Dual-motor-driven three-petal lunar rock block collecting device

Abstract

The application provides a three-petal lunar rock block collecting device driven by double motors, and belongs to the technical field of lunar sample collection. The three-petal lunar rock block collecting device driven by double motors comprises a sampling assembly, an opening and closing assembly, a rotating assembly and a vibration and dust removal assembly. The sampling assembly comprises three sampling claws, three connecting rod structures and a support seat. The sampling claws are used for collecting samples. The connecting rod structure comprises a first connecting rod and a second connecting rod. One end of the first connecting rod is hinged to the support seat, and the other end is fixedly connected with the sampling claw. One end of the second connecting rod is hinged to the first connecting rod. The other end of the second connecting rod is connected with the opening and closing assembly. The opening and closing assembly drives the three sampling claws to open or close through the connecting rod structure. The rotating assembly drives the sampling claw to rotate through the support seat. The vibration and dust removal assembly is used for vibrating and shaking off the lunar dust on the surface of the sample. The device is highly integrated in function, is suitable for the extreme environment of the moon, is light in weight and low in power consumption, is accurate in sampling, and is stable in clamping.

Description

Technical Field

[0001] This invention belongs to the field of lunar sample collection technology, and in particular relates to a three-lobed lunar rock collection device driven by dual motors. Background Technology

[0002] Lunar rocks and regolith contain crucial scientific information about the evolution of the solar system and the Moon, making them a core research subject for deep space exploration. A core objective of my country's lunar exploration program is to achieve in-situ sample collection, processing, analysis, and storage on the lunar surface, obtaining data on sample mineral composition and chemical composition to determine geological age, and reserving valuable samples for subsequent return missions. This mission requires sampling equipment adapted to the extreme lunar environment of high vacuum, low gravity, and fluctuating temperatures, simultaneously performing multiple functions such as picking up rock blocks of specific sizes, preparing shallow lunar regolith profiles, quantitative lunar regolith sampling, and sample transport. Existing sampling technologies struggle to simultaneously meet the requirements of extreme environment adaptability, functional integration, and lightweight design, necessitating the development of a dedicated collection device to ensure the mission's successful progress. Summary of the Invention

[0003] In view of this, in order to solve the above problems, the present invention proposes a three-lobed lunar rock collection device driven by dual motors, which can adapt to the extreme environment of the moon with high vacuum, low gravity and alternating high and low temperatures, and integrates functions such as adaptive lunar rock collection, shallow lunar soil profile preparation, quantitative sampling of lunar soil, vibration dust removal and sample transportation.

[0004] To achieve the above objectives, the present invention adopts the following technical solution: A dual-motor driven, three-lobed lunar rock collection device, comprising: The sampling assembly includes three sampling claws, three linkage structures, and a support base. The sampling claws are used to collect samples. The linkage structures include a first linkage and a second linkage. One end of the first linkage is hinged to the support base, and the other end is fixedly connected to the sampling claw. One end of the second linkage is hinged to the first linkage. The opening and closing assembly is connected to the other end of the second link. The opening and closing assembly drives the three sampling claws to open or close through the link structure. The rotary assembly drives the sampling claw to rotate via a support base; The vibration dust removal component is used to vibrate and shake off the dust from the sample surface.

[0005] As a preferred embodiment of the aforementioned dual-motor driven three-lobed lunar rock collection device, the included angle between the three first connecting rods is 120°.

[0006] As a preferred embodiment of the aforementioned dual-motor driven three-lobed lunar rock collection device, the opening and closing assembly includes an opening and closing motor, a first transmission structure, a lead screw, a first sleeve, a second sleeve, and a splined wheel. The opening and closing motor drives the first sleeve to rotate through the first transmission structure. One end of the lead screw is screwed into the first sleeve, and the other end passes through the second sleeve. The second connecting rod is hinged to the second sleeve. The lead screw slides through the splined wheel, which is used to limit the rotation of the lead screw.

[0007] As a preferred embodiment of the aforementioned dual-motor driven three-lobed lunar rock collection device, the first transmission structure includes a first bevel gear and a second bevel gear. The first bevel gear is connected to the opening and closing motor, the first bevel gear meshes with the second bevel gear, and the second bevel gear is connected to the first sleeve.

[0008] As a preferred embodiment of the aforementioned dual-motor driven three-lobed lunar rock collection device, a linear bearing is provided between the lead screw and the support base.

[0009] As a preferred embodiment of the aforementioned dual-motor driven three-lobed lunar rock collection device, a double-layer polytetrafluoroethylene sleeve is provided between the lead screw and the second sleeve.

[0010] As a preferred embodiment of the aforementioned dual-motor driven three-lobed lunar rock collection device, the outer wall of the sampling claw is provided with a micro-quantitative sampling hole.

[0011] As a preferred embodiment of the aforementioned dual-motor driven three-lobed lunar rock collection device, the rotary assembly includes a rotary motor, a second transmission structure, and a rotary hollow rod. The rotary motor drives the rotary hollow rod to rotate through the second transmission structure. The rotary hollow rod is fixedly connected to the support base, and the lead screw is located inside the rotary hollow rod.

[0012] As a preferred embodiment of the aforementioned dual-motor driven three-lobed lunar rock collection device, the second transmission structure includes a third bevel gear and a fourth bevel gear. The third bevel gear is connected to a rotary motor, the third bevel gear meshes with the fourth bevel gear, and the fourth bevel gear is connected to a rotary hollow rod.

[0013] As a preferred embodiment of the aforementioned dual-motor driven three-lobed lunar rock collection device, the vibration dust removal component employs a vibrator.

[0014] Compared with existing technologies, the beneficial effects of the dual-motor driven three-lobed lunar rock collection device provided by this invention are: This invention provides a dual-motor driven three-lobed lunar rock sampling device. This dual-motor driven three-lobed lunar rock sampling device has highly integrated functions, is adapted to the extreme lunar environment, is lightweight and low in power consumption, has accurate sampling and stable clamping, strong compatibility with subsequent units, and simplifies the operation process. Attached Figure Description

[0015] The accompanying drawings, which form part of this invention, are used to provide a further understanding of the invention. The illustrative embodiments of the invention and their descriptions are used to explain the invention and do not constitute an undue limitation of the invention. In the drawings: Figure 1 This is a schematic diagram of the structure of a dual-motor driven three-lobed lunar rock collection device provided in a specific embodiment of the present invention; Figure 2 This is a schematic diagram of the sampling component of the dual-motor driven three-lobed lunar rock collection device provided in a specific embodiment of the present invention; Figure 3 This is a partial cross-sectional view of the sampling structure of the dual-motor driven three-lobed lunar rock collection device provided in a specific embodiment of the present invention; Figure 4 This is a schematic diagram of the opening and closing assembly of the dual-motor driven three-lobed lunar rock collection device provided in a specific embodiment of the present invention; Figure 5 This is a partial cross-sectional view of the opening and closing assembly of the dual-motor driven three-lobed lunar rock collection device provided in a specific embodiment of the present invention; Figure 6 This is a schematic diagram of the rotating component of a dual-motor driven three-lobed lunar rock collection device provided in a specific embodiment of the present invention.

[0016] In the picture: 1. Sampling assembly; 101. Sampling claw; 102. Second connecting rod; 103. Rivet; 104. Support base; 105. Micro-quantitative sampling hole; 106. Positioning pin; 107. First connecting rod; 2. Vibration dust removal assembly; 3. Opening and closing assembly; 301. Second sleeve; 302. Bolt; 303. Base plate; 304. Double-layer PTFE sleeve; 305. Linear bearing; 306. Second bearing; 307. Second bevel gear; 308. First bevel gear; 309. Opening and closing motor; 310. Lead screw; 311. First sleeve; 312. Splined wheel; 4. Rotary assembly; 401. Rotary hollow rod; 402. First bearing; 403. Rotary motor; 404. Third bevel gear. Detailed Implementation

[0017] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of the present invention can be combined with each other, and the described embodiments are only some embodiments of the present invention, not all embodiments.

[0018] See Figure 1-6This invention provides a dual-motor driven three-lobed lunar rock sampling device. The device includes a sampling component 1, an opening and closing component 3, a rotation component 4, and a vibration dust removal component 2. The sampling component 1 includes three sampling claws 101, three connecting rod structures, and a support base 104. The sampling claws 101 are used to collect samples. The connecting rod structures include a first connecting rod 107 and a second connecting rod 102. One end of the first connecting rod 107 is hinged to the support base 104, and the other end is fixedly connected to the sampling claws 101. One end of the second connecting rod 102 is hinged to the first connecting rod 107. The other end of the second connecting rod 102 is connected to the opening and closing component 3, which drives the three sampling claws 101 to open or close via the connecting rod structures. The rotation component 4 drives the sampling claws 101 to rotate via the support base 104. The vibration dust removal component 2 is used to vibrate and shake off lunar dust from the sample surface.

[0019] This dual-motor driven, three-lobed lunar rock collection device is adaptable to the extreme lunar environment, can withstand high vacuum and wide temperature range conditions, and has reliable lunar dust protection capabilities to prevent lunar dust from entering the transmission mechanism and affecting operation. It integrates multi-functional collection, and can simultaneously achieve specific-size lunar rock collection, shallow lunar soil profile preparation, quantitative sampling of lunar soil, and vibration dust removal functions to meet the needs of different analysis scenarios. It can also dock with a robotic arm.

[0020] In this embodiment, the included angle between the three first connecting rods 107 is 120°. Using three sampling claws 101 to collect rock blocks provides more stable clamping and stronger envelopment of rock blocks of different shapes.

[0021] In this embodiment, the opening and closing assembly 3 includes an opening and closing motor 309, a first transmission structure, a lead screw 310, a first sleeve 311, a second sleeve 301, and a splined wheel 312. The opening and closing motor 309 drives the first sleeve 311 to rotate through the first transmission structure. One end of the lead screw 310 is screwed into the first sleeve 311, and the other end passes through the second sleeve 301. The second connecting rod 102 is hinged to the second sleeve 301. The lead screw 310 slides through the splined wheel 312, and the splined wheel 312 is used to limit the rotation of the lead screw 310.

[0022] The working principle of the opening and closing component 3 driving the sampling component 1 to open and close: The opening and closing motor 309 drives the first sleeve 311 to rotate through the first transmission structure. Since the lead screw 310 and the first sleeve 311 are screwed together, and the lead screw 310 is restricted by the spline wheel 312 so that it can only slide along the axial direction, the first sleeve 311 will drive the lead screw 310 to move along the axial direction of the lead screw 310. The lead screw 310 drives the second sleeve 301 to move along the axial direction. The movement of the second sleeve 301 along the axial direction of the lead screw 310 can drive the first connecting rod 107 to rotate around the hinge point between the first connecting rod 107 and the support base 104 through the second connecting rod 102. The first connecting rod 107 drives the sampling claw 101 to move, thereby realizing the opening or closing of the three sampling claws 101.

[0023] In this embodiment, the first transmission structure includes a first bevel gear 308 and a second bevel gear 307. The first bevel gear is connected to an opening / closing motor 309, the first bevel gear 308 meshes with the second bevel gear 307, and the second bevel gear 307 is connected to a first sleeve 311. The opening / closing motor 309 drives the first bevel gear 308 to rotate, the first bevel gear 308 drives the second bevel gear 307 to rotate, and the second bevel gear 307 drives the first sleeve 311 to rotate.

[0024] In this embodiment, a linear bearing 305 is provided between the lead screw 310 and the support base 104. This reduces friction and ensures that the lead screw 310 moves smoothly along its axial direction.

[0025] In this embodiment, a double-layer polytetrafluoroethylene (PTFE) sleeve 304 is provided between the lead screw 310 and the second sleeve 301. A cylindrical support block is provided at the end of the lead screw 310, and the support block is located inside the second sleeve 301. The double-layer PTFE sleeve 304 is disposed between the support block of the lead screw 310 and the second sleeve 301. The double-layer PTFE sleeve 304 reduces friction between the lead screw 310 and the second sleeve 301, and its double-layer design ensures long-term durability.

[0026] In this embodiment, the first connecting rod 107, the second connecting rod 102, the second sleeve 301 and the support base 104 are hinged together by rivets 103, and friction-reducing sleeves made of polytetrafluoroethylene are provided between the rivets 103 and the first connecting rod 107, the second connecting rod 102, the second sleeve 301 and the support base 104.

[0027] In this embodiment, the opening and closing assembly 3 also includes a base plate 303, and the second sleeve 301 is connected to the base plate 303 by bolts 302. The base plate 303 and the second sleeve 301 move together.

[0028] In this embodiment, the sampling claw 101 and the first connecting rod 107 are fixedly connected by a positioning pin 106.

[0029] In this embodiment, a micro-quantitative sampling hole 105 is provided on the outer wall of the sampling claw 101. The micro-quantitative sampling hole 105 is used for micro-quantitative sampling of lunar soil.

[0030] In this embodiment, the rotary assembly 4 includes a rotary motor 403, a second transmission structure, and a rotary hollow rod 401. The rotary motor 403 drives the rotary hollow rod 401 to rotate through the second transmission structure. The rotary hollow rod 401 is fixedly connected to the support base 104, and the lead screw 310 is located inside the rotary hollow rod 401.

[0031] The working principle of the rotary assembly 4 driving the sampling assembly 1 to rotate is as follows: The rotary motor 403 drives the rotary hollow rod 401 to rotate through the second transmission structure. The rotary hollow rod 401 drives the support base 104 to rotate, and the support base 104 drives the sampling claw 101 to rotate, thereby adjusting the angle of the sampling assembly 1 to facilitate the gripping of the rock block to be sampled. At this time, since the second sleeve 301 can rotate relative to the lead screw 310, the lead screw 310 will not rotate when the rotary assembly 4 drives the sampling assembly 1 to rotate, ensuring that there is no interference between the rotary action and the axial movement of the lead screw 310.

[0032] In this embodiment, the second transmission structure includes a third bevel gear 404 and a fourth bevel gear. The third bevel gear 404 is connected to the rotary motor 403, the third bevel gear 404 meshes with the fourth bevel gear, and the fourth bevel gear is connected to the rotary hollow rod 401.

[0033] In this embodiment, the excitation dust removal component 2 is a vibrator.

[0034] In this embodiment, the dual-motor driven three-lobed lunar rock collection device also includes a housing, and a first bearing 402 is provided between the rotating hollow rod 401 and the housing.

[0035] The spline wheel 312 in the opening and closing assembly 3 is fixedly connected to the outer shell. The end of the lead screw 310 is provided with a spline. The inner wall of the spline wheel 312 is engaged with the spline of the lead screw 310 to limit the lead screw, so that the lead screw 310 can only slide along the axial direction and cannot rotate in the circumferential direction.

[0036] Understandably, some areas of the lead screw 310 are threaded and screwed into the first sleeve 311. The remaining parts do not require threads.

[0037] In this embodiment, a second bearing 306 is provided between the first sleeve 311 and the rotary hollow rod 401.

[0038] This dual-motor driven, three-lobed lunar rock sampling device is adapted to the in-situ lunar surface exploration requirements of lunar exploration missions, integrating functions such as shallow lunar soil profile preparation, adaptive lunar rock picking, quantitative lunar soil sampling, and sample transportation.

[0039] The specific work process is as follows: Before sampling, the device is placed horizontally on the top plate of the patrol device, and the sampling component 1 is in a closed state. After the robotic arm locates the target sampling area, it pushes away the debris around the target rock block in the closed state of the sampling component 1 to clear the obstacles to the operation.

[0040] Subsequently, a shallow lunar soil profile was prepared: the sampling claw 101 was vertically inserted into the lunar soil and moved back and forth between the far and near ends of the rover under the control of the robotic arm to form a regular cross-section, providing a unified benchmark for subsequent sampling.

[0041] During lunar rock sampling, the claws open to fit the shape of the rock block. The rotary component 4 drives the sampling component 1 to adjust to the appropriate clamping angle. Then, the opening and closing component 3 is activated, driving the sampling claw 101 to open and close, forming a full-envelope clamping of the rock block. After clamping, the loose lunar dust on the surface is removed by the vibration dust removal component 2. Then, the rotary component 4 and the robotic arm work together to transfer the rock block to the grinding and conveying unit.

[0042] When sampling for quantitative analysis of lunar soil, the sampling claw 101 is closed, the sampling hole on the outer wall of the sampling claw 101 is facing down to dig out the lunar soil, and then it is flipped over to face up and transported to the designated work station for vibration and material discharge. During optical analysis sampling, the sampling claw 101 opens and inserts into the lunar soil, closes to collect the sample, and then transports it to the grinding unit for sample delivery.

[0043] The main performance indicators of this dual-motor driven three-lobed lunar rock collection device are as follows: rock picking range of 15~45mm; rock holding force of ≥50N; shallow lunar soil digging depth of ≥10mm; rock dust content of ≤450mg; total unit weight of ≤850g; and excitation frequency of 120Hz.

[0044] Obviously, the above-disclosed embodiments of the present invention are merely illustrative of the invention. The embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. It is neither necessary nor possible to exhaustively describe all embodiments herein.

Claims

1. A three-lobed lunar rock collection device driven by dual motors, characterized in that, include: The sampling assembly (1) includes three sampling claws (101), three linkage structures and a support base (104). The sampling claws (101) are used to collect samples. The linkage structures include a first linkage (107) and a second linkage (102). One end of the first linkage (107) is hinged to the support base (104) and the other end is fixedly connected to the sampling claws (101). One end of the second linkage (102) is hinged to the first linkage (107). The opening and closing assembly (3) has the other end of the second connecting rod (102) connected to the opening and closing assembly (3). The opening and closing assembly (3) drives the three sampling claws (101) to open or close through the connecting rod structure. Rotary component (4), the rotary component (4) drives the sampling claw (101) to rotate through the support base (104); The vibration dust removal component (2) is used to vibrate and shake off the dust on the sample surface.

2. The dual-motor driven three-lobed lunar rock collection device according to claim 1, characterized in that: The included angle between the three first links (107) is 120°.

3. The dual-motor driven three-lobed lunar rock collection device according to claim 1, characterized in that: The opening and closing assembly (3) includes an opening and closing motor (309), a first transmission structure, a lead screw (310), a first sleeve (311), a second sleeve (301), and a spline wheel (312). The opening and closing motor (309) drives the first sleeve (311) to rotate through the first transmission structure. One end of the lead screw (310) is screwed into the first sleeve (311), and the other end passes through the second sleeve (301). The second connecting rod (102) is hinged to the second sleeve (301). The lead screw (310) slides through the spline wheel (312), and the spline wheel (312) is used to limit the rotation of the lead screw (310).

4. The dual-motor driven three-lobed lunar rock collection device according to claim 3, characterized in that: The first transmission structure includes a first bevel gear (308) and a second bevel gear (307). The first bevel gear is connected to the opening and closing motor (309). The first bevel gear (308) meshes with the second bevel gear (307). The second bevel gear (307) is connected to the first sleeve (311).

5. The dual-motor driven three-lobed lunar rock collection device according to claim 3, characterized in that: A linear bearing (305) is provided between the lead screw (310) and the support base (104).

6. The dual-motor driven three-lobed lunar rock collection device according to claim 3, characterized in that: A double-layer polytetrafluoroethylene sleeve (304) is provided between the lead screw (310) and the second sleeve (301).

7. The dual-motor driven three-lobed lunar rock collection device according to claim 1, characterized in that: The outer wall of the sampling claw (101) is provided with a micro-quantitative sampling hole (105).

8. The dual-motor driven three-lobed lunar rock collection device according to claim 1, characterized in that: The rotary assembly (4) includes a rotary motor (403), a second transmission structure, and a rotary hollow rod (401). The rotary motor (403) drives the rotary hollow rod (401) to rotate through the second transmission structure. The rotary hollow rod (401) is fixedly connected to the support base (104), and the lead screw (310) is located inside the rotary hollow rod (401).

9. The dual-motor driven three-lobed lunar rock collection device according to claim 8, characterized in that: The second transmission structure includes a third bevel gear (404) and a fourth bevel gear. The third bevel gear (404) is connected to the rotary motor (403), the third bevel gear (404) meshes with the fourth bevel gear, and the fourth bevel gear is connected to the rotary hollow rod (401).

10. The dual-motor driven three-lobed lunar rock collection device according to claim 1, characterized in that: The excitation dust removal assembly (2) uses an exciter.

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