CN101750233A - lunar sampler - Google Patents
lunar sampler Download PDFInfo
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- CN101750233A CN101750233A CN200810229967A CN200810229967A CN101750233A CN 101750233 A CN101750233 A CN 101750233A CN 200810229967 A CN200810229967 A CN 200810229967A CN 200810229967 A CN200810229967 A CN 200810229967A CN 101750233 A CN101750233 A CN 101750233A
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Abstract
The invention discloses a lunar sampler, which belongs to the fields of robot researching and space resource exploring. The structure thereof comprises a shell, a composite shovel part as well as a power part and a tube changing part arranged in the shell; the power part is connected with the tube changing part through a lifting mechanism thereof; the boring tube of the tube changing part is connected with the bit of the composite shovel part when working. The power part in the invention is provided with the lifting mechanism, which drives a stator as well as the boring tube and bit connected with the stator to move up and down and realize the connection of a plurality of boring tubes. When collecting deep lunar soil and core samples, the boring tubes are connected to a needed length. The composite shovel part transmits through a worm gear to drive a gear to rotate and realize the opening and closing of the shovel so as to finish the work of sampling. The whole device has a compact structure, transmits flexibly, is convenient for sampling, and can explore samples meeting conditions. The invention has the function of collecting a plurality of lunar samples, not only can biomimic clam composite shovel to collect the samples of lunar soil and small rocks, but also can collect deep lunar soil and core samples through a multi-tube mechanism.
Description
Technical field
The invention belongs to robot research and space resources field of detecting, a kind of lunar sampler that is used for the moon exploration aspect.
Background technology
Have only in the world at present the U.S. and USSR (Union of Soviet Socialist Republics) (Russia) 20th century the seventies successfully carried out month surface sample institute industry, and send sample back to the earth.The U.S. samples by the manned moon landing, and USSR (Union of Soviet Socialist Republics) (Russia) is to adopt unmanned sample mode.The moon exploration project of China (Chang'e's project) the third stage of the project has clear and definite demand to lunar sampler, the sample type that needs on the moon to gather mainly contains menology lunar soil, menology rock piece, deep layer lunar soil, lunar rock core etc., and the constraint of lunar surface environmental baseline makes the development of lunar sampler face the difficult problem of many theory and technologies aspect.
Summary of the invention
The objective of the invention is to propose a kind of compact conformation, in light weight, energy consumption is little, can finish the sampling to menology sample and deep layer lunar soil, and the sample multi-functional lunar sampler of keeping intact and being convenient to reclaim.
Technical scheme of the present invention is:
The present invention includes shell, compound shovel part and place shell interior power section and replace tubes part, power section partly is connected with replace tubes by its elevating mechanism, and the drilling pipe of replace tubes part is connected with the drill bit of compound shovel part when work.
Described power section comprises elevating mechanism, drive motor and spindle, and elevating mechanism is fixed on first dividing plate of shell, on the output shaft of drive motor spindle is installed, and spindle is connected with elevating mechanism.Described elevating mechanism comprises lifting motor, intermeshing first transmission gear and second transmission gear, leading screw and feed screw nut, lifting motor output axle head stretches out first dividing plate, first transmission gear is installed on it, leading screw one end is equipped with second transmission gear, the replace tubes part second drilling pipe disk gear is installed on the other end, and feed screw nut is fixed on the spindle.
Described replace tubes partly comprises the first drilling pipe disk gear, the second drilling pipe disk gear, drilling pipe rotary tray motor, clamp device and at least one drilling pipe, the drilling pipe rotary tray motor is installed on shell the 3rd dividing plate, the first drilling pipe disk gear is installed on its output shaft, the second drilling pipe disk gear that is meshed with it is installed on the leading screw, drilling pipe is installed on the second drilling pipe disk gear, clamp device places second drilling pipe disk gear below, corresponding spindle upright position, the anchor clamps position of clamp device.Described clamp device comprises clamping motor, connecting rod, V-type anchor clamps, anchor clamps leading screw and clamp nut, clamping motor is installed on shell the 4th dividing plate, its output terminal is equipped with the anchor clamps leading screw, clamp nut on it is fixed on the connecting rod, V-type anchor clamps rod end is connected with connecting rod, the corresponding spindle of pinching end position.Described drilling pipe one end is a frustum type, and the other end is a cylinder type, and the frustum end of drilling pipe has at least two grooves along circumference, is provided with pivot pin in end recesses, is equipped with rotatable reed on the pivot pin; The cylinder end of drilling pipe has and the corresponding slotted eye of frustum end groove along inner periphery, and end face of voussoir cooperates with described slotted eye, is fixed on the drilling pipe cylinder end inwall reed surface engagement of other end and frustum end by slotted eye.
Described compound shovel comprises that partly shovel drive motor, drill bit, drill bit cutter, shovel, shovel drive motor are fixed on the 4th dividing plate, and its output axle head is equipped with the shovel gear train, and the shovel gear train is connected with shovel by link.Described shovel gear train: comprise the 3rd transmission gear, the 4th transmission gear, idle pulley, worm screw and turbine and shovel driven wheel, worm screw is fixed on the 4th dividing plate, the 3rd transmission gear is installed in shovel drive motor output axle head, the 3rd transmission gear is connected with the 4th transmission gear on being installed in worm screw by idle pulley, the turbine that matches with worm screw is installed on the transmission shaft, be separately installed with intermeshing at least two shovel driven wheels at the transmission shaft two ends, on the gear at intermeshing shovel driven wheel two ends, both sides, be separately installed with link.Described drill bit cutter comprises drill bit disk gear, drill bit rotary tray motor and drill bit rotating disk, the drill bit rotary tray motor is fixed on the 5th dividing plate, drill bit rotary tray motor output axle head is equipped with the drill bit disk gear, and drill bit rotating disk periphery has tooth and the drill bit rotating disk is meshed.
It between described power section spindle and replace tubes part drilling pipe the second partition that has endoporus, have the open pore that drilling pipe is passed along the second partition circumference, described open pore is and drilling pipe screw thread respective threads hole that the quantity of open pore is identical with drilling pipe quantity and position with the position.
The invention has the beneficial effects as follows:
Be connected the type of attachment that adopts reed and voussoir between spindle and drilling pipe among the present invention, drilling pipe and drill bit and drilling pipe, make it connect the back secure fit.Power section is provided with elevating mechanism, and drive spindle and connected drilling pipe, drill bit move up and down, and realize the connection of a plurality of drilling pipes, when gathering deep layer lunar soil and core sample, connects into required drilling pipe length.Replace tubes partly is provided with clamp device, is used to clamp drilling pipe, makes replace tubes convenient.Compound shovel is partly by the worm and gear transmission, and driven gear rotates, and realizes the opening and closing of shovel, finishes sampling work.Whole apparatus structure compactness, ensuring smooth transmission, convenient sampling, and can adopt the sample that satisfies condition.The present invention has the function of gathering multiple moon sample, and the compound shovel of both available bionical freshwater mussel formula is gathered the lunar soil of menology and little rock sample, also can gather deep layer lunar soil and core sample by multitube mechanism.
Description of drawings
Fig. 1 is a contour structures synoptic diagram of the present invention.
Fig. 2 is an inner structure synoptic diagram of the present invention.
Fig. 3 is Fig. 2 medium power part-structure synoptic diagram.
Fig. 4 is a replace tubes part-structure synoptic diagram among Fig. 2.
Fig. 5 is a drilling pipe frustum end structure synoptic diagram of the present invention.
Fig. 6 is a drilling pipe cylinder end structural representation of the present invention.
Fig. 7 is a drilling pipe link structural representation of the present invention.
Fig. 8 is a compound shovel structural representation among Fig. 2.
Fig. 9 is a clamp device structural representation among Fig. 8.
Figure 10 is a drill bit turntable structure synoptic diagram.
Embodiment
Below in conjunction with drawings and Examples the present invention is described in further detail.
Embodiment 1: as shown in Figure 1 and Figure 2, be structural representation of the present invention.The present invention includes shell a, compound shovel part d and place shell interior power section b and replace tubes part c, power section b is connected with replace tubes part c by its elevating mechanism, and the drilling pipe of replace tubes part c is connected with the drill bit 20 of compound shovel part when work.Shell a goes up corresponding each several part and is equipped with shell partition plates, and each several part passes corresponding shell partition plates and connects.Power section is connected with battery, and this battery is the solar cell of lunar rover or lander.
This exception shell a is a cube structure, and 5 dividing plates are set on it.First dividing plate 35 is a cube cavity body structure, comprises upper and lower laminate, can have on the top plate 45 to be used for first circular hole 44 that drive motor 2 passes through.Second partition 36 has endoporus, has the open pore 47 that drilling pipe is passed along second partition 36 circumference, and described open pore 47 is and drilling pipe screw thread respective threads hole that the quantity of open pore 47 is identical with drilling pipe quantity and position with the position.The 3rd dividing plate 37 embedded plectanes that have endoporus have second circular hole 49 that drilling pipe is passed through along this plectane circumference, and the quantity of described circular hole is identical with drilling pipe quantity and position with the position.The 4th dividing plate 38 is cube cavity body structure of corresponding both sides indent, has three circular hole 52 identical with the position with drilling pipe quantity on its top board 50, and relative spindle 7 positions have the 4th circular hole 53 that can pass through drilling pipe on the base plate 51.The 5th dividing plate 39 has the endoporus that compound shovel part drill bit rotating disk 18 can be installed.
As shown in Figure 3, described power section comprises elevating mechanism, drive motor 2 and spindle 7, the output axle head of drive motor 2 is equipped with spindle 7, described elevating mechanism comprises lifting motor 1, intermeshing first transmission gear 3 and second transmission gear 4, leading screw 5 and feed screw nut 6, lifting motor 1 is installed on first dividing plate, 35 lower plywoods 46 of shell a, its output axle head stretches out the lower plywood 46 of first dividing plate 35, first transmission gear 3 is installed on it, leading screw 5 passes first dividing plate, 35 lower plywoods 46, its end is equipped with second transmission gear 4, the replace tubes part b second drilling pipe disk gear 12 is installed on the other end, first transmission gear 3 and second transmission gear 4 place in the cavity of first dividing plate, as shown in Figure 4; Feed screw nut 6 is fixed on the spindle 7.The course of work is: lifting motor 1 provides power, drive leading screw 5 rotations by transmission gear 3 and transmission gear 4, make feed screw nut 6 and spindle 7 fixed thereon realize the elevating movement of above-below direction, and the drive motor 2 that is fixed on the spindle 7 is to drive drilling pipe rotation carrying out sampling work.
As shown in Figure 4, described replace tubes partly comprises the first drilling pipe disk gear 11, the second drilling pipe disk gear 12, drilling pipe rotary tray motor 13, clamp device and at least one drilling pipe, drilling pipe rotary tray motor 13 is installed on shell the 3rd dividing plate 37, its output axle head is equipped with the first drilling pipe disk gear 11, the second drilling pipe disk gear 12 that is meshed with it is installed on the leading screw 5, the second drilling pipe disk gear 12 is fixedlyed connected with the plectane in the 3rd dividing plate 37,3 drilling pipes of this example are uniformly distributed along the circumference and are located on the second drilling pipe disk gear 12, clamp device places the second drilling pipe disk gear, 12 belows, comprise clamping motor 10, connecting rod 14, V-type anchor clamps 15, anchor clamps leading screw 16 and clamp nut 17, clamping motor 10 is installed on shell the 4th dividing plate 38, its output terminal is equipped with anchor clamps leading screw 16, clamp nut 17 on the anchor clamps leading screw 16 is fixed on the connecting rod 14, V-type anchor clamps 15 are bar linkage structure, the V-shaped structure in working end, its rod end is connected with connecting rod 14, the corresponding spindle of pinching end 7 vertical projection positions are used to install drilling pipe.
Be can interconnective structure between described drilling pipe two ends, drilling pipe and spindle 7 and drilling pipe and drill bit, as Fig. 5～shown in Figure 7, drilling pipe one end is a frustum type, the other end is a cylinder type, the frustum end of drilling pipe has three grooves 41 along circumference, in end recesses 41, be provided with pivot pin 42, be equipped with rotatable reed 28 on the pivot pin 42; The cylinder end of drilling pipe has and groove 41 corresponding three slotted eyes 43 along inner periphery, and 29 1 end faces of voussoir cooperate with described slotted eye 43, are fixed on the drilling pipe cylinder end inwall reed 28 surface engagement of other end and frustum end by slotted eye 43.Spindle 7 is identical with the frustum end structure of drilling pipe link and drilling pipe.Drill bit 20 is identical with the cylinder end structure of drilling pipe link and drilling pipe.
As shown in Figure 4, during replace tubes work, rotary tray motor 13 drives the drilling pipe disk gear, makes a drilling pipe and spindle 7 deads in line.After spindle 7 compresses this drilling pipe by lifting motor 1 driving, carry out axial location by clamping motor 10 by anchor clamps leading screw 16, clamp nut 17 and connecting rod 14,15 pairs of drilling pipes of driving V-type anchor clamps, afterwards, spindle 7 is return initial position, drilling pipe rotary tray motor 13 is coaxial with spindle 7 with the 2nd drilling pipe by drilling pipe disk gear 11, drilling pipe disk gear 12 driving brill disc spins, drives spindle 7 by elevating mechanism again and moves vertically two drilling pipes connections.Wherein, realize being connected of spindle 7 and drilling pipe and first drilling pipe and second drilling pipe by reed 28 and voussoir 29, elastic force and second drilling pipe by the reed 28 in first drilling pipe when being the drilling pipe connection bore voussoir 29 wedgings that tube is held, reed 28, voussoir 29 play locking and positioning action, so just realized the location of the axial and circumferential between two drilling pipes, when sampling finishes recovery, drilling pipe is separated, as shown in Figure 5.Can realize collection to deep layer lunar soil and rock rock core sample by replace tubes, described drilling pipe is 3 samplings that can realize 400mm.
As shown in Figure 8, described compound shovel comprises that partly shovel drive motor 18, shovel driven wheel 19, drill bit 20, drill bit cutter, shovel 22, idle pulley 25, shovel drive worm screw 26, shovel drives turbine 27, the 3rd transmission gear 32 and the 4th transmission gear 33, compound shovel is the bionical shovel of freshwater mussel formula, by the cross section is that two trapezoidal channel shaped cavities accents constitute relatively, with the grapple structural similarity of the colliery excavator of widespread usage.Shovel drive motor 18 and shovel driving worm screw 26 pass the base plate 51 of the 4th dividing plate 38 and are fixed on the base plate 51, shovel drive motor 18 output axle heads are equipped with the 3rd transmission gear 32, the 3rd transmission gear 32 by idle pulley 25 be installed in the 4th transmission gear 33 that shovel drives on the worm screw 26 and be connected, the shovel that matches with shovel driving worm screw 26 drives turbine 27 and is fixed on the transmission shaft 34, be separately installed with intermeshing 4 shovel driven wheels 19 at transmission shaft 34 two ends, leg-of-mutton link 39 is installed at the gear at shovel driven wheel two ends arranged side by side, both sides on respectively, these two links, 39 other ends are connected with two channel shaped cavities of shovel 22 respectively.Shovel drive motor 18 drives the 3rd transmission gear 32, by idle pulley 25 transmissions the 4th transmission gear 33, drive the worm gear 27 that shovel drives on worm screw 26, the transmission shaft 34 and rotate, thereby drive pitch wheel 19 rotations, by two channel shaped cavities that link 39 drives shovel 22 open, closure.The function of the bionical compound shovel part of freshwater mussel formula is to gather menology lunar soil and menology rock piece, and can be according to the different choice on sampling surface suitable opening angle is to realize multi-functional support and location.
Described drill bit cutter comprises drill bit disk gear 23, drill bit rotary tray motor 24 and drill bit rotating disk 21, drill bit rotary tray motor 24 is fixed on the 5th dividing plate 38, drill bit rotary tray motor 24 output axle heads are equipped with drill bit disk gear 23, drill bit rotating disk 21 places the 5th dividing plate 38 endoporus, its periphery has tooth, is meshed with drill bit disk gear 23.Drill bit rotating disk 21 structures as shown in figure 10, corresponding spindle 7 is equipped with drill bit 20 and the 5th circular hole 48 that can be by drilling pipe on it, there is the right cylinder that is connected with base plate 51 in hole 54 in the middle of the drill bit rotating disk 21 by Bearing Installation, and this right cylinder plays the support positioning action to the drill bit rotating disk.
In the present embodiment, multi-functional lunar sampler is of a size of 196 * 186 * 550mm, but gripping 100 gram samples, shovel is got 100 gram samples, and drilling through the degree of depth is 0.4 meter.
Embodiment 2: as shown in Figure 1 and Figure 2, comprise shell a, compound shovel part d and place shell interior power section b and replace tubes part c, power section b is connected with replace tubes part c by its elevating mechanism, and the drilling pipe of replace tubes part c is connected with the drill bit 20 of compound shovel part when work.Shell a goes up corresponding each several part and is equipped with shell partition plates, and each several part passes corresponding shell partition plates and connects.Power section is connected with battery, and this battery is the solar cell of lunar rover or lander.
What this example was different with embodiment 1 structure is: 8 drilling pipes are uniformly distributed along the circumference on the second drilling pipe disk gear 12 of replace tubes part c, the 3rd circular hole 52 quantity that have on the top board 50 of the open pore 47 on its corresponding second partition 36, second circular hole 49 on the 3rd dividing plate 37 and the 4th dividing plate 38 are identical with drilling pipe quantity and position with the position, for being uniformly distributed along the circumference 8.Compound shovel part transmission shaft 34 two ends are separately installed with intermeshing 6 shovel driven wheels 19.Other part-structures are identical with embodiment 1.
Embodiment 3: as shown in Figure 1 and Figure 2, comprise shell a, compound shovel part d and place shell interior power section b and replace tubes part c, power section b is connected with replace tubes part c by its elevating mechanism, and the drilling pipe of replace tubes part c is connected with the drill bit 20 of compound shovel part when work.Shell a goes up corresponding each several part and is equipped with shell partition plates, and each several part passes corresponding shell partition plates and connects.Power section is connected with battery, and this battery is the solar cell of lunar rover or lander.
What this example was different with embodiment 1 structure is: 4 drilling pipes are uniformly distributed along the circumference on the second drilling pipe disk gear 12 of replace tubes part c, the 3rd circular hole 52 quantity that have on the top board 50 of the open pore 47 on its corresponding second partition 36, second circular hole 49 on the 3rd dividing plate 37 and the 4th dividing plate 38 are identical with drilling pipe quantity and position with the position, for being uniformly distributed along the circumference 4.Compound shovel part transmission shaft 34 two ends are separately installed with intermeshing 4 shovel driven wheels 19.Other part-structures are identical with embodiment 1.
Embodiment 4: as shown in Figure 1 and Figure 2, comprise shell a, compound shovel part d and place shell interior power section b and replace tubes part c, power section b is connected with replace tubes part c by its elevating mechanism, and the drilling pipe of replace tubes part c is connected with the drill bit 20 of compound shovel part when work.Shell a goes up corresponding each several part and is equipped with shell partition plates, and each several part passes corresponding shell partition plates and connects.Power section is connected with battery, and this battery is the solar cell of lunar rover or lander.
What this example was different with embodiment 1 structure is: the second drilling pipe disk gear 12 of replace tubes part c is provided with 1 drilling pipe, the 3rd circular hole 52 quantity that have on the top board 50 of the open pore 47 on its corresponding second partition 36, second circular hole 49 on the 3rd dividing plate 37 and the 4th dividing plate 38 are identical with drilling pipe quantity and position with the position, are 1.Compound shovel part transmission shaft 34 two ends are separately installed with intermeshing 3 shovel driven wheels 19.Not perforate on the top plate 45 of first dividing plate 35.Other part-structures are identical with embodiment 1.
The present invention can be provided with more drilling pipe according to the difference of sampling depth on the circumference of the second drilling pipe disk gear 12.
Claims (10)
1. lunar sampler, it is characterized in that: comprise shell, compound shovel part and place shell interior power section and replace tubes part, power section partly is connected with replace tubes by its elevating mechanism, and the drilling pipe of replace tubes part is connected with the drill bit of compound shovel part when work.
2. according to the described lunar sampler of claim 1, it is characterized in that: described power section comprises elevating mechanism, drive motor and spindle, elevating mechanism is fixed on first dividing plate of shell, on the output shaft of drive motor spindle is installed, and spindle is connected with elevating mechanism.
3. according to the described lunar sampler of claim 2, it is characterized in that: described elevating mechanism comprises lifting motor, intermeshing first transmission gear and second transmission gear, leading screw and feed screw nut, lifting motor output axle head stretches out first dividing plate, first transmission gear is installed on it, leading screw one end is equipped with second transmission gear, the replace tubes part second drilling pipe disk gear is installed on the other end, and feed screw nut is fixed on the spindle.
4. according to the described lunar sampler of claim 1, it is characterized in that: described replace tubes partly comprises the first drilling pipe disk gear, the second drilling pipe disk gear, drilling pipe rotary tray motor, clamp device and at least one drilling pipe, the drilling pipe rotary tray motor is installed on shell the 3rd dividing plate, the first drilling pipe disk gear is installed on its output shaft, the second drilling pipe disk gear that is meshed with it is installed on the leading screw, drilling pipe is installed on the second drilling pipe disk gear, clamp device places second drilling pipe disk gear below, corresponding spindle upright position, the anchor clamps position of clamp device.
5. according to the described lunar sampler of claim 4, it is characterized in that: described clamp device comprises clamping motor, connecting rod, V-type anchor clamps, anchor clamps leading screw and clamp nut, clamping motor is installed on shell the 4th dividing plate, its output terminal is equipped with the anchor clamps leading screw, clamp nut on it is fixed on the connecting rod, V-type anchor clamps rod end is connected with connecting rod, the corresponding spindle of pinching end position.
6. according to the described lunar sampler of claim 4, it is characterized in that: described drilling pipe one end is a frustum type, and the other end is a cylinder type, and the frustum end of drilling pipe has at least two grooves along circumference, in end recesses, be provided with pivot pin, be equipped with rotatable reed on the pivot pin; The cylinder end of drilling pipe has and the corresponding slotted eye of frustum end groove along inner periphery, and end face of voussoir cooperates with described slotted eye, is fixed on the drilling pipe cylinder end inwall reed surface engagement of other end and frustum end by slotted eye.
7. according to the described lunar sampler of claim 1, it is characterized in that: described compound shovel comprises that partly shovel drive motor, drill bit, drill bit cutter, shovel, shovel drive motor are fixed on the 4th dividing plate, its output axle head is equipped with the shovel gear train, and the shovel gear train is connected with shovel by link.
8. according to the described lunar sampler of claim 7, it is characterized in that: described shovel gear train: comprise the 3rd transmission gear, the 4th transmission gear, idle pulley, worm screw and turbine and shovel driven wheel, worm screw is fixed on the 4th dividing plate, the 3rd transmission gear is installed in shovel drive motor output axle head, the 3rd transmission gear is connected with the 4th transmission gear on being installed in worm screw by idle pulley, the turbine that matches with worm screw is installed on the transmission shaft, be separately installed with intermeshing at least two shovel driven wheels at the transmission shaft two ends, on the gear at intermeshing shovel driven wheel two ends, both sides, be separately installed with link.
9. according to the described lunar sampler of claim 7, it is characterized in that: described drill bit cutter comprises drill bit disk gear, drill bit rotary tray motor and drill bit rotating disk, the drill bit rotary tray motor is fixed on the 5th dividing plate, drill bit rotary tray motor output axle head is equipped with the drill bit disk gear, drill bit rotating disk periphery has tooth and the drill bit rotating disk is meshed.
10. according to the described lunar sampler of claim 1, it is characterized in that: be the second partition that has endoporus between described power section spindle and replace tubes part drilling pipe, have the open pore that drilling pipe is passed along the second partition circumference, described open pore is and drilling pipe screw thread respective threads hole that the quantity of open pore is identical with drilling pipe quantity and position with the position.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102299671A CN101750233B (en) | 2008-12-19 | 2008-12-19 | Lunar sampler |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102299671A CN101750233B (en) | 2008-12-19 | 2008-12-19 | Lunar sampler |
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| CN101750233A true CN101750233A (en) | 2010-06-23 |
| CN101750233B CN101750233B (en) | 2011-08-03 |
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| CN2008102299671A Expired - Fee Related CN101750233B (en) | 2008-12-19 | 2008-12-19 | Lunar sampler |
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| CN102745364B (en) * | 2012-07-19 | 2013-12-04 | 哈尔滨工业大学 | Power built-in lunar soil sample soft bag winding and reforming conveyer |
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| CN2063956U (en) * | 1990-04-04 | 1990-10-17 | 广西玉林柴油机厂 | Universal miniature hydraulic excavator |
| CN2307821Y (en) * | 1997-08-07 | 1999-02-17 | 谢惠金 | Hydraulic oscillating soil sampler |
| CN201331442Y (en) * | 2008-12-19 | 2009-10-21 | 中国科学院沈阳自动化研究所 | Lunar surface sampler |
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