A tetrahedral rover and method of using same

Abstract

The application provides a tetrahedral Mars rover and a use method thereof, and belongs to the technical field of Mars development. The Mars rover is mainly composed of a tetrahedral body, a side edge sampler, a hollow ring-shaped transfer cylinder, a lifting wheel, an electrically unfolded wing, a pull-up anti-pulser and other key structures. In view of the problems of low lightweight degree, low space utilization rate, single function and short service life of the traditional Mars rover, the Mars rover is designed into a tetrahedral shape, sensors, screw drilling and mechanical grabbing mechanisms are respectively installed on the side edges; during work, the hollow ring-shaped transfer cylinder is taken away by the pull-up anti-pulser and is connected with a Mars orbit cabin, sample transfer and recovery are completed. When the Mars rover is in autonomous dormancy, the spring extension mechanism is used to control the sun wing and the wheel to be retracted and unfolded, so that the abrasion in the extreme temperature and sanding environment is avoided. The body of the Mars rover is designed into a tetrahedral shape, the function modules of the Mars rover are arranged by using the geometric structure, and the Mars rover has the innovations in lightweight and functional integration.

Description

Technical Field

[0001] This invention relates to the field of Mars development technology, and in particular to a tetrahedral Mars rover and its usage method. Background Technology

[0002] Mars, like Earth, is located in the habitable zone of the solar system, making it a prime candidate for human space colonization. Currently, human exploration and development of Mars suffers from severely limited on-site exploration and research capabilities due to the limitations of Earth-Mars launch vehicles. As the primary tool for Mars sampling and exploration, the design and manufacturing of Mars rovers face major challenges in terms of lightweight design, functional integration, high space utilization, long service life, and remote tracking and control capabilities. To address these challenges, this invention provides a tetrahedral Mars rover and its usage method, which boasts advantages such as high lightweight design, simple and rational shape, high functional integration, high space utilization, multiple sampling trips, and convenient rocket launch.

[0003] Lightweighting and functional integration of Mars rovers fall under the category of efficient spacecraft design. Overcoming the challenges in existing Mars rover designs, such as the need to coordinate the orbiter, lander, and rover as a whole to complete Mars exploration and sample return missions, as well as the additional design of fixed support modules for volcanic rock sample collection and transfer, insufficient lightweighting of volcanic rock sample transfer tubes, complex power structures of electrically deployable wings, and the traditional downward-facing position and insufficient stability of the lift retrorovers, have become urgent problems for designers in this field. Summary of the Invention

[0004] This invention proposes a tetrahedral Mars rover and its usage method, aiming to solve the following design challenges: lightweight Mars rover structure, functional integration of lander and Mars rover, rational arrangement of volcanic rock sample collection device, structure of volcanic rock sample collector, control of Mars rover wheel lifting and solar panel deployment and retraction, and position and structure of thruster.

[0005] To address the aforementioned challenges, this invention presents a tetrahedral Mars rover and its method of operation. The key innovations of this device include: a tetrahedral body, a side-edge sampler, a hollow annular transfer cylinder, lifting wheels, electrically deployable wings, and a lifting thruster.

[0006] To realize a tetrahedral Mars rover and its operational method, the entire execution process can be divided into three stages: the rover landing phase, the exploration and sample drilling / grabbing phase, and the volcanic rock sample separation and transfer phase. The lander and rover, traditionally a three-module structure (orbiter, lander, and rover), are designed as a single unit, creating a two-module structure. This reduces equipment weight while improving structural and functional integration. Furthermore, the rover's overall tetrahedral design reduces two panels compared to the traditional hexahedral rover. Sensors, a screw drilling mechanism, and a mechanical grasping mechanism are installed on the rover's three side edges, enabling functions such as rover signal acquisition, volcanic rock sample drilling, and mechanical grasping of volcanic rock samples. A lift-and-thruster is designed at the top center of the rover structure. During landing, the rover can achieve near-Earth thrust deceleration and Martian terrain exploration by lifting and moving. The volcanic rock sample collection and transfer process utilizes the lift-and-thruster to achieve docking with the orbital module, avoiding the rock splashing and structural instability during takeoff that can occur with traditional lander-based thruster designs. A spring-loaded telescopic mechanism is designed on the tetrahedral body of the Mars rover to control the deployment and retraction of the electric wings. A lifting spring-loaded telescopic mechanism is designed at the bottom center of the rover to control the raising and lowering of the rover wheels. The wheels are deployed during operation and retracted during rest, preventing wear on the wheels in extreme temperatures and sandy environments. The specific implementation includes the following steps:

[0007] S1: During the landing process of the Mars rover, the top-mounted thruster is activated, which not only lifts the rover to explore the Martian terrain, but also finds a favorable position to achieve near-ground thrust deceleration and landing.

[0008] S2: When the rover lands at the designated location, the three inner surface side panels unfold and charge the solar panels;

[0009] S3: After the solar panels are fully charged, adjust the spring telescopic mechanism to release the wheels at the bottom of the Mars rover, allowing the Mars rover to move and explore on the Martian surface.

[0010] S4: Upon reaching the work location on the Martian surface, use the screw drilling mechanism and mechanical gripping mechanism installed on the three side edges of the tetrahedron rover to take samples from the interior and surface of the Martian soil, respectively.

[0011] S5: After the Martian surface sampling is completed and sealed, the hollow annular transfer tube will be taken off the Martian rover by the lifting thruster on the upper part of the rover and lifted and docked with the orbital module to complete a sampling and recovery mission.

[0012] S6: After completing the orbital transfer of the volcanic rock sample, restart the top thruster to achieve near-ground thrust deceleration and suspended exploration of Martian terrain again, thereby completing multiple cyclic collections of volcanic rock samples and transfer of the cyclic orbital capsule.

[0013] S7: When the rover enters autonomous hibernation, it uses a spring telescopic mechanism to control the retraction of the wheels and electric deployable wings to complete one cycle of sampling mission.

[0014] S8: Shut down all functional systems, return the combined unit to its original position, and enter hibernation mode autonomously.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0016] This invention describes a tetrahedral Mars rover and its usage method. The rover is designed as a lightweight tetrahedral structure. Utilizing the geometry of the tetrahedron, three of its side edges are designed as support structures, reducing the additional support and weight of the sampling equipment. A lift-and-reverse thruster is designed at the top center of the rover structure. During the rover's descent, it can achieve near-Earth thrust deceleration and lift-and-reverse movement for Martian terrain exploration. The collection and transfer of volcanic rock samples can be achieved through the lift-and-reverse thruster, enabling docking with the orbital module, avoiding the rock splashing and structural instability caused by the traditional design of the thruster at the bottom of the lander. Sensors, a screw drilling mechanism, and a mechanical gripping mechanism are respectively installed on the three side edges of the rover, enabling functions such as rover signal acquisition, volcanic rock sample drilling, and mechanical gripping of volcanic rock samples. The aforementioned multi-functional integrated structure design enables comprehensive functions such as near-Earth thrust deceleration, Martian terrain exploration, volcanic rock sample collection and transfer, and sample tube lifting, docking, and recovery. Simultaneously, it allows for multiple cyclic sampling and orbital module transfer, offering advantages such as high lightweighting, simple and rational shape, high functional integration, high space utilization, multiple round-trip sampling, and convenient rocket launch.

[0017] To more clearly illustrate the implementation scheme of the tetrahedral Mars rover and its usage method described in this invention, the invention will be further described in detail below with reference to the accompanying drawings.

[0018] Figure 1 This is a structural schematic diagram of one embodiment of the present invention.

[0019] Figure 2 This is a schematic diagram of the tetrahedral body, side edge sampler, and electrically deployable wing of the present invention.

[0020] Figure 3 This is a schematic diagram of the lifting wheel of the present invention.

[0021] Figure 4 This is a schematic diagram of the structure of the lifting thruster and the hollow annular transfer cylinder of the present invention.

[0022] Figure 5 This is a flowchart of the process of the present invention.

[0023] In the diagram: 1-Pull-back thruster; 2-Threaded connecting rod; 3-Hollow annular transfer cylinder; 4-Sensing detection device; 5-Spring telescopic mechanism; 6-Screw drilling mechanism; 7-Lifting wheel structure; 8-Electric unfolding wing; 9-Mechanical gripping mechanism; 10-Wheel storage box; 11-Transfer cylinder connecting sleeve; 12-Fixing gasket; 13-Lifting spring telescopic mechanism; 14-Spring; 15-Rotary motor; 16-Plum blossom coupling; 17-Motor fixing sleeve; 18-Dual rotor motor; 19-Threaded sleeve; 20-Wheel.

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments:

[0025] See Figure 1 This invention provides a novel tetrahedral Mars rover, which mainly includes a lifting thruster 1, a hollow annular transfer cylinder 3, a tetrahedral body, side edge samplers, a lifting wheel structure 7, and electrically deployable wings 8. The lifting thruster 1 is threadedly connected to the top of the hollow annular transfer cylinder. The hollow annular transfer cylinder 3 is installed on the top of the tetrahedral body. The side edge samplers are respectively fixedly installed on three side edges of the tetrahedral body. The wheels 20 are formed by six lifting spring telescopic mechanisms 13 designed in the outer central cavity of the transfer cylinder. The three electrically deployable wings 8 are hinged to the side of the bottom plate of the tetrahedral body. The electrically deployable wings 8 are used to charge the solar panels and power the entire Mars rover, so that it does not need an external power source.

[0026] See Figure 2 In this embodiment, specifically, the side edge sampler includes a sensing and detection device 4, a screw drilling mechanism 6, and a mechanical gripping mechanism 9, which are respectively installed on the three side edges of the tetrahedral body. The transfer cylinder connecting sleeve 11 is connected to the electric deployable wing 8 through the spring telescopic mechanism 5 to realize the deployment and retraction of the electric deployable wing 8. The electric deployable wing 8 is hinged to the side of the tetrahedral base plate by three hinges, with an angle of 110° with the base plate. The spring telescopic mechanism 5 controls the speed to be 0.2m / s during deployment and retraction.

[0027] See Figure 3In this embodiment, the lifting wheel includes a fixed shim 12, a lifting spring telescopic mechanism 13, a spring 14, a rotary motor 15, a plum blossom coupling 16, a motor fixing rod 17, a dual rotor motor 18, a threaded sleeve 19, and a wheel 20. Three fixed shims 12 are used, each fixedly installed on the top surface of the wheel storage box 10 by screws. Three lifting spring telescopic mechanisms 13 are used, fixedly installed below the center of the fixed shims 12, allowing individual control of the wheel's lifting and lowering, with a control speed of 0.2 m / s. The spring 14 is sleeved on the outside of the spring telescopic mechanism 13, coaxially installed with the spring telescopic mechanism 13, and secured by a shoulder. The positioning installation aims to assist the retraction of the spring telescopic mechanism 13, allowing the wheels to adjust vertically during deployment to adapt to the uneven terrain of Mars. Three rotary motors 15 are installed below the spring telescopic mechanism 13, enabling the wheels to rotate freely 360°. The fixed sleeve 17 is connected to the rotary motor 15 via two plum blossom couplings 16. Three dual-rotor motors 18 are installed on the motor fixed sleeve 17, with threaded sleeves 19 installed on the motor shafts. Six wheels 20 are symmetrically installed on both sides of the dual-rotor motors 18 via threaded sleeves 19, enabling the rover to move forward and backward at a speed range of 30~40 m / h.

[0028] In operation, this invention utilizes the top-mounted thruster 1 to lift and survey the Martian terrain, then locates a favorable position for near-Earth thrust deceleration and landing. After landing, the three solar panels mounted on the inner surfaces are deployed and charged. Subsequently, the spring telescopic mechanism 13 releases the wheels 20 at the bottom of the rover, enabling it to move and explore the Martian surface. Upon reaching the work position, the screw drilling mechanism 6 mounted on the side edges and the mechanical gripping mechanism 9 collect samples from the interior and surface layers of the Martian soil, respectively. After sampling, the hollow annular transfer cylinder 3 is lifted and docked with the orbital module via the ignition and lifting device on the upper part of the rover, completing a sampling and recovery mission. Finally, all working systems are shut down, the assembly returns to its original position, and it enters autonomous hibernation.

[0029] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A tetrahedral Mars rover and its method of use, characterized in that, The device mainly includes: a tetrahedral body, a side-edge sampler, a hollow annular transfer cylinder, an electrically deployed wing, and a lift-and-reverse thruster. During operation, battery panels are installed at designated locations on the three inner surface plates of the rover for charging, while the retractor releases the wheels from the bottom of the rover. Upon reaching the working position on the Martian surface, the screw drilling mechanism and mechanical gripping mechanism installed on the three side edges of the tetrahedral rover collect samples from the interior and surface layers of the Martian soil, respectively. After drilling and sample collection are completed, the hollow annular transfer cylinder is lifted and docked with the Mars orbital module via the lift-and-reverse thruster using the ignition and lifting device on the upper part of the rover, completing a sampling and recovery mission. The specific steps include: Step S1: During the Mars rover's descent, the top-mounted thrusters are activated to lift and survey the Martian terrain, and to find a favorable location for near-Earth thrust deceleration and landing. Step S2: After landing, unfold the solar panels installed on the three inner surfaces of the Mars rover and charge them; Step S3: Adjust the spring extension mechanism to release the wheels at the bottom of the Mars rover; Step S4: During the surface moving sampling operation, the screw drilling mechanism and mechanical gripping mechanism installed on the side edge are used to drill inside the Martian surface soil and grab the surface volcanic rock samples, respectively. Step S5: After the drilling and retrieval of the samples are completed and sealed, the hollow annular transfer cylinder is pulled and docked with the orbital module through the lifting thruster on the upper part of the Mars rover. Step S6: The spring telescopic mechanism continues to work, controlling the retraction of the Mars rover's wheels and battery panels; Step S7: Shut down all working systems of the tetrahedral Mars rover to complete one sample collection and transfer. Step 8 S8: After completing the orbital transfer of the volcanic rock sample, restart the top thruster to achieve near-Earth thrust deceleration and suspended exploration of the Martian terrain, thereby completing multiple cycles of volcanic rock sample collection and orbital capsule transfer.

2. The tetrahedral Mars rover and its method of use according to claim 1, characterized in that: The tetrahedral Mars rover is designed as a whole, integrating the lander and rover into a single unit, making it a "two-module structure". This reduces the weight of the equipment while improving the integration of structure and function.

3. The tetrahedral Mars rover and its method of use according to claim 1, characterized in that: The rover is designed as a multi-functional integrated structure, capable of near-Earth thrust deceleration, Martian terrain exploration, volcanic rock sample collection and transfer, and sample tube lifting and docking recovery. It can also achieve multiple cyclic collection and transfer of the cyclic orbital module.

4. The tetrahedral Mars rover and its method of use according to claim 1, characterized in that: The proposed design of the Mars rover into a tetrahedral structure reduces the number of panels compared to the traditional hexahedral Mars rover, increases geometric stability, and has advantages such as light weight, high space utilization, and aesthetic appearance.

5. The tetrahedral Mars rover and its method of use according to claim 1, characterized in that: The arrangement of functional modules of the Mars rover takes into account the geometry of a tetrahedron, and designs the three side edges of the tetrahedron as supporting structures, which reduces the additional support and weight of the sampling device.

6. The tetrahedral Mars rover and its method of use according to claim 1, characterized in that: The installation of sensors, screw drilling, and mechanical gripping mechanisms on the three side edges of the tetrahedral Mars rover enables functions such as rover signal capture, drilling of igneous rock samples, and mechanical gripping of igneous rock samples.

7. The tetrahedral Mars rover and its method of use according to claim 1, characterized in that: A hollow annular transfer cylinder is designed at the very center of the Mars rover. The volcanic rock sample is placed inside the annular cavity of the transfer cylinder, while a lifting wheel structure is designed in the outer central cavity. This hollow annular transfer cylinder design not only enables the recovery of the volcanic rock sample but also improves the structural utilization rate and reduces weight.

8. The tetrahedral Mars rover and its method of use according to claim 1, characterized in that: The rover features a lift-up thruster at the top center of its structure. This thruster enables near-Earth thrust deceleration and Martian terrain exploration during descent. The collection and transfer of volcanic rock samples can be facilitated by the lift-up thruster, allowing for docking with the orbital module and avoiding the traditional placement of thrusters at the bottom of the lander, which could result in rock splashing and structural instability during takeoff.

9. The tetrahedral Mars rover and its method of use according to claim 1, characterized in that: A spring-loaded telescopic mechanism is designed at the bottom center of the Mars rover, which allows for the free up and down movement of the rover's wheels. The wheels are deployed during operation and retracted during rest, preventing wear and tear on the wheels in extreme temperatures and sandy environments.

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