used to mesh with the tooth groove.

[0084] Specifically, such as Figure 4 As shown, a mounting plate 46 is also provided on the first side plate 41. The mounting plate 46 is located in the central hole of the spiral space gear 4433 and is used to mount the driver 4431. The driver 4431 is connected to the first gear 4432 in a one-to-one correspondence and is used to drive the first gear 4432 to rotate; the rotation plane of the first gear 4432 is parallel to the first side plate 41. The teeth of the first gear 4432 are located on the outer circumferential surface. Multiple spur teeth 4434 are provided on the inner wall of the spiral space gear 4433. The multiple spur teeth 4434 are used to mesh with the first gear 4432. When the first gear 4432 rotates under the drive of the driver 4431, it can drive the spiral space gear 4433 to rotate as a whole.

[0085] The spiral space gear 4433 is coaxially arranged with the first side plate 41 and the second side plate 42, and the spiral space gear 4433 has spiral teeth 4435 on the side closer to the second side plate 42; for example Figure 5 As shown, the vortex tooth 4435 is vortex-shaped and has a non-closed-loop structure. When the vortex space gear 4433 rotates, the vortex tooth 4435 rotates, and the position of the tooth groove on the active rocker arm 442 that meshes with the vortex tooth 4435 gradually changes, thereby driving the active rocker arm 442 to rotate, and the V-shaped angle unfolds or closes, realizing the folding and unfolding of the blade 43.

[0086] like Figure 7As shown, there are three tooth grooves, namely the first tooth groove 4421, the second tooth groove 4422, and the third tooth groove 4423. When the vortex space gear 4433 rotates counterclockwise, the engagement between the first tooth groove 4421 and the vortex tooth 4435 on the active swing rod 442 gradually changes to the engagement between the third tooth groove 4423 and the vortex tooth 4435. The blades 43 gradually fold, and the auxiliary wheel 4 switches to its maximum diameter state to excavate the planetary surface. When the vortex space gear 4433 rotates clockwise, the engagement between the third tooth groove 4423 and the vortex tooth 4435 on the active swing rod 442 gradually changes to the engagement between the first tooth groove 4421 and the vortex tooth 4435. The blades 43 gradually unfold, and the auxiliary wheel 4 switches to its minimum diameter state to assist the mobile vehicle 1 in moving and overcoming obstacles.

[0087] In this application, the driver 4431 includes two drive motors; correspondingly, there are two first gears 4432.

[0088] One embodiment of this application, such as Figure 11 As shown, the robotic arm 3 includes a first connecting arm 31 and a second connecting arm 32. One end of the first connecting arm 31 is connected to the mobile vehicle body 1 and can rotate along the horizontal plane. The second connecting arm 32 is connected to the other end of the first connecting arm 31 and can rotate relative to the first connecting arm 31 along the vertical plane. The extension arm 5 and the auxiliary wheel 4 are both located at the end of the second connecting arm 32 away from the first connecting arm 31.

[0089] Specifically, the first connecting arm 31 is connected to the mobile vehicle body 1 and can rotate relative to the mobile vehicle body 1 in a horizontal plane, thereby driving the auxiliary wheel 4 and the extension arm 5 on the second connecting arm 32 to move in the X-axis (left-right) and Y-axis (front-back) directions, realizing two-axis movement of the auxiliary wheel 4 and the sampling device 6. The second connecting arm 32 is connected to the first connecting arm 31 and can rotate relative to the first connecting arm 31 in a vertical plane, thereby driving the auxiliary wheel 4 and the extension arm 5 to move in the Z-axis (up-down) and Y-axis directions, realizing two-axis movement of the auxiliary wheel 4 and the sampling device 6. Therefore, through the coordinated movement of the first connecting arm 31 and the second connecting arm 32, three-axis movement of the auxiliary wheel 4 and the sampling device 6 can be achieved.

[0090] It should be noted that the length of the second connecting arm 32 is greater than the height of its connection point with the first connecting arm 31 from the ground, so that when the auxiliary wheel 4 moves to the front of the mobile vehicle 1 and contacts the ground, as the second connecting arm 32 continues to rotate, the auxiliary wheel 4 can lift the mobile vehicle 1, the front wheel in the wheel unit 2 can leave the ground, and the rear wheel can contact the ground, thereby realizing the three-wheel state of the planetary surface mobile sampling robot.

[0091] In one embodiment of this invention, the robotic arm 3 further includes a first joint 33, a second joint 34, and a third joint 35. The first joint 33 is mounted on the mobile vehicle body 1 and connected to the first connecting arm 31. The second joint 34 is connected to both the first connecting arm 31 and the second connecting arm 32. The third joint 35 is connected to both the auxiliary wheel 4 and the extension arm 5. A horizontal rotation drive is mounted on the first joint 33, which connects to the first connecting arm 31 to drive it to rotate horizontally. A vertical rotation drive is mounted on the second joint 34, which connects to the second connecting arm 32 to drive it to rotate vertically. A drive unit 7 is mounted on the third joint 35 and connected to both the auxiliary wheel 4 and the extension arm 5. Both the horizontal and vertical rotation drives can be motors.

[0092] It should be noted that the plane of rotation of the extension arm 5 is parallel to the plane of rotation of the second connecting arm 32. When the extension arm 5 is extended relative to the second connecting arm 32, the sampling device 6 is located in front of the auxiliary wheel 4, and a certain angle is formed between the second connecting arm 32 and the extension arm 5, causing the sampling device 6 to interfere with the auxiliary wheel 4, preventing the auxiliary wheel 4 from contacting the ground for movement. When the extension arm 5 is folded relative to the second connecting arm 32, the extension arm 5 and the second connecting arm 32 are parallel and overlap each other, and the sampling device 6 moves to the rear of the auxiliary wheel 4, so that the sampling device 6 does not interfere with the auxiliary wheel 4, allowing the auxiliary wheel 4 to contact the ground for movement or digging.

[0093] In one embodiment of this application, the wheel unit 2 includes two wheels 21 and two driving members 22; the two wheels 21 are distributed front and rear; the two driving members 22 are connected to the wheels 21 in a one-to-one correspondence and are used to drive the wheels 21 to rotate.

[0094] Specifically, the two wheels 21 are the front wheel and the rear wheel, respectively. Each wheel 21 is equipped with a corresponding drive component 22, thereby achieving independent drive control for each wheel 21. This avoids the phenomenon of jamming when all wheels 21 use a single drive and a failure occurs, thus improving the overall mobility of the planetary surface mobile sampling robot. At the same time, each wheel 21 is equipped with a corresponding drive component 22, which can realize the movement and steering of the mobile vehicle 1 through four-wheel differential.

[0095] This application uses a four-wheel basic configuration and adds a fifth wheel (i.e., auxiliary wheel 4). Through the coordinated action of the robotic arm 3 and the auxiliary wheel 4, it not only ensures the realization of core functions such as sampling and excavation, but also greatly improves the mobility and fault redundancy of the planetary surface mobile sampling robot in complex planetary surface terrain.

[0096] In one embodiment of this application, the planetary surface mobile sampling robot further includes a rocker arm 8 and two connectors 9; the rocker arm 8 is disposed on one side of the mobile vehicle body 1 and connected to one of the wheel units 2; the rocker arm 8 can rotate relative to the mobile vehicle body 1 along a vertical plane; the two connectors 9 are fixedly disposed on the other side of the mobile vehicle body 1 and are distributed front and back; the two connectors 9 are connected one-to-one with the two wheels 21 of the other wheel unit 2.

[0097] Specifically, the two ends of the rocker arm 8 are respectively connected to the two wheels 21 of one of the wheel units 2, and the center of the rocker arm 8 is rotatably connected to one side (left or right) of the moving vehicle body 1, so that the rocker arm 8 can rotate relative to the moving vehicle body 1 in a vertical plane, thereby making the heights of the two wheels 21 in the wheel unit 2 equal or unequal. The two wheels 21 in the other wheel unit 2 are respectively connected to the moving vehicle body 1 through corresponding connecting parts 9. The two connecting parts 9, the rocker arm 8, and the moving vehicle body 1 are connected at three points, forming a triangular connection relationship, thereby ensuring the balance of the moving vehicle body 1.

[0098] Since the rocker arm 8 can rotate under external force, when it travels to the obstacle 100, it can pass over the obstacle 100 through the wheel unit 2 connected to the rocker arm 8. Under the supporting action of the obstacle 100, the front wheels first lift up to pass over the obstacle 100 (e.g., Figure 9 As shown in the figure, the rear wheels then lift up and pass over the obstacle 100. The two wheel units 2 and the moving vehicle body 1 adopt an asymmetrical connection structure, which further enhances the obstacle-crossing ability of the planetary surface mobile sampling robot.

[0099] One embodiment of this application, such as Figure 8 and Figure 13 As shown, the planetary surface mobile sampling robot also includes rotating rods 10 and rotating drive components 1111. The number of rotating rods 10 is equal to the number of wheels 21, and the rotating rods 10 and wheels 21 are connected in a one-to-one correspondence. The rotating drive component 11 is used to connect to the end of the rotating rod 10 away from the wheel 21, so as to drive the rotating rod 10 to rotate along the vertical plane, thereby causing the wheel unit 2 to fold and unfold relative to the mobile vehicle body 1. When the wheel unit 2 is folded relative to the mobile vehicle body 1, as... Figure 13 As shown, the overlap height between wheel unit 2 and moving vehicle body 1 is greatest in the vertical direction; when wheel unit 2 is deployed relative to moving vehicle body 1, as... Figure 1 As shown, the overlap height between the wheel unit 2 and the moving vehicle body 1 in the vertical direction is the smallest.

[0100] Specifically, when the planetary surface mobile sampling robot is in normal driving mode, the vertical overlap between the wheels 21 and the mobile vehicle body 1 is minimal, and the height of the mobile vehicle body 1 relative to the ground is maximum; for example... Figure 13As shown, when the planetary surface mobile sampling robot adopts the folding transportation mode (that is, the planetary surface mobile sampling robot is mounted on the lander and transported to the planet), the height of the vertical overlap between the wheel 21 and the mobile vehicle body 1 is the maximum, and the height of the mobile vehicle body 1 relative to the ground is the minimum. On one side of the rocker arm 8, two rotary drive components 11 are connected to both ends of the rocker arm 8 respectively; on the other side of the connector 9, two rotary drive components 11 are connected to two connectors 9 respectively.

[0101] One embodiment of this application, such as Figure 1 and Figure 9 As shown, the planetary surface mobile sampling robot also includes a camera unit 12, which is located at the front end of the mobile vehicle body 1.

[0102] Specifically, such as Figure 9 As shown, the camera unit 12 includes a support rod 121, a base 122, a camera 123, and a camera adjustment drive (not shown). The camera 123 is mounted on one end of the support rod 121, the base 122 is mounted on the mobile vehicle body 1, and the camera adjustment drive is mounted on the base 122 and connected to the other end of the support rod 121. The camera adjustment drive is used to drive the support rod 121 to rotate vertically, thereby adjusting the height of the camera 123 relative to the ground. When the camera adjustment drive drives the support rod 121 to rotate backward until the angle between the support rod 121 and the base 122 is at its minimum, the camera 123 can be folded when not in use. When the camera unit 12 is in the folded state, the camera 123 is located inside the mobile vehicle body 1. The camera adjustment drive can be a motor.

[0103] like Figure 1 As shown, the planetary surface mobile sampling robot also includes a solar power supply unit 13, which is mounted on the mobile vehicle body 1 and connected to the wheel unit 2, the robotic arm 3, the sampling device 6 and the drive unit 7 respectively to provide power.

[0104] Specifically, the solar power supply unit 13 is used to power the various driving components in the wheel unit 2, robotic arm 3, drive unit 7, and sampling device 6. The solar power supply unit 13 includes two solar panels rotatably mounted on the left and right sides of the moving vehicle body 1. Each solar panel includes at least two solar panels 131 distributed along the left-right direction. The two solar panels 131 are hinged together, allowing each solar panel 131 to rotate vertically relative to the moving vehicle body 1, thus unfolding and folding the solar power supply unit 13. When the solar power supply unit 13 is in the unfolded state, all solar panels 131 are on the same plane and do not overlap; for example... Figure 13As shown, when the solar power unit 13 is in the folded state, the solar panels 131 in each solar group overlap, and both solar groups are folded into the mobile vehicle body 1.

[0105] One embodiment of this application, such as Figure 14 As shown, the planetary surface mobile sampling robot also includes a controller 14, which is electrically connected to the camera unit 12, sampling device 6, drive unit 7, wheel unit 2, robotic arm 3, auxiliary wheel 4, solar power supply unit 13, and rotary drive component 11 to start and stop each component. The solar power supply unit 13 may also include multiple solar panel drive components, each of which is connected to a solar panel 131 and drives the solar panel 131 to rotate along a vertical plane. The folding and unfolding of each solar panel 131 are achieved through the drive components.

[0106] Specifically, the solar panels in the solar array that are close to the mobile vehicle body 1 are driven by solar drive components installed on the mobile vehicle body 1 to fold and unfold relative to the mobile vehicle body; a solar panel drive component is installed at the hinge between two solar panels in the solar array to fold and unfold the two solar panels 131 in the solar array.

[0107] Each drive component in the solar power unit 13, camera unit 12, drive unit 7, wheel unit 2, and robotic arm 3 is electrically connected to the controller 14, thereby adjusting the folding and unfolding of the camera 123 relative to the moving vehicle 1, the rotation and stopping of the wheel 21, the folding and unfolding state of the wheel 21 relative to the moving vehicle 1, the relative position of the sampling device 6 and the auxiliary wheel 4, the position of the auxiliary wheel 4 relative to the moving vehicle 1, and the rotation and stopping of the auxiliary wheel 4. Through the coordinated movement of the robotic arm 3 and the drive unit 7, the robotic arm 3 and the extension arm 5 can be folded, and the sampling device 6 and the auxiliary wheel 4 can be folded into the moving vehicle 1; when the planetary surface mobile sampling robot adopts the folding transportation mode, such as Figure 13 As shown, the solar power unit 13, auxiliary wheel 4, sampling device 6 and camera unit 12 are all located inside the mobile vehicle body 1, and the wheel unit 2 is in a folded state relative to the mobile vehicle body 1.

[0108] In this application, the planetary surface mobile sampling robot is mounted on a lander and launched to the planet. At this time, the wheels 21 and the solar panels 131 are folded relative to the mobile vehicle body 1. After the lander lands on the planet, the planetary surface mobile sampling robot separates from the lander, the four wheels 21 rotate and unfold relative to the mobile vehicle body 1, and the solar panels unfold to start powering the planetary surface mobile sampling robot. After the solar panels 131 unfold, the camera 123 unfolds from the base 122 to an upright position to acquire real-time terrain image information, thus completing the transition from the folded transport mode to the normal driving mode.

[0109] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0110] Furthermore, 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0111] In this invention, unless otherwise explicitly 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 or an electrical 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, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0112] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0113] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0114] Of course, the above description of the embodiments of the present invention is quite detailed, but it should not be construed as a limitation on the scope of protection of the present invention. The present invention may have many other implementations. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention. The scope of protection of the present invention is determined by the appended claims.

Claims

1. A mobile sampling robot for a planetary surface, characterized in that, It includes: A mobile vehicle body; Two wheel units distributed on the left and right sides of the mobile vehicle body; A mechanical arm arranged at the front end of the mobile vehicle body and movable along three axes; An auxiliary wheel arranged at the end of the mechanical arm to lift off and contact the ground under the drive of the mechanical arm; The projection area and non-projection area of the mobile vehicle body on the ground are within the movement range of the auxiliary wheel; An extension arm arranged at the end of the mechanical arm away from the mechanical arm; A sampling device arranged at the end of the extension arm away from the mechanical arm; A drive unit arranged at the end of the mechanical arm and connected with the auxiliary wheel and the extension arm respectively to drive the auxiliary wheel to rotate and drive the extension arm to unfold and fold relative to the mechanical arm; The auxiliary wheel includes: A first side plate connected with the mechanical arm; A second side plate arranged opposite to the first side plate; A plurality of blades hinged with the first side plate and the second side plate respectively and arranged along the periphery of the first side plate and the second side plate to enclose a containing space; A variable-diameter drive assembly located in the containing space and hinged with the first side plate and the second side plate respectively; The variable-diameter drive assembly is used to drive the second side plate to approach and move away from the first side plate to drive the blades to fold and stretch; The variable-diameter drive assembly includes: A plurality of driven swing rods hinged with the second side plate at one end; A plurality of driving swing rods corresponding to the driven swing rods one by one; One end of the driving swing rod is hinged with the end of the driven swing rod away from the second side plate to form a V-shaped angle; The opening of the V-shaped angle faces the blade arrangement; The other end of the driving swing rod is provided with a plurality of tooth grooves; An engagement module rotatably arranged on the first side plate; The engagement module is used to alternately engage with a plurality of tooth grooves to drive the driving swing rod to rotate and drive the V-shaped angle to open and close; The engagement module includes: At least one driver; A first gear connected with the driver one by one and rotating along a plane parallel to the first side plate and the second side plate; A space worm gear in a ring shape and parallel to the first side plate; The inner wall of the space worm gear is engaged with the first gear, and the space worm gear is provided with a worm tooth on the side close to the second side plate, and the worm tooth is used to engage with the tooth groove.

2. The planetary surface mobile sampling robot of claim 1, wherein, The blade includes: Two blade bodies arranged symmetrically and hinged with the first side plate and the second side plate respectively; A hinge between the two blade bodies and hinged with the two blade bodies respectively.

3. The planetary surface mobile sampling robot of claim 1, wherein, The mechanical arm includes: A first connecting arm connected with the mobile vehicle body at one end and rotatable along a horizontal plane; A second connecting arm connected with the other end of the first connecting arm and rotatable along a vertical plane relative to the first connecting arm; The extension arm and the auxiliary wheel are arranged at the end of the second connecting arm away from the first connecting arm.

4. The planetary surface mobile sampling robot of claim 1, wherein, The wheel unit includes: Two wheels distributed front and back; Two driving members connected with the wheels one by one and used to drive the wheels to rotate.

5. The planetary surface mobile sampling robot of claim 4, wherein, It also includes: A rocker arm is arranged on one side of the mobile vehicle body and connected with one of the wheel units; the rocker arm can rotate along a vertical plane relative to the mobile vehicle body; Two connecting members are fixedly arranged on the other side of the mobile vehicle body and distributed in front and back; the two connecting members are connected with two wheels of the other wheel unit one by one.

6. The planetary surface mobile sampling robot of claim 1, wherein, It further comprises: A camera unit is arranged at the front end of the mobile vehicle body.

7. The planetary surface mobile sampling robot of claim 1, wherein, It further comprises: A solar power supply unit is arranged on the mobile vehicle body and connected with the wheel unit, the mechanical arm, the sampling device and the driving unit respectively to supply power.

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