Mars sampling mechanical arm based on piezoelectric driving

The utility model discloses a Mars sampling mechanical arm based on piezoelectric driving. The Mars sampling mechanical arm comprises a digging spoon, an arm shell, a first connecting pin, a second connecting pin, a third connecting pin, a gear pin, two first-stage connecting plates, two second-stage connecting plates, two third-stage connecting plates, a worm, a rotating motor, a driven gear, a driving gear, a rotating shaft and an ultrasonic motor. The first connecting pin, the second connecting pin, the third connecting pin and the gear pin form a hinge four-bar mechanism, the hinge four-bar mechanism is driven by the worm and the rotating motor so as to control the digging spoon to work, and meanwhile the arm is controlled to ascend and descend through the driven gear, the driving gear, the rotating shaft and the ultrasonic motor. The utility model has the advantages of simple structure, light weight, large torque, strong environmental adaptability and fast response. 本实用新型公开了一种基于压电驱动的火星采样机械臂，包括挖勺、手臂壳体、第一至