WO2020133547A1 - 一种地外天体采样装置及其采样方法 - Google Patents

一种地外天体采样装置及其采样方法 Download PDF

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Publication number
WO2020133547A1
WO2020133547A1 PCT/CN2018/125991 CN2018125991W WO2020133547A1 WO 2020133547 A1 WO2020133547 A1 WO 2020133547A1 CN 2018125991 W CN2018125991 W CN 2018125991W WO 2020133547 A1 WO2020133547 A1 WO 2020133547A1
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Prior art keywords
truss
freedom
degree
satellite body
mechanical arm
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PCT/CN2018/125991
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English (en)
French (fr)
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刘金国
王莽宽
张飞宇
刘玉旺
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中国科学院沈阳自动化研究所
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Publication of WO2020133547A1 publication Critical patent/WO2020133547A1/zh

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N1/00—Sampling; Preparing specimens for investigation
    • G01N1/02—Devices for withdrawing samples
    • G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting

Definitions

  • the invention belongs to the field of extraterrestrial celestial body research, in particular to an extraterrestrial celestial body sampling device and a sampling method thereof.
  • Extraterrestrial objects contain a lot of information about the origin of life and the universe, and the analysis of rock samples from extraterrestrial objects is the most direct and effective method; but because of the complex terrain of extraterrestrial objects, it is difficult to obtain suitable rock samples. .
  • the object of the present invention is to provide a sampling device and a sampling method for extraterrestrial objects.
  • the sampling device of the present invention includes a satellite body, a supporting leg, a telescopic gripping device, a multi-degree-of-freedom mechanical arm, and a diamond chain saw, wherein the bottom of the satellite body is provided with a supporting leg, a telescopic gripping device, and a multi-degree-of-freedom mechanical arm, respectively.
  • the support legs are multiple and evenly distributed along the circumferential direction.
  • the upper end of the multi-degree-of-freedom mechanical arm is connected to the bottom of the satellite body, and the lower end is connected to the diamond chain saw for cutting samples of extraterrestrial celestial bodies; It is installed on the satellite body, the upper end is connected to the power source installed inside the satellite body, and is driven to expand and contract by the power source, and the lower end is provided with a capture claw to capture the sample;
  • the supporting legs include supporting feet and a plurality of truss hinged to each other, the uppermost truss is hinged to the satellite body, the bottom of the lowermost truss is hinged with supporting feet, and the satellite body is installed with a driving uppermost truss to swing Linear motor A, the bottom end of each truss is equipped with a linear motor A that drives the swing of the adjacent adjacent truss or the swing of the support foot;
  • truss A and truss B There are two truss, namely truss A and truss B, the top of the truss A is hinged to the satellite body, the bottom is hinged to the top of the truss B, the bottom of the truss B is hinged with supporting feet;
  • a linear motor A is installed on the satellite body, the bottom end of the truss A, and the bottom end of the truss B, the linear motor A on the satellite body drives the truss A to swing, and the linear motor A on the truss A drives the truss B Swing, the linear motor A on the truss B drives the supporting foot to swing;
  • the telescopic gripping device includes a power source, a telescopic rod, a base and a capturing claw.
  • the telescopic rod is relatively telescopically connected to the bottom of the satellite body through a linear bearing.
  • the upper end of the telescopic rod is connected to the power installed inside the satellite body
  • the source is connected, a base is installed at the lower end, and a capture claw is installed on the base;
  • the catching claw includes a motor A, a screw A, a wire mother A, a transmission rod, and a gripping jaw.
  • the motor A is mounted on a base, and the output shaft is connected to a screw A rotating on the base.
  • a wire nut A is threadedly connected to the bar A, and the wire nut A is uniformly connected with a plurality of transmission rods along the circumferential direction, each transmission rod is hinged with a gripping jaw, and the gripping jaw is hinged to the base ;
  • the power source is a linear motor B.
  • the linear motor B is fixed inside the satellite body and directly connected to the upper end of the telescopic rod to drive the telescopic rod to expand and contract;
  • the power source is a motor B, and the motor B is connected to the upper end of the telescopic rod through a transmission mechanism to drive the telescopic rod to extend and contract;
  • the transmission mechanism includes a screw B and a wire mother B, and the screw B is mounted on the satellite body And connected to the output end of the motor B, which is driven to rotate by the motor B, the wire mother B is screwed to the screw B, and the upper end of the telescopic rod is connected to the wire mother B;
  • the multi-degree-of-freedom mechanism arm is a seven-degree-of-freedom mechanical arm, the execution end of the seven-degree-of-freedom mechanical arm has a rotational degree of freedom, and a relative rotational degree of freedom with the joint A, and the joint A has a rotational freedom Degree, and has a relative rotational freedom degree with the joint B, the joint B has a rotational freedom degree, and has a relative rotational freedom degree with the joint C, there is a rotation between the joint C and the satellite body Degrees of freedom; the seven-degrees-of-freedom mechanical arm drives the diamond chain saw to rotate and cut around the axis of the satellite body;
  • the sampling method of the extraterrestrial object sampling device of the present invention is:
  • the working space of the multi-degree-of-freedom manipulator arm is supported by the support legs, and then the surface of the celestial body is cut using a diamond chain saw mounted on the multi-degree-of-freedom manipulator arm.
  • the gripping device grabs, and then the satellite body breaks away from the surface of the star; specifically:
  • the support leg In the initial state, the support leg is in the extended state, and the telescopic gripping device is retracted to the position of zero stroke by the driving of the power source.
  • the multi-degree-of-freedom mechanical arm drives the diamond chain saw in the folded state and is located in the The lower part of the satellite body;
  • the support legs are supported on the surface of the extraterrestrial celestial body, the multi-degree-of-freedom mechanical arm is unfolded, the diamond chain saw is slanted deep below the surface of the celestial body, and the diamond chain is driven
  • the saw performs rotary cutting, cutting the sample into a cone, and the root of the cone sample is not connected with other rocks of the celestial body, which is convenient for taking out;
  • the telescopic gripping device In the sample recovery state, the telescopic gripping device is extended by the drive of the power source, and the sample is captured by the bottom capture claw, and then driven and lifted by the power source; at the same time, the multi-degree-of-freedom mechanical arm is folded;
  • the support legs are folded to surround the sample; the satellite body leaves the surface of the extraterrestrial object.
  • the sampling device provided by the present invention has a simple structure, flexible movement and delicate control, and the cutting angle can be adjusted freely through a mechanical arm to ensure the sampling success rate.
  • the diamond chain saw is driven by a multi-degree-of-freedom mechanical arm for cutting, and the final cutting shape is tapered, which is beneficial to the smooth removal of the sample.
  • the invention can be adapted to the sampling work under various complex terrain conditions.
  • FIG. 1 is a schematic diagram of a stereo structure of a sampling device of the present invention
  • FIG. 2 is a schematic structural view of a supporting leg in the sampling device of the present invention.
  • FIG. 3 is a schematic structural view of a base and a catch claw in the telescopic gripping device of the present invention
  • FIG. 4 is a schematic structural view of the capture claw in FIG. 3;
  • FIG. 5 is a structural schematic diagram of a multi-degree-of-freedom mechanical arm in a sampling device of the present invention
  • FIG. 8 is a third schematic diagram of the sampling process of the present invention.
  • 1 is the main body of the satellite
  • 2 is the support leg
  • 201 is the linear motor A
  • 202 is the truss A
  • 203 is the truss B
  • 204 is the support foot
  • 3 is the telescopic gripping device
  • 301 is the telescopic rod
  • 302 is the base
  • 303 is the motor A
  • 304 is the screw B
  • 305 is the screw
  • 306 is the transmission rod
  • 307 is the gripping jaw
  • 308 is the pin
  • 4 is the multi-degree-of-freedom manipulator
  • 401 is the execution end
  • 402 is the joint A
  • 403 is joint B
  • 404 is joint C
  • 5 is diamond chain saw.
  • the sampling device of the present invention includes a satellite body 1, a supporting leg 2, a telescopic gripping device 3, a multi-degree-of-freedom mechanical arm 4, and a diamond chain saw 5, wherein the bottom of the satellite body 1 is provided with a supporting leg 2 ,
  • the telescopic gripping device 3 and the multi-degree-of-freedom mechanical arm 4, the support legs 2 are multiple, distributed uniformly along the circumferential direction of the bottom edge of the satellite body 1, the upper end of the multi-degree-of-freedom robot arm 4 is connected to the middle position of the bottom of the satellite body 1 ,
  • the lower end is connected with a diamond chain saw 5 that cuts samples of extraterrestrial objects;
  • the telescopic gripping device 3 can be relatively telescopically mounted on the satellite body 1, and the upper end is connected to a power source installed inside the satellite body 1, driven by the power source to expand and contract , The lower end is provided with a capture claw to capture the sample.
  • the supporting leg 2 of the present invention includes a supporting leg 24 and a plurality of mutually hinged truss, the uppermost truss is hinged to the satellite body 1, the bottom of the lowermost truss is hinged with a supporting leg 204, and the satellite body 1 is installed with a driving uppermost truss swing
  • the linear motor A201 the bottom end of each truss is equipped with a linear motor A201 that drives the adjacent adjacent truss to swing or the support legs 204 to swing.
  • FIG. 1 and FIG. 2 there are three support legs 2 in this embodiment, and each support leg 2 has two truss, which are a truss A202 and a truss B203 respectively.
  • the top of the truss A202 is hinged to the satellite body 1. At the edge of the bottom, the bottom end is hinged with the top of the truss B203, and the bottom end of the truss B203 is hinged with a support foot 204.
  • a linear motor A201 is installed on the bottom of the satellite body 1, the bottom of the truss A202 and the bottom of the truss B203.
  • the linear motor A201 on the satellite body 1 drives the truss A202 to swing, and the linear motor A201 on the truss A202 drives the truss B203 to swing.
  • the linear motor A201 on the truss B203 drives the support leg 204 to swing.
  • each support leg 2 has any degree of freedom in the plane, and the three support legs 3 can adjust the rotation angle of the hinge to adapt to different terrain environments.
  • each telescopic gripping device 3 includes a power source, a telescopic rod 301, A base 302 and a catching claw.
  • the telescopic rod 301 is relatively telescopically connected to the bottom of the satellite body 1 through a linear bearing.
  • the upper end of the telescopic rod 301 is connected to a power source installed inside the satellite body 1, and a base 302 is installed at the lower end.
  • a catching claw is mounted on the base 302.
  • the catching claw includes a motor A303, a screw A304, a screw nut A305, a transmission rod 306, and a gripping jaw 307.
  • the motor A303 is mounted on the base 302, and the output shaft is connected to the screw A304 rotatingly mounted on the base 302.
  • the lead screw A304 is threadedly connected with a thread mother A305, and the thread mother A305 is uniformly connected with a plurality of transmission rods 306 along the circumferential direction, each transmission rod 306 is hinged with a gripping jaw 307, and each gripping jaw 307 All of them are provided with pin shafts 308 through which they are hinged to the base 302.
  • One end of each gripping jaw 307 is hinged with the transmission rod 306, and the other end is hook-shaped, which is used to grab the surface rock of the outer celestial body.
  • the power source of the present invention may be a linear motor B, which is fixed inside the satellite body 1 and directly connected to the upper end of the telescopic rod 301 to drive the telescopic rod 301 to expand and contract.
  • the power source is a motor B, which is connected to the upper end of the telescopic rod 301 through a transmission mechanism to drive the telescopic rod 301 to expand and contract.
  • the transmission mechanism includes a screw B and a screw B.
  • the screw B is installed in the satellite body 1 and is connected to the output end of the motor B.
  • the motor B drives the rotation, the screw B is screwed to the screw B, and the telescopic rod
  • the upper end of 301 is connected to silk mother B.
  • the three telescopic grasping devices 3 of the present invention can adjust the respective movement strokes of the three telescopic grasping devices 3 according to the shape of the surface of the celestial body being grasped.
  • the multi-degree-of-freedom manipulator 4 is the prior art. As shown in FIG. 5, the multi-degree-of-freedom manipulator 4 of the present invention is a seven-degree-of-freedom manipulator.
  • the diamond chain saw 5 is installed at the execution end 401 of the seven-degree-of-freedom manipulator.
  • the execution end 401 has a rotational degree of freedom ⁇ 7 and a relative rotational degree of freedom ⁇ 6 with the joint A402, and the joint A402 has a rotational degree of freedom ⁇ 5 and a relative rotational degree of freedom ⁇ 4 with the joint B403
  • the joint B403 has a rotational degree of freedom ⁇ 3 and a relative rotational degree of freedom ⁇ 2 with the joint C404, and a rotational degree of freedom ⁇ 1 between the joint C404 and the satellite body 1 .
  • the seven-degree-of-freedom robot arm drives the diamond chain saw 5 to rotate and cut around the axial centerline of the satellite body 1.
  • the rock sample formed by the cutting is tapered, and the joint angles of the robot arm can be adjusted according to the size of the desired cutting object. Cut samples of suitable size.
  • the sampling method of the extraterrestrial object sampling device of the present invention is:
  • the working space of the multi-degree-of-freedom robot arm 4 is supported by the support legs 2, and then the surface of the celestial body is cut by the diamond chain saw 5 mounted on the multi-degree-of-freedom robot arm 4.
  • the conical sample formed by cutting is grasped by the telescopic grasping device 3, and then the satellite body 1 is separated from the surface of the star.
  • the support leg 2 in the initial state, the support leg 2 is in the extended state, the retractable gripping device 3 is retracted to the position of zero stroke by the driving of the power source, and the multi-degree-of-freedom mechanical arm 4 drives the diamond chain saw 5 in the folded state. And located in the lower part of the satellite body 1.
  • the sample cutting state begins after the surface of the astral body.
  • the support legs 2 adjust the joint angle of each joint according to the surface of the celestial body to provide a stable support environment for sampling;
  • the multi-degree-of-freedom mechanical arm 4 is unfolded, the diamond chain saw 5 is slanted deep below the surface of the celestial body, and the diamond chain saw 5 is driven to rotate and cut, and the sampled sample is cut into a cone, and the root of the tapered sample and other rocks of the celestial body No connection, easy to remove.
  • the sample recovery state starts after the surface of the astral body is reached.
  • the telescopic gripping device 3 is extended by the drive of the power source, uses the bottom capture claw to grab the sample, and then the power source drives the lift; at the same time, more freedom
  • the mechanical arm 4 can be retracted and folded, and adjusted to an appropriate position that does not interfere with the telescopic grasping device 3.
  • the supporting legs 2 are gradually folded, embracing the sample to play an additional fixing role; the satellite body 1 leaves the surface of the extraterrestrial body.
  • the invention can be used for sampling asteroids and other extraterrestrial objects.

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Abstract

一种地外天体采样装置及其采样方法，卫星主体（1）的底部分别设有支撑腿（2）、伸缩抓取装置（3）及多自由度机械臂（4），支撑腿（2）为多个、沿周向均布，多自由度机械臂（4）的上端连接于卫星主体（1）的底部，下端连接有切削地外天体样本的金刚石链锯（5）；伸缩抓取装置（3）可相对伸缩地安装在卫星主体（1）上，上端与安装在卫星主体（1）内部的动力源相连、由该动力源驱动伸缩，下端设有捕获样本的捕获爪。卫星主体着陆完毕以后利用支撑腿（2）支撑起多自由度机械臂（4）的工作空间，之后利用安装在多自由度机械臂（4）上的金刚石链锯（5）对星体表面实施切割，切割形成的锥形样本由伸缩抓取装置（3）抓取脱离星体表面。地外天体采样装置结构简单，运动灵活，控制精巧，保证取样的成功率。

Description

一种地外天体采样装置及其采样方法 技术领域
本发明属于地外天体研究领域，具体地说是一种地外天体采样装置及其采样方法。
背景技术
地外天体蕴含了大量有关于生命和宇宙起源的信息，而利用地外天体的岩石样本进行分析则是最为直接有效的手段；但是由于地外天体地形复杂，要获取合适的岩石样本也较为困难。
发明内容
为了适应地外天体复杂地形进而便于获取地外天体岩石样本，本发明的目的在于提供一种一种地外天体采样装置及其采样方法。
本发明的目的是通过以下技术方案来实现的：
本发明的采样装置包括卫星主体、支撑腿、伸缩抓取装置、多自由度机械臂及金刚石链锯，其中卫星主体的底部分别设有支撑腿、伸缩抓取装置及多自由度机械臂，该支撑腿为多个、沿周向均布，所述多自由度机械臂的上端连接于卫星主体的底部，下端连接有切削地外天体样本的所述金刚石链锯；所述伸缩抓取装置可相对伸缩地安装在卫星主体上，上端与安装在卫星主体内部的动力源相连、由该动力源驱动伸缩，下端设有捕获样本的捕获爪；
其中：所述支撑腿包括支撑脚及多个相互铰接的桁架，最上端的桁架铰接于所述卫星主体上，最下端桁架的底部铰接有支撑脚，所述卫星主体上安装有驱动最上端桁架摆动的直线电机A，各所述桁架的底端均安装有驱动下方相邻桁架摆动或驱动支撑脚摆动的直线电机A；
所述桁架为两个，分别为桁架A及桁架B，该桁架A的顶端铰接于所述卫星主体上，底端与所述桁架B的顶端铰接，该桁架B的底端铰接有支撑脚；所述卫星主体、桁架A的底端及桁架B的底端均安装有直线电机A，该卫星主体上的直线电机A驱动所述桁架A摆动，所述桁架A上的直线电机A驱动桁架B摆动，所述桁架B上的直线电机A驱动支撑脚摆动；
所述伸缩抓取装置包括动力源、伸缩杆、基座及捕获爪，该伸缩杆通过直线轴承与卫星主体的底部可相对伸缩地连接，所述伸缩杆的上端与安装在卫星主体内部的动力源相连，下端安装有基座，该基座上安装有捕获爪；
所述捕获爪包括电机A、丝杠A、丝母A、传动杆及抓取夹爪，该电机A安装在基座上，输出轴与转动安装在基座上的丝杠A相连，该丝杠A上螺纹连接有丝母A，所述丝母A沿周向均匀连接有多个传动杆，每个传动杆上均铰接有抓取 夹爪，所述抓取夹爪铰接于基座上；
所述动力源为直线电机B，该直线电机B固定在所述卫星主体内部，与所述伸缩杆的上端直连，驱动该伸缩杆伸缩；
所述动力源为电机B，该电机B通过传动机构与伸缩杆的上端连接，驱动该伸缩杆伸缩；所述传动机构包括丝杠B及丝母B，该丝杠B安装在所述卫星主体内，并与所述电机B的输出端连接，由该电机B驱动旋转，所述丝母B与丝杠B螺纹连接，所述伸缩杆的上端与丝母B相连；
所述多自由度机构臂为七自由度机械臂，该七自由度机械臂的执行末端具有一个旋转自由度，并与关节A之间具有一个相对转动自由度，所述关节A具有一个旋转自由度，并与关节B之间具有一个相对转动自由度，所述关节B具有一个旋转自由度，并与关节C之间具有一个相对转动自由度，所述关节C与卫星主体之间具有一个旋转自由度；所述七自由度机械臂带动金刚石链锯进行绕卫星主体轴向中心线旋转切割运动；
本发明地外天体采样装置的采样方法为：
所述卫星主体着陆完毕以后，利用支撑腿支撑起多自由度机械臂的工作空间，之后利用安装在多自由度机械臂上的金刚石链锯对天体表面实施切割，切割形成的样本由所述伸缩抓取装置抓取，然后卫星主体脱离星体表面；具体为：
初始状态，所述支撑腿处于伸长状态，所述伸缩抓取装置通过动力源的驱动收回到行程为零的位置，所述多自由度机械臂带动金刚石链锯处于折叠状态、并位于所述卫星主体的下部；
样本切割状态，所述卫星主体在地外天体表面着陆后，所述支撑腿支撑于地外天体表面，所述多自由度机械臂展开，将金刚石链锯斜深入天体表面以下，并且带动金刚石链锯进行旋转切割，将所取样本切割成锥形，所取的锥形样本根部与天体的其他岩石没有连接，便于取出；
样本回收状态，所述伸缩抓取装置通过动力源的驱动伸出，利用底端的捕获爪抓取住样本，再由所述动力源驱动提升；同时，所述多自由度机械臂收到折叠；
最终工作状态，所述支撑腿折叠，将样本环抱；所述卫星主体离开地外天体表面。
本发明的优点与积极效果为：
1.本发明提供的采样装置结构简单，运动灵活，控制精巧，通过机械臂可以自由调整切削角度，保证取样的成功率。
2.本发明通过多自由度机械臂带动金刚石链锯进行切割，最终切割的形状为锥形，这样有利于样本能顺利的取出。
3.本发明可以适应多种复杂地形情况下的取样工作。
附图说明
图1为本发明采样装置的立体结构示意图；
图2为本发明采样装置中支撑腿的结构示意图；
图3为本发明伸缩抓取装置中基座及捕获爪的结构示意图；
图4为图3中捕获爪的结构示意图；
图5为本发明采样装置中多自由度机械臂的结构原理图；
图6为本发明采样工作过程示意图之一；
图7为本发明采样工作过程示意图之二；
图8为本发明采样工作过程示意图之三；
图9为本发明采用工作过程示意图之四；
其中：1为卫星主体，2为支撑腿，201为直线电机A，202为桁架A，203为桁架B，204为支撑脚，3为伸缩抓取装置，301为伸缩杆，302为基座，303为电机A，304为丝杠B，305为丝母，306为传动杆，307为抓取夹爪，308为销轴，4为多自由度机械臂，401为执行末端，402为关节A，403为关节B，404为关节C，5为金刚石链锯。
具体实施方式
下面结合附图对本发明作进一步详述。
如图1所示，本发明的采样装置包括卫星主体1、支撑腿2、伸缩抓取装置3、多自由度机械臂4及金刚石链锯5，其中卫星主体1的底部分别设有支撑腿2、伸缩抓取装置3及多自由度机械臂4，该支撑腿2为多个、沿卫星主体1底部边缘圆周方向均布，多自由度机械臂4的上端连接于卫星主体1底部的中间位置，下端连接有切削地外天体样本的金刚石链锯5；伸缩抓取装置3可相对伸缩地安装在卫星主体1上，上端与安装在卫星主体1内部的动力源相连、由该动力源驱动伸缩，下端设有捕获样本的捕获爪。
本发明的支撑腿2包括支撑脚24及多个相互铰接的桁架，最上端的桁架铰接于卫星主体1上，最下端桁架的底部铰接有支撑脚204，卫星主体1上安装有驱动最上端桁架摆动的直线电机A201，各桁架的底端均安装有驱动下方相邻桁架摆动或驱动支撑脚204摆动的直线电机A201。如图1、图2所示，本实施例的支撑腿2为三个，每个支撑腿2的桁架均为为两个，分别为桁架A202及桁架B203，该桁架A202的顶端铰接于卫星主体1底部的边缘处，底端与桁架B203的顶端铰接，该桁架B203的底端铰接有支撑脚204。卫星主体1、桁架A202的底端及桁架B203的底端均安装有直线电机A201，该卫星主体1上的直线电机A201驱动所述桁架A202摆动，桁架A202上的直线电机A201驱动桁架B203摆动，桁架B203上的直线电机A201驱动支撑脚204摆动。这样，每个支撑腿2都有平面内的任意自由度，三个支撑腿3可以调节铰链的旋转角，以适应不同的地形环境。
如图1、图3及图4所示，本发明的伸缩抓取装置3为三个，由三个独立的 动力源分别控制；每个伸缩抓取装置3均包括动力源、伸缩杆301、基座302及捕获爪，该伸缩杆301通过直线轴承与卫星主体1的底部可相对伸缩地连接，伸缩杆301的上端与安装在卫星主体1内部的动力源相连，下端安装有基座302，该基座302上安装有捕获爪。捕获爪包括电机A303、丝杠A304、丝母A305、传动杆306及抓取夹爪307，该电机A303安装在基座302上，输出轴与转动安装在基座302上的丝杠A304相连，该丝杠A304上螺纹连接有丝母A305，丝母A305沿周向均匀连接有多个传动杆306，每个传动杆306上均铰接有抓取夹爪307，每个抓取夹爪307上均设有销轴308，通过该销轴308铰接于基座302上。每个抓取夹爪307的一端与传动杆306铰接，另一端为钩状，用于抓取地外天体表面岩石。本发明的动力源可为直线电机B，该直线电机B固定在卫星主体1内部，与伸缩杆301的上端直连，驱动该伸缩杆301伸缩。或者，动力源为电机B，该电机B通过传动机构与伸缩杆301的上端连接，驱动该伸缩杆301伸缩。传动机构包括丝杠B及丝母B，该丝杠B安装在卫星主体1内，并与电机B的输出端连接，由该电机B驱动旋转，丝母B与丝杠B螺纹连接，伸缩杆301的上端与丝母B相连。本发明的三个伸缩抓取装置3可根据所抓取天体表面形状调整三个伸缩抓取装置3的各自的运动行程。
多自由度机械臂4为现有技术，如图5所示，本发明的多自由度机械臂4为七自由度机械臂，金刚石链锯5安装在该七自由度机械臂的执行末端401，执行末端401具有一个旋转自由度θ 7，并与关节A402之间具有一个相对转动自由度θ 6，关节A402具有一个旋转自由度θ 5，并与关节B403之间具有一个相对转动自由度θ 4，关节B403具有一个旋转自由度θ 3，并与关节C404之间具有一个相对转动自由度θ 2，关节C404与卫星主体1之间具有一个旋转自由度θ 1。七自由度机械臂带动金刚石链锯5进行绕卫星主体1轴向中心线旋转切割运动，切割形成的岩石样本为锥形，且机械臂各个关节角可根据所需切割物体的大小进行调整，以切割合适尺寸的样本。
本发明地外天体采样装置的采样方法为：
如图6所示，卫星主体1着陆完毕以后，利用支撑腿2支撑起多自由度机械臂4的工作空间，之后利用安装在多自由度机械臂4上的金刚石链锯5对天体表面实施切割，切割形成的锥形样本由伸缩抓取装置3抓取，然后卫星主体1脱离星体表面。具体为：
如图7所示，初始状态，支撑腿2处于伸长状态，伸缩抓取装置3通过动力源的驱动收回到行程为零的位置，多自由度机械臂4带动金刚石链锯5处于折叠状态、并位于卫星主体1的下部。
如图8所示，在星体表面着陆后开始样本切割状态，卫星主体1在地外天体表面着陆后，支撑腿2根据天体表面地形调整各个关节的关节角，为采样提供一个稳定的支撑环境；多自由度机械臂4展开，将金刚石链锯5斜深入天体表面以 下，并且带动金刚石链锯5进行旋转切割，将所取样本切割成锥形，所取的锥形样本根部与天体的其他岩石没有连接，便于取出。
如图9所示，在星体表面着陆后开始样本回收状态，伸缩抓取装置3通过动力源的驱动伸出，利用底端的捕获爪抓取住样本，再由动力源驱动提升；同时，多自由度机械臂4收回折叠，调整到不干扰伸缩抓取装置3的合适位置即可。
最终工作状态，支撑腿2逐渐折叠，将样本环抱，起到一个额外的固定作用；卫星主体1离开地外天体表面。
本发明可用于实现对小行星等其他地外天体进行采样。

Claims (10)

  1. 一种地外天体采样装置，其特征在于：包括卫星主体(1)、支撑腿(2)、伸缩抓取装置(3)、多自由度机械臂(4)及金刚石链锯(5)，其中卫星主体(1)的底部分别设有支撑腿(2)、伸缩抓取装置(3)及多自由度机械臂(4)，该支撑腿(2)为多个、沿周向均布，所述多自由度机械臂(4)的上端连接于卫星主体(1)的底部，下端连接有切削地外天体样本的所述金刚石链锯(5)；所述伸缩抓取装置(3)可相对伸缩地安装在卫星主体(1)上，上端与安装在卫星主体(1)内部的动力源相连、由该动力源驱动伸缩，下端设有捕获样本的捕获爪。
  2. 根据权利要求1所述的地外天体采样装置，其特征在于：所述支撑腿(2)包括支撑脚(24)及多个相互铰接的桁架，最上端的桁架铰接于所述卫星主体(1)上，最下端桁架的底部铰接有支撑脚(204)，所述卫星主体(1)上安装有驱动最上端桁架摆动的直线电机A(201)，各所述桁架的底端均安装有驱动下方相邻桁架摆动或驱动支撑脚(204)摆动的直线电机A(201)。
  3. 根据权利要求2所述的地外天体采样装置，其特征在于：所述桁架为两个，分别为桁架A(202)及桁架B(203)，该桁架A(202)的顶端铰接于所述卫星主体(1)上，底端与所述桁架B(203)的顶端铰接，该桁架B(203)的底端铰接有支撑脚(204)；所述卫星主体(1)、桁架A(202)的底端及桁架B(203)的底端均安装有直线电机A(201)，该卫星主体(1)上的直线电机A(201)驱动所述桁架A(202)摆动，所述桁架A(202)上的直线电机A(201)驱动桁架B(203)摆动，所述桁架B(203)上的直线电机A(201)驱动支撑脚(204)摆动。
  4. 根据权利要求1所述的地外天体采样装置，其特征在于：所述伸缩抓取装置(3)包括动力源、伸缩杆(301)、基座(302)及捕获爪，该伸缩杆(301)通过直线轴承与卫星主体(1)的底部可相对伸缩地连接，所述伸缩杆(301)的上端与安装在卫星主体(1)内部的动力源相连，下端安装有基座(302)，该基座(302)上安装有捕获爪。
  5. 根据权利要求4所述的地外天体采样装置，其特征在于：所述捕获爪包括电机A(303)、丝杠A(304)、丝母A(305)、传动杆(306)及抓取夹爪(307)，该电机A(303)安装在基座(302)上，输出轴与转动安装在基座(302)上的丝杠A(304)相连，该丝杠A(304)上螺纹连接有丝母A(305)，所述丝母A(305)沿周向均匀连接有多个传动杆(306)，每个传动杆(306)上均铰接有抓取夹爪(307)，所述抓取夹爪(307)铰接于基座(302)上。
  6. 根据权利要求1所述的地外天体采样装置，其特征在于：所述动力源为直线电机B，该直线电机B固定在所述卫星主体(1)内部，与所述伸缩杆(301)的上端直连，驱动该伸缩杆(301)伸缩。
  7. 根据权利要求1所述的地外天体采样装置，其特征在于：所述动力源为电机B，该电机B通过传动机构与伸缩杆(301)的上端连接，驱动该伸缩杆(301)伸缩；所述传动机构包括丝杠B及丝母B，该丝杠B安装在所述卫星主体(1)内，并与所述电机B的输出端连接，由该电机B驱动旋转，所述丝母B与丝杠B螺纹连接，所述伸缩杆(301)的上端与丝母B相连。
  8. 根据权利要求所述的地外天体采样装置，其特征在于：所述多自由度机构臂(4)为七自由度机械臂，该七自由度机械臂的执行末端(401)具有一个旋转自由度，并与关节A(402)之间具有一个相对转动自由度，所述关节A(402)具有一个旋转自由度，并与关节B(403)之间具有一个相对转动自由度，所述关节B(403)具有一个旋转自由度，并与关节C(404)之间具有一个相对转动自由度，所述关节C(404)与卫星主体(1)之间具有一个旋转自由度；所述七自由度机械臂带动金刚石链锯(5)进行绕卫星主体(1)轴向中心线旋转切割运动。
  9. 一种权利要求1至8任一权利要求所述的地外天体采样装置的采样方法，其特征在于：所述卫星主体(1)着陆完毕以后，利用支撑腿(2)支撑起多自由度机械臂(4)的工作空间，之后利用安装在多自由度机械臂(4)上的金刚石链锯(5)对天体表面实施切割，切割形成的样本由所述伸缩抓取装置(3)抓取，然后卫星主体(1)脱离星体表面。
  10. 根据权利要求9所述的采样方法，其特征在于：具体为：
    初始状态，所述支撑腿(2)处于伸长状态，所述伸缩抓取装置(3)通过动力源的驱动收回到行程为零的位置，所述多自由度机械臂(4)带动金刚石链锯(5)处于折叠状态、并位于所述卫星主体(1)的下部；
    样本切割状态，所述卫星主体(1)在地外天体表面着陆后，所述支撑腿(2)支撑于地外天体表面，所述多自由度机械臂(4)展开，将金刚石链锯(5)斜深入天体表面以下，并且带动金刚石链锯(5)进行旋转切割，将所取样本切割成锥形，所取的锥形样本根部与天体的其他岩石没有连接，便于取出；
    样本回收状态，所述伸缩抓取装置(3)通过动力源的驱动伸出，利用底端的捕获爪抓取住样本，再由所述动力源驱动提升；同时，所述多自由度机械臂(4)收到折叠；
    最终工作状态，所述支撑腿(2)折叠，将样本环抱；所述卫星主体(1)离开地外天体表面。
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CN115847470A (zh) * 2022-12-02 2023-03-28 西北工业大学 一种基于机械臂具有自适应性的空间包络捕获末端执行器
CN115847470B (zh) * 2022-12-02 2024-04-26 西北工业大学 一种基于机械臂具有自适应性的空间包络捕获末端执行器

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