CN109470514B - Combined asteroid sampler and sampling method thereof - Google Patents
Combined asteroid sampler and sampling method thereof Download PDFInfo
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- CN109470514B CN109470514B CN201811562286.7A CN201811562286A CN109470514B CN 109470514 B CN109470514 B CN 109470514B CN 201811562286 A CN201811562286 A CN 201811562286A CN 109470514 B CN109470514 B CN 109470514B
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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
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
Abstract
The invention discloses a combined asteroid sampler and a sampling method thereof, wherein the sampler comprises: the device comprises a cylindrical side wall, an installation bottom frame arranged in the side wall, a brushing and sweeping mechanism fixed on the installation bottom frame, a drilling mechanism, a sample container, a sensor module, a control module and a power module, wherein the bottom of the side wall is provided with a sample hooking part; the method comprises the following steps: the sampler descends, the sampler contacts the ground, and the sampler detects the sample property, selects the sampling point and plans the sampling strategy, so that the sampler and the sampling method solve the problems that the traditional asteroid sampler has small acquisition amount, low sampling efficiency, high sampling power consumption, and can not adapt to the complex sampling environment to perform effective sampling work.
Description
Technical Field
The invention relates to the field of instrument science, in particular to a combined asteroid sampler and a sampling method thereof.
Background
Asteroid exploration has important research significance, can answer scientific problems such as origin of celestial body and existence of extraterrestrial life, explores extraterrestrial resources, provides technical support for human to utilize space resources and energy, and becomes a popular field of advanced research in various countries. The asteroid is the most original celestial body in the solar system, and the remnants of the formation and early evolution of the solar system are reserved more, and researches show that the asteroid is rich in metals such as iron, nickel and copper, and some precious metals such as gold and platinum and rare earth elements, and in addition, the asteroid also possibly contains a precious resource-chilled water which is hopefully to be found by space travelers. Thus, the scientific significance, commercial value, and human civilization-related social value of asteroid research is currently immeasurable. The surface sampling of the asteroid can provide close-range and omnibearing research data for us, so that the asteroid can be more clearly understood.
At present, the forms of the planet sampler at home and abroad are mainly divided into a projection impact sampler, a drilling sampler, a grab shovel type sampler and a brush-sweeping type sampler. The projection impact sampler is difficult to collect samples after impact and low in sampling efficiency, and the drilling sampler can be used for sampling the deep layer of the planet, but is not high in sampling efficiency aiming at particles on the surface of the planet; the grab-shovel type sampler can collect a large amount of samples, but the mechanism is complex and the power consumption is high; the brush-sweep sampler can rapidly brush and sweep a particle sample when contacting with a planet surface, but is only suitable for a simple sampling environment. The drilling of little planet detection that patent 201410298650.9 provided grabs shovel formula composite sampler can collect a large amount of samples, but grabs shovel formula mechanism complicacy, and the big consumption of the control degree of difficulty is high, on the little planet surface that the environment is abominable, hardly guarantees sampler safety efficient work.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to solve the defects of the prior art, provides a combined asteroid sampler and a sampling method thereof, solves the problems that the traditional asteroid sampler is small in acquisition amount, low in sampling efficiency, high in sampling power consumption, incapable of adapting to complex sampling environments to perform effective sampling work and the like, and provides the combined sampler based on brushing, drilling and hooking and a control method thereof.
The technical scheme is as follows: in order to achieve the above object, the present invention provides a compound asteroid sampler, comprising: the utility model provides a sensor device, including cylinder tube-shape lateral wall, install the installation chassis in the lateral wall, fix brush sweep mechanism, bore and get mechanism, sample container on the installation chassis, sensor module, control module and power module, the bottom of lateral wall be equipped with sample portion of getting of hooking, the shape that the mechanism was got to the sample hook is the barb form, after the sampler contacts the certain degree of depth on the asteroid surface, can hook a small amount of sample, the storage is inside barb form structure, the brush sweep the mechanism upper shield and has covered the motor safety cover, the top of motor safety cover be equipped with the baffle, sensor module, control module and power module install the baffle on, the top of sample container be equipped with the top cap, the top cap is installed in the inside of cylinder tube-shape lateral wall, plays sealed effect, the lateral wall on be equipped with the circle hole and be used for the.
The installation chassis include: the interior mounting is dull and stereotyped, lower mounting panel, preceding mounting panel and rear mounting panel, lower mounting panel fix in the dull and stereotyped bottom of interior mounting, preceding mounting panel and rear mounting panel parallel alignment are located dull and stereotyped preceding, the back both sides of interior mounting respectively to fix under on the mounting panel, the centre of lower mounting panel is provided with the linear bearing hole, the left and right sides is equipped with radius arc A and radius arc B respectively, the flat board of interior mounting be used for fixed brush to sweep the mechanism, bore and get mechanism and sample container.
As a further preferred aspect of the present invention, the brushing mechanism includes: the brush wheel motor fixing plate, the brush wheel motor, the transmission gear A, the transmission gear B, the transmission gear C, the transmission gear D, the transmission gear E, the brush wheel A and the brush wheel B are arranged on the brush wheel motor fixing plate;
the brush wheel motor fixing plate is arranged on the internal mounting flat plate, the brush wheel motor is arranged on the brush wheel motor fixing plate, and an output shaft of the brush wheel motor faces the front mounting plate; the transmission gear A, the transmission gear B, the transmission gear C, the transmission gear D and the transmission gear E are arranged on the surface of the front mounting plate, the brush wheel A and the brush wheel B are positioned below the lower mounting plate and are arranged in parallel, brush wheel shafts of the brush wheel A and the brush wheel B are respectively arranged on the front mounting plate and the rear mounting plate through bearings, end points of brush pieces on the brush wheel A and the brush wheel B are respectively abutted against the inverted arc A and the inverted arc B on the lower mounting plate, and different numbers of brush pieces can be arranged on the brush wheel A and the brush wheel B according to requirements,
the transmission gear A is installed on an output shaft of the brush wheel motor, the transmission gear C and the transmission gear B are installed on the front installation plate through a shaft fixed on the front installation plate, and the transmission gear E and the transmission gear D are installed on output shafts of the brush wheel A and the brush wheel B.
The transmission gear C is meshed with the transmission gear A, the transmission gear B and the transmission gear E are both meshed with the transmission gear C, and the transmission gear D is meshed with the transmission gear B;
when the brush wheel motor works, the transmission gear A is driven to rotate, the transmission gear A drives the transmission gear C, the transmission gear C drives the transmission gear B and the transmission gear E, the transmission gear B drives the transmission gear D, the rotation directions of the transmission gear E and the transmission gear D are opposite, the brush wheel A and the brush wheel B are driven to rotate in opposite directions, when the brush wheel A is driven to rotate anticlockwise, the brush wheel B rotates clockwise, the brush wheel A and the brush wheel B brush particles and powder samples towards the middle direction of the sampler, and the brushing efficiency can be improved.
As a further preferred aspect of the present invention, the drilling mechanism includes: the drilling motor fixing plate, the drilling motor, the first transmission gear, the second transmission gear, the coupler, the linear bearing, the flange bearing A, the flange bearing B, the nut A, the nut B, the drill bit, the pressure spring A, the pressure spring B, the pressure spring C, the pressure spring shaft A, the pressure spring shaft B and the pressure spring shaft C are arranged on the drill bit;
the pressure spring A, the pressure spring B and the pressure spring C are respectively sleeved on the pressure spring shaft A, the pressure spring shaft B and the pressure spring shaft C, and the bottom ends of the pressure spring shaft A, the pressure spring shaft B and the pressure spring shaft C are fixed on an internal installation flat plate through screws; the lower ends of a pressure spring A, a pressure spring B and a pressure spring C are fixed on the internal installation flat plate, the upper ends of a pressure spring shaft A, a pressure spring shaft B and a pressure spring shaft C are connected with a drilling motor fixing plate and are fixedly connected with the top ends of the pressure spring A, the pressure spring B and the pressure spring C, and the drilling motor fixing plate slides up and down relative to the internal installation flat plate along the pressure spring shaft A, the pressure spring shaft B and the pressure spring shaft C;
the drilling motor fixing plate is of a U-shaped structure, the drilling motor is installed on the U-shaped drilling motor fixing plate, the first transmission gear is installed on an output shaft of the drilling motor, the second transmission gear is installed on the coupler and meshed with the first transmission gear;
the U-shaped drilling motor fixing plate is characterized in that holes are formed in two side faces of the U-shaped drilling motor fixing plate, a flange bearing A and a flange bearing B are arranged in the two holes respectively, a nut A and a nut B are arranged on the upper surface and the lower surface of the upper side face of the U-shaped drilling motor fixing plate respectively, a coupler with external threads arranged on the upper portion sequentially penetrates through the flange bearing A, the nut B, the flange bearing B and the nut A and rotates relative to the U-shaped drilling motor fixing plate, a linear bearing arranged in the lower mounting plate penetrates through the lower portion of the coupler, and a drill bit.
When the drilling motor works, the first transmission gear is driven to rotate, the first transmission gear drives the second transmission gear, the second transmission gear drives the coupler to rotate, and the coupler drives the drill bit to drill a sample; the drill bits 4-17 receive the reaction force on the surfaces of the asteroids, the coupler transmits the reaction force to the U-shaped drilling motor fixing plate, the drilling motor fixing plate drives other parts on the drilling motor fixing plate to slide in small displacement relative to the compression spring shaft A, the compression spring shaft B and the compression spring shaft C, and the compression spring A, the compression spring B and the compression spring C enable the sampler to keep certain flexibility and can prevent the sampler from being damaged due to overlarge reaction force instantly received.
As a further preferred aspect of the present invention, the motor protection cover is fixed on the internal installation flat plate, the motor protection cover is a shell with an opening at the bottom, and covers the brush wheel motor of the brush-sweeping mechanism and the drilling mechanism and is located at the upper part of the internal installation flat plate, so as to prevent sample dust from entering the microstructures of the parts such as the brush wheel motor and the drilling motor, which affects normal sampling.
As a further preferred aspect of the present invention, the sample container is fixed on both sides of the internal mounting plate through the clamping groove, the upper portion and the lower portion of the sample container are respectively provided with an upper arc structure and a lower arc structure, the upper arc structure on the upper portion is used for allowing the sample to rapidly enter the sample container after being brushed away from the planet surface, and the lower arc structure on the lower portion acts like a baffle plate to prevent the sample from splashing after being brushed, so that the sample can enter the sample container along the rotation direction of the brush wheel.
As a further preferred aspect of the present invention, the sensor module includes: the six-dimensional force sensor is arranged at the top of the top cover and connected with the mobile mechanical arm, and is used for measuring the reaction force of the sample taker on the surface of the asteroid in the drilling process; the ultrasonic sensors are arranged on two sides of a disc structure at the bottom of a coupler of the drilling mechanism and used for measuring the drilling depth in the drilling process; a current sensor mounted on the spacer is used to measure the current at which the brush wheel motor and the drill motor operate.
As a further preferred aspect of the present invention, the control module includes an information acquisition unit, a control processing unit, a wireless communication unit and a motor driving unit, the information acquisition unit acquires data from the sensor module, the control processing unit analyzes and processes the acquired data and generates a corresponding control command, the sampler communicates with the remote terminal through the wireless communication unit, and the motor driving unit drives the brush wheel motor and the drilling motor to rotate under the control of the control processing unit.
As a further preferred aspect of the present invention, the power module includes a battery and a voltage conversion circuit, the battery is a lithium polymer battery, and the voltage conversion circuit converts the voltage of the battery into voltages with different references to provide energy for the sensor module and the control module.
The invention relates to a compound asteroid sampling method, which comprises the following steps:
(1) the sampler descends
The sampler is arranged at the tail end of a movable mechanical arm, the sampler reaches a sampling point under the control of the movable mechanical arm, the movable mechanical arm pushes the sampler to approach the surface of a asteroid at a constant speed, a drilling mechanism rotates at a constant speed before contacting the ground, an ultrasonic sensor detects the distance between the sampler and the ground in real time, a six-dimensional force sensor detects the force information of a drill bit and the ground, and a current sensor detects the current information of a drilling motor in real time;
(2) the sampler contacts the ground
When the sampler continuously descends and the drill bit is in contact with the ground, the ultrasonic sensors arranged on two sides of the disc structure at the bottom of the coupler can detect a distance, the numerical value of the distance is equal to the distance between the ultrasonic sensor and the tail end of the drill bit, and the six-dimensional force sensor and the current sensor can detect the instantaneous numerical value increase, so that the autonomous detection that the sampler is in contact with the surface of the asteroid is completed;
(3) sample attribute detection, sampling point selection and sampling strategy planning
When the drill bit contacts the surface of the asteroid, the movable mechanical arm continuously drives the sampler to descend at a constant micro speed, the drilling mechanism continuously rotates at a constant speed, and the sensor module continuously detects distance, reaction force and current information;
after the sampler drills a certain depth D, the movable mechanical arm stops continuing to push downwards, the control processing unit analyzes the sensor data, and the cross-sectional area of the drill bit in contact with the ground can be calculated according to the drilled instantaneous depth D (t) and the geometric shape of the drill bit: s (t) ═ pi r (t)2Wherein R (t) ═ Cd(t)d(t)，Cd(t)Is the coefficient of the correlation of the radius of the plane of the bit, R, and the instantaneous depth, d (t); defining the sample hardness as the ratio of reaction force to cross-sectional area A (t) F (t)/S (t), obtaining the hardness change information in the sampling depth D process, and assuming that the sample hardness critical value of the sample which can be directly brushed by the brushing mechanism is A1The critical value of the hardness of the sample which can be overcome by the drilling mechanism is A2(A1And A2Obtained by theoretical modeling or physical experiments, the hardness of the brush-sweeping sample is generally less than that of the drilling sample, namely A1<A2)，
If A (t)>A2If the hardness of the sample at the sampling point is too large and exceeds the normal working range of the sampler, the control processing unit feeds back information to the mobile mechanical arm through the wireless communication unit to search the next appropriate sampling point;
if A (t)<A1The control processing unit controls the movable mechanical arm to continue to push downwards, controls the brushing mechanism to work to perform brushing sampling, reads data of the sensor module in real time, and controls the descending speed of the movable mechanical arm and the rotating speed of the brushing wheel motor through a PID algorithm according to current data of the brushing wheel motor and reaction force data of the six-dimensional force sensor, so that safe and stable brushing sampling is realized;
if A1<A(t)<A2The control processing unit 11-4 controls the brush-sweeping mechanism 3 and the drilling mechanism 4 to work cooperatively for sampling, detects the current information of the drilling motor and the brush wheel motor and the reaction force information of the ground on the sampler in real time, and controls the mobile machine through a PID algorithmThe descending speed of the arm and the rotating speeds of the drilling motor and the brush wheel motor realize safe and efficient sampling control.
Has the advantages that: compared with the prior art, the combined asteroid sampler and the sampling method thereof provided by the invention have the following advantages:
1. the brush-sweeping sampling device has the advantages of high sampling efficiency, simple hooking sampling mechanism, strong drilling sampling adaptability and the like;
2. the particle and the star soil on the surface of the asteroid can be sampled, and the rock and the surface deep layer of the asteroid can be sampled by drilling;
3. the problem that the sampling efficiency and the system power consumption of the asteroid sampler cannot be coordinated is solved, and an asteroid surface autonomous intelligent sampling task with unknown sample attributes can be completed;
4. the invention has simple structure and low power consumption, can be used for sample collection or collection operation in similar environments, such as moon and mars sampling, autonomous sampling of powder and solid leakage objects in unknown dangerous environments and the like, and has strong use flexibility.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a perspective view of the mounting chassis;
FIG. 4 is a top view of the internally mounted plate;
FIG. 5 is a perspective view of the lower mounting plate;
FIG. 6 is a perspective view of the interior of the brushing mechanism and the drilling mechanism;
FIG. 7 is a perspective view of the interior of the brushing mechanism;
FIG. 8 is a perspective view of the interior of the drill mechanism;
FIG. 9 is a front view of the connection of the drill mechanism and the drill bit;
FIG. 10 is a top view of the connection of the drill mechanism and the drill bit;
FIG. 11 is a perspective view of the hook portion;
FIG. 12 is a perspective view of the motor protective cover;
fig. 13 is a schematic view of sample container installation. (ii) a
FIG. 14 is a perspective view of a sample container;
fig. 15 is a schematic flowchart of the operation of the sensing control module.
Detailed Description
The working principle and working process of the present invention will be further described in detail with reference to the accompanying drawings and embodiments.
As shown in fig. 1 and fig. 2, the compound asteroid sampler of the present invention comprises: the device comprises a side wall 1, an installation bottom frame 2, a brushing mechanism 3, a drilling mechanism 4, a sample hooking part 5, a motor protective cover 6, a sample container 7, a partition plate 8, a top cover 9, a sensor module 10, a control module 11 and a power supply module 12;
the side wall 1 is of a cylindrical structure, and a ring hole formed in the side wall 1 is used for fixedly mounting the bottom frame 2; the brushing and sweeping mechanism 3, the drilling mechanism 4 and the sample container 7 are fixed on the installation chassis 2; the brush-sweeping mechanism 3 is covered with a motor protective cover 6, as shown in fig. 12, so that sample dust is prevented from entering the microstructures of the parts such as the brush wheel motor 32, the drilling motor 42 and the like to influence normal sampling; a partition plate 8 is arranged above the motor protection cover 6, and a sensor module 10, a control module 11 and a power module 12 are arranged on the partition plate 8; the top of the sample container 7 is provided with a top cover 9, and the top cover 9 is arranged inside the cylindrical side wall 1 to play a role in sealing; the bottom of the side wall 1 is provided with a sample hooking part 5, the sample hooking part 5 is in a barb shape, and after the sampler contacts the surface of the asteroid for a certain depth, a small amount of sample can be hooked by the sample hooking part 5 and stored in the barb structure, as shown in fig. 11.
As shown in fig. 1, 3, 4 and 5, the mounting chassis 2 includes: the sample container testing device comprises an internal mounting flat plate 21, a lower mounting plate 22, a front mounting plate 23 and a rear mounting plate 24, wherein the lower mounting plate 22 is fixed at the bottom of the internal mounting flat plate 21, the front mounting plate 23 and the rear mounting plate 24 are aligned in parallel and are respectively positioned at the front side and the rear side of the internal mounting flat plate 21 and fixed on the lower mounting plate 22, a linear bearing hole 221 is arranged in the middle of the lower mounting plate 22, an inverted arc A222 and an inverted arc B223 are respectively arranged at the left side and the right side of the lower mounting plate 22, the internal mounting flat plate 21 is used for fixing a brushing mechanism 3, a drilling mechanism 4 and a sample container 7, the sample container 7 is fixed at the two sides of the internal mounting flat plate 21 through a clamping groove 71, an upper arc structure 73 and a lower arc structure 72 are respectively arranged at the upper part and the lower part of the sample container 7, the upper arc structure 73 at the upper part is used for, the sample is prevented from splashing after being brushed, so that the sample can enter the interior of the sample container 7 along the rotating direction of the brush wheel 38, as shown in fig. 13 and 14.
As shown in fig. 1, 6 and 7, the brush mechanism 3 includes: a brush wheel motor fixing plate 31, a brush wheel motor 32, a transmission gear A33, a transmission gear B34, a transmission gear C35, a transmission gear D36, a transmission gear E37, a brush wheel A38 and a brush wheel B39;
when the brush wheel motor 32 works, the transmission gear A33 is driven to rotate, the transmission gear A33 drives the transmission gear C35, the transmission gear C35 drives the transmission gear B34 and the transmission gear E37, the transmission gear B34 drives the transmission gear D36, the transmission gear E37 and the transmission gear D36 are opposite in rotation direction, the brush wheel A38 and the brush wheel B39 are driven to rotate reversely, when the brush wheel A33 is driven to rotate anticlockwise, the brush wheel B39 rotates clockwise, and the brush wheel A38 and the brush wheel B39 brush particles and powder samples towards the middle direction of the sampler, so that the brushing efficiency can be improved.
As shown in fig. 1, 6, 8, 9 and 10, the drilling mechanism 4 includes: the drilling machine comprises a U-shaped drilling motor fixing plate 41, a drilling motor 42, a first transmission gear 43, a second transmission gear 44, a coupler 45, a linear bearing 416, a flange bearing A46, a flange bearing B47, a nut A48, a nut B49, a drill bit 417, a pressure spring A411, a pressure spring B413, a pressure spring C415, a pressure spring shaft A410, a pressure spring shaft B412 and a pressure spring shaft C414;
the U-shaped electricity taking motor fixing plate 41 slides up and down relative to the internal installation flat plate 21 along the pressure spring shaft A410, the pressure spring shaft B412 and the pressure spring shaft C414, the drilling motor 42 is installed on the U-shaped drilling motor fixing plate 41, the first transmission gear 43 is installed on an output shaft of the drilling motor 42, the second transmission gear 44 is installed on the coupler 45, and the second transmission gear 44 is meshed with the first transmission gear 43;
when the drilling motor 42 works, the first transmission gear 43 is driven to rotate, the first transmission gear 43 drives the second transmission gear 44 again, the second transmission gear 44 drives the coupler 45 to rotate again, the coupler 45 drives the drill bit 417 to drill a sample, the drill bit 17 receives the reaction force of the surface of the asteroid, the coupler 45 transmits the reaction force to the U-shaped drilling motor fixing plate 41, the U-shaped drilling motor fixing plate 41 drives other parts on the U-shaped drilling motor fixing plate to slide in small displacement relative to the compression spring shaft A410, the compression spring shaft B412 and the compression spring shaft C414, and the compression spring A411, the compression spring B413 and the compression spring C415 enable the sampler to keep certain flexibility and can prevent the sampler from being damaged due to overlarge reaction force received by the sampler instantly.
Examples
A compound asteroid sampling method comprises the following steps:
(1) the sampler descends
The sampler is arranged at the tail end of a movable mechanical arm 1001, the sampler reaches a sampling point under the control of the movable mechanical arm 1001, the movable mechanical arm 1001 pushes the sampler to approach the surface of the asteroid at a constant speed, the drilling mechanism 4 rotates at a constant speed before contacting the ground, the ultrasonic sensor 102 detects the distance between the sampler and the ground in real time, the six-dimensional force sensor 101 detects the force information of the drill bit 417 and the ground, and the current sensor 103 detects the current information of the drilling motor 42 in real time, as shown in fig. 15;
(2) the sampler contacts the ground
When the sampler descends continuously, the drill bit 417 contacts the ground, the ultrasonic sensors 102 arranged on two sides of the disc structure at the bottom of the coupler 45 can detect a distance, the value of the distance is equal to the distance between the ultrasonic sensor 102 and the tail end of the drill bit 417, and the six-dimensional force sensor 101 and the current sensor 103 can detect the instant increase of the value, so that the fact that the sampler contacts the surface of the asteroid is automatically detected;
(3) sample attribute detection, sampling point selection and sampling strategy planning
After the drill bit 417 contacts the surface of the asteroid, the mobile mechanical arm 1001 continues to drive the sampler to descend at a constant micro speed, the drilling mechanism 4 continues to rotate at a constant speed, and the sensor module 10 continues to detect distance, reaction force and current information;
after the sampler drills a certain depth D, the mobile robot 1001 stops further pushing downwards, the control processing unit 112 analyzes the sensor data, and the cross-sectional area of the drill bit 417 in contact with the ground can be calculated according to the instantaneous depth D (t) drilled and the geometry of the drill bit 417: s (t) ═ pi r (t)2Wherein R (t) ═ Cd(t)d(t)，Cd(t)Is the coefficient of the correlation of the radius of the plane of the bit, R, and the instantaneous depth, d (t); defining the sample hardness as the ratio of reaction force to cross-sectional area, a (t) ═ f (t)/s (t), the hardness change information in the sampling depth D can be obtained, and assuming that the sample hardness critical value capable of being directly brushed by the brushing mechanism 3 is a1The critical value of the hardness of the sample that can be overcome by the drilling mechanism 4 is A2(A1And A2Obtained by theoretical modeling or physical experiments, the hardness of the brush-sweeping sample is generally less than that of the drilling sample, namely A1<A2)，
If A (t)>A2If the hardness of the sample at the sampling point is too large and exceeds the normal working range of the sampler, the control processing unit 112 feeds back information to the mobile mechanical arm 1001 through the wireless communication unit 113 to search for the next suitable sampling point;
if A (t)<A1If so, the control processing unit 112 controls the mobile mechanical arm 1001 to continue to push downwards, controls the brushing mechanism 3 to work to perform brushing sampling, reads data of the sensor module 10 in real time, and controls the descending speed of the mobile mechanical arm and the rotating speed of the brushing motor 32 through a PID algorithm by controlling current data of the brushing motor 32 and reaction force data of the six-dimensional force sensor 101, so as to realize safe and stable brushing sampling;
if A1<A(t)<A2The control processing unit 11-4 controls the brush-sweeping mechanism 3 and the drilling mechanism 4 to work cooperatively for sampling, detects the current information of the drilling motor 41 and the brush wheel motor 32 and the reaction force information of the ground to the sampler in real time, and controls the descending speed of the mobile mechanical arm 1001 and the drilling speed through a PID algorithmThe rotating speeds of the motor 42 and the brush wheel motor 32 are taken, and safe and efficient sampling control is realized.
Claims (8)
1. A combined asteroid sampler is characterized in that: it includes: a cylindrical side wall (1), an installation chassis (2) arranged in the side wall (1), a brushing and sweeping mechanism (3) fixed on the installation chassis (2), a drilling mechanism (4), a sample container (7), a sensor module (10), a control module (11) and a power supply module (12), the bottom of the side wall (1) is provided with a sample hooking part (5), the sample hooking mechanism (5) is in a barb shape, the brush sweeping mechanism (3) is covered with a motor protection cover (6), a clapboard (8) is arranged above the motor protection cover (6), the sensor module (10), the control module (11) and the power supply module (12) are arranged on the clapboard (8), a top cover (9) is arranged at the top of the sample container (7), and a ring hole formed in the side wall (1) is used for fixedly mounting the bottom frame (2);
the brushing and sweeping mechanism (3) comprises: a brush wheel motor fixing plate (31), a brush wheel motor (32), a transmission gear A (33), a transmission gear B (34), a transmission gear C (35), a transmission gear D (36), a transmission gear E (37), a brush wheel A (38) and a brush wheel B (39);
the brush wheel motor fixing plate (31) is arranged on the internal mounting flat plate (21), the brush wheel motor (32) is arranged on the brush wheel motor fixing plate (31), and the output shaft of the brush wheel motor (32) faces the front mounting plate (23); a transmission gear A (33), a transmission gear B (34), a transmission gear C (35), a transmission gear D (36) and a transmission gear E (37) are installed on the surface of the front installation plate (23), a brush wheel A (38) and a brush wheel B (39) are located below the lower installation plate (22) and are arranged in parallel, brush wheel shafts of the brush wheel A (38) and the brush wheel B (39) are installed on the front installation plate (23) and the rear installation plate (24) through bearings respectively, and tail end points of brush pieces on the brush wheel A (38) and the brush wheel B (39) are abutted to an inverted arc A (222) and an inverted arc B (223) on the lower installation plate (22) respectively;
the transmission gear A (33) is arranged on an output shaft of the brush wheel motor (32), the transmission gear C (35) and the transmission gear B (34) are arranged on the front mounting plate (23) through a shaft fixed on the front mounting plate (23), and the transmission gear E (37) and the transmission gear D (36) are arranged on output shafts of the brush wheel A (38) and the brush wheel B (39);
the transmission gear C (35) is meshed with the transmission gear A (33), the transmission gear B (34) and the transmission gear E (37) are both meshed with the transmission gear C (35), and the transmission gear D (36) is meshed with the transmission gear B (34);
when the brush wheel motor (32) works, the transmission gear A (33) is driven to rotate, the transmission gear A (33) drives the transmission gear C (35), the transmission gear C (35) drives the transmission gear B (34) and the transmission gear E (37), the transmission gear B (34) drives the transmission gear D (36), the rotation directions of the transmission gear E (37) and the transmission gear D (36) are opposite, and the brush wheel A (38) and the brush wheel B (39) are driven to rotate reversely;
the drilling mechanism (4) comprises: the drilling machine comprises a drilling motor fixing plate (41), a drilling motor (42), a first transmission gear (43), a second transmission gear (44), a coupler (45), a linear bearing (416), a flange bearing A (46), a flange bearing B (47), a nut A (48), a nut B (49), a drill bit (417), a pressure spring A (411), a pressure spring B (413), a pressure spring C (415), a pressure spring shaft A (410), a pressure spring shaft B (412) and a pressure spring shaft C (414);
the pressure spring A (411), the pressure spring B (413) and the pressure spring C (415) are respectively sleeved on the pressure spring shaft A (410), the pressure spring shaft B (412) and the pressure spring shaft C (414), and the bottom ends of the pressure spring shaft A (410), the pressure spring shaft B (412) and the pressure spring shaft C (414) are fixed on the internal installation flat plate (21) through screws; the lower ends of a pressure spring A (411), a pressure spring B (413) and a pressure spring C (415) are fixed on the internal installation flat plate (21), the upper ends of a pressure spring shaft A (410), a pressure spring shaft B (412) and the pressure spring shaft C (414) are connected with a drilling motor fixing plate (41) and are fixedly connected with the top ends of the pressure spring A (411), the pressure spring B (413) and the pressure spring C (415), and the drilling motor fixing plate (41) slides up and down relative to the internal installation flat plate (21) along the pressure spring shaft A (410), the pressure spring shaft B (412) and the pressure spring shaft C (414);
the drilling motor (42) is arranged on the drilling motor fixing plate (41), the first transmission gear (43) is arranged on an output shaft of the drilling motor (42), the second transmission gear (44) is arranged on the coupler (45), and the second transmission gear (44) is meshed with the first transmission gear (43);
drilling motor fixed plate (41) be the U-shaped structure, the U-shaped is drilled and is equipped with the hole on two sides of motor fixed plate (41), be provided with flange bearing A (46) and flange bearing B (47) respectively in two holes, the U-shaped is drilled and is got the upper and lower surface of motor fixed plate (41) upper flank and be equipped with nut A (48) and nut B (49) respectively, flange bearing A (46) are passed in proper order in shaft coupling (45) that upper portion was equipped with the external screw thread, nut B (49), flange bearing B (47) and nut A (48) bore and get motor fixed plate (41) for the U-shaped and rotate, linear bearing (416) of installation under mounting panel (22) are passed to the lower part of shaft coupling (45), the bottom of shaft coupling (45) is equipped with drill bit (417).
2. The compound asteroid sampler of claim 1, characterized in that: the mounting chassis (2) comprises: dull and stereotyped (21) of internally mounted, lower mounting panel (22), preceding mounting panel (23) and rear mounting panel (24), lower mounting panel (22) fix the bottom at the dull and stereotyped (21) of internally mounted, preceding mounting panel (23) and rear mounting panel (24) parallel alignment are located preceding, the back both sides of the dull and stereotyped (21) of internally mounted respectively to fix under on mounting panel (22), the centre of lower mounting panel (22) is provided with linear bearing hole (221), the left and right sides is equipped with inverted arc A (222) and inverted arc B (223) respectively, dull and stereotyped (21) of internally mounted be used for fixed brush sweep mechanism (3), bore and get mechanism (4) and sample container (7).
3. The compound asteroid sampler of claim 1, characterized in that: the motor protection cover (6) is fixed on the internal installation flat plate (21), the motor protection cover (6) is a shell with an opening at the bottom, and covers a brush wheel motor (32) of the brushing mechanism (3) and the drilling mechanism (4) and is positioned at the upper part of the internal installation flat plate (21).
4. The compound asteroid sampler of claim 1, characterized in that: the sample container (7) is fixed on two sides of the internal installation flat plate (21) through a clamping groove (71), and an upper arc-shaped structure (73) and a lower arc-shaped structure (72) are respectively arranged on the upper portion and the lower portion of the sample container (7).
5. The compound asteroid sampler of claim 1, characterized in that: the sensor module (10) comprises: the device comprises a six-dimensional force sensor (101), an ultrasonic sensor (102) and a current sensor (103), wherein the six-dimensional force sensor (101) is arranged at the top of a top cover (9) and connected with a mobile mechanical arm (1001) for measuring the reaction force of a sampler on the surface of a asteroid in the drilling process; the ultrasonic sensors (102) are arranged on two sides of a disc structure at the bottom of a coupler (45) of the drilling mechanism (4) and used for measuring the drilling depth in the drilling process; a current sensor (103) mounted on the bulkhead (8) is used to measure the current at which the brush wheel motor (32) and the drill motor (42) operate.
6. The compound asteroid sampler of claim 1, characterized in that: control module (11) include information acquisition unit (111), control processing unit (112), wireless communication unit (113) and motor drive unit (114), information acquisition unit (111) acquire the data of sensor module (10), control processing unit (112) carry out analysis processes to the data of acquireing to make corresponding control command, the sampler passes through wireless communication unit (113) and remote terminal communication, motor drive unit (114) drive brush wheel motor (32) and the rotation of drilling motor (42) under control processing unit's control.
7. The compound asteroid sampler of claim 1, characterized in that: the power module (12) comprises a battery (121) and a voltage conversion circuit (122), wherein the battery (121) is a lithium polymer battery, and the voltage conversion circuit (122) converts the voltage of the battery into voltages with different references to provide energy for the sensor module (10) and the control module (11).
8. A sampling method of a combined asteroid sampler is characterized by comprising the following steps:
(1) the sampler descends
The sampler of claim 1 is arranged at the tail end of a mobile mechanical arm (1001), the sampler reaches a sampling point under the control of the mobile mechanical arm (1001), the mobile mechanical arm (1001) pushes the sampler to approach to the surface of a minor planet at a constant speed, a drilling mechanism (4) rotates at a constant speed before contacting the ground, an ultrasonic sensor (102) detects the distance between the sampler and the ground in real time, a six-dimensional force sensor (101) detects the force information of a drill bit (417) and the ground, and a current sensor (103) detects the current information of a drilling motor (42) in real time;
(2) the sampler contacts the ground
The sampler continuously descends, the ultrasonic sensors (102) arranged on two sides of the disc structure at the bottom of the coupler (45) can detect a distance at the moment when the drill bit (417) is contacted with the ground, the value of the distance is equal to the distance between the ultrasonic sensor (102) and the tail end of the drill bit (417), and the six-dimensional force sensor (101) and the current sensor (103) can detect the instantaneous value increase, so that the fact that the sampler is contacted with the surface of the asteroid is automatically detected;
(3) sample attribute detection, sampling point selection and sampling strategy planning
When the drill bit (417) contacts the surface of the asteroid, the mobile mechanical arm (1001) continues to drive the sampler to descend at a constant micro speed, the drilling mechanism (4) continues to rotate at a constant speed, and the sensor module (10) continues to detect distance, reaction force and current information;
when the sampler drills to a certain depthDThereafter, the mobile robotic arm (1001) stops continuing to advance downward, and the control processing unit (112) analyzes the sensor data based on the instantaneous depth of drillingd(t) And the geometry of the bit (417), the cross-sectional area of the bit (417) in contact with the ground can be calculated as:S(t)=πR(t)2whereinR(t)=C d t() d(t)，C d t()Is the radius of the plane of the drill bitRAnd instantaneous depthd(t) The correlation coefficient of (a); sample hardness is defined as the ratio of reaction force to cross-sectional areaA(t)=F(t)/S(t) Then the sampling depth can be obtainedDThe hardness change information in the process assumes that the brushing mechanism (3) can directly brush the sample with the sample hardness critical value asA 1The critical value of the hardness of the sample which can be overcome by the drilling mechanism (4) isA 2(A 1AndA 2obtained by theoretical modeling or physical experiments, the hardness of the brush-sweeping sample is less than that of the drilling sample, namelyA 1<A 2)，
If it isA(t)>A 2If the hardness of the sample at the sampling point is too large and exceeds the normal working range of the sampler, the control processing unit (112) feeds back information to the mobile mechanical arm (1001) through the wireless communication unit (113) to search the next appropriate sampling place;
if it isA(t)<A 1The control processing unit (112) controls the moving mechanical arm (1001) to continue to push downwards, controls the brushing mechanism (3) to work to perform brushing sampling, reads data of the sensor module (10) in real time, and controls the descending speed of the moving mechanical arm and the rotating speed of the brushing wheel motor (32) through a PID algorithm by controlling current data of the brushing wheel motor (32) and reaction force data of the six-dimensional force sensor (101) so as to realize safetyPerforming stable brushing sampling;
if it isA 1<A(t)<A 2The control processing unit 11-4 controls the brush-sweeping mechanism 3 and the drilling mechanism 4 to work cooperatively for sampling, detects the current information of the drilling motor (41) and the brush wheel motor (32) and the reaction force information of the ground on the sampler in real time, and controls the descending speed of the mobile mechanical arm (1001) and the rotating speeds of the drilling motor (42) and the brush wheel motor (32) through a PID algorithm to realize safe and efficient sampling control.
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| CN111366396B (en) * | 2020-03-20 | 2022-07-29 | 北京空间飞行器总体设计部 | Small celestial body integrated sampler with grinding and clamping functions |
| CN111947964B (en) * | 2020-07-08 | 2024-02-09 | 北京卫星制造厂有限公司 | Planet wheel transposition centrifugal orientation sampler suitable for extraterrestrial celestial body |
| CN113375962B (en) * | 2021-06-10 | 2022-10-28 | 哈尔滨工业大学 | Planet surface remote sampler |
| CN115855570B (en) * | 2023-03-01 | 2023-05-09 | 山东黄金矿业科技有限公司充填工程实验室分公司 | Stope filling body strength detection device |
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