CN102501986A - Anchoring and sampling mechanism of planetary probe - Google Patents
Anchoring and sampling mechanism of planetary probe Download PDFInfo
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- CN102501986A CN102501986A CN2011102960384A CN201110296038A CN102501986A CN 102501986 A CN102501986 A CN 102501986A CN 2011102960384 A CN2011102960384 A CN 2011102960384A CN 201110296038 A CN201110296038 A CN 201110296038A CN 102501986 A CN102501986 A CN 102501986A
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Abstract
The invention discloses an anchoring and sampling mechanism of a planetary probe, which comprises a landing leg, an anchoring device and a sampling device. The anchoring and sampling mechanism is characterized in that the anchoring device is arranged on the outer side of the lower end of the landing leg, a guide rail is arranged inside the landing leg, the sampling device is arranged on the guide rail inside the buffer landing leg, the upper end of the sampling device is connected with the upper end of the landing leg, the anchoring device comprises a high-pressure gas reaction chamber and a rivet, and the rivet is arranged at a high-pressure gas outlet of the high-pressure gas reaction chamber. Installation and movement processes of the anchoring and sampling mechanism have no interference, the anchoring and sampling mechanism is fine in structural rigidity, light in weight, simple in structure, convenient in processing, high in reliability and wide in applicable range, the anchoring device and the sampling device are integrated, extra impact on the probe is reduced during sampling, and influence on the working posture of the probe is decreased.
Description
Technical field
The invention belongs to a kind of grappling and the mechanism of gathering minor planet surface sample that is used for planetary probe.
Background technology
Distribute, understand universe development and evolution history, human sampling and the analysis of repeatedly having carried out planetary surface soil and rock sample for exploring space resources.Utilizing sampling mechanism to obtain sample and sample is carried out analytical investigation, is vital task and gordian technique in the survey of deep space.International space tissue, research institution have dropped into great effort to survey of deep space sampling return technique, and have obtained a lot of valuable achievements.Along with the deep development of China's moon exploration project, Future in China will realize the automatic collection of lunar soil sample and return.
The main task of planetary probe is carried out planetary surface soil sampling collection work exactly.Detector stably lands after planetary surface, needs a pulsation-free attitude, can work normally with the attitude of anticipation to guarantee sampling mechanism and other instrument and equipments.Just need this time anchor mechanism will survey and be fixed on planetary surface with predetermined attitude device.Sampling mechanism mainly accomplishes the ground sample of gathering the minor planet surface; Transport the storage space of detector back; Requirement can be at the reliable collection in the minor planet surface sample of different qualities; And guarantee enough collection capacities, and can not cause very big additional impact to detector in the working process, avoid influencing the detector operation attitude.At present, in the world operatorless automatic sampling machine structure, mainly comprise: take formula automatic sampling machine structure, pincers modus ponens automatic sampling machine structure, abrading type automatic sampling machine structure, drill through formula automatic sampling machine structure etc.The sample that obtains that takes formula automatic sampling machine structure can't keep its bedding characteristic, and can not sample to deep layer lunar soil and bigger lunar rock, so institute's sample thief quantity of information is limited.Pincers modus ponens automatic sampling machine structure receives sampling ability and Applicable scope restriction; Use less; And in No. 2 (Beagle-2) Mars probes of beagle of ESA; Though adopted the compound sampling mechanism of similar pincers modus ponens and abrading type, because the failure of this task, this sampling mechanism also fails to obtain real application.Because the bedding property of the sample after grinding is destroyed; Accessible sampling depth is limited, does not have sample and collects and hold capacity, therefore adopts abrading type automatic sampling machine structure; Can only realize the on-line analysis of sample, rather than the lab analysis behind the sampling Returning ball.
Drill through formula automatic sampling machine structure and be the widest a kind of survey of deep space automatic sampling machine structure of Applicable scope so far, the sample that it obtains can be that celestial body soil also can be core sample; Its sampling depth can be from several centimetres to several meters.Therefore has bigger scientific value with the sample that drills through the acquisition of formula automatic sampling machine structure.
Summary of the invention
The object of the invention: to the deficiency of prior art, provide a kind of grappling function and sampling function are integrated in the mechanism on the detector landing leg, this mechanism has the grappling function, also has the sampling function simultaneously.The characteristics of this mechanism are applied widely, can gather celestial body soil and also can gather core sample, and reliability is high, and the rigidity of structure is big, and kinematic mechanism, control system are simple, light weight, and practicality is stronger.
Technical scheme of the present invention: a kind of grappling sampling mechanism of planetary probe; Comprise landing leg, anchoring device and sampling setup; It is characterized in that: described anchoring device is arranged on the outside of landing leg lower end; In described landing leg set inside guide rail is arranged, described sampling setup is on buffering landing leg in-to-in guide rail, and the upper end of sampling setup is connected with landing leg upper end.
Described anchoring device comprises high pressure gas catalyst chamber and holdfast, and described holdfast is provided with the high pressure gas exit of high pressure gas catalyst chamber.
Described sampling setup comprises sampling motor, prospecting bit and gathering-device; Described sampling motor is fixed in the linear bearing; The upper end of linear bearing is connected landing leg upper end through the snap catch explosive bolt; Described prospecting bit is connected on the output shaft of sampling motor, and described gathering-device is arranged on the inside of prospecting bit.
Described gathering-device comprises that one collects motor and sampler bag, and described sampling motor is fixed on the inside of described prospecting bit, and described sampler bag is connected with described collection motor through a rope.
Sampling setup of the present invention is inner at the landing leg, and the guide rail of four symmetries is set on the landing leg inwall, is provided with superhigh intensity spring and explosive bolt in the inner core upper end, is connected with linear bearing.The sampling motor is equipped with in linear bearing inside, and the sampling motor is connected with prospecting bit through rotating shaft, also is provided with the pulley adaptive with described guide rail in the both sides of linear bearing.Prospecting bit inside is hollow, in the prospecting bit inner upper end collection motor is housed, and in said prospecting bit interior lower end a flexible sampler bag is housed, and there is a high strength cord prospecting bit inside, motor and the flexible sampler bag downlink connection mutually of will sampling.
Beneficial effect of the present invention: the installation and the motion process of this grappling sampling mechanism do not have interference, and the rigidity of structure is good, lighter weight; Simple in structure, easy to process, reliability is high; Applied widely; With anchoring device and sampling setup collection is one, in sampling process, has reduced the additional impact that detector is caused, and has reduced the influence to the detector operating attitude.
Description of drawings
The composition scheme drawing of 1 grappling of accompanying drawing and sampling mechanism.
Label title among the figure: 1, foot pad; 2, holdfast; 3, high pressure gas catalyst chamber; 4, prospecting bit; 5, sampler bag; 6, rope; 7, collect motor; 8, rotating shaft; 9, sampling motor; 10, linear bearing; 11, explosive bolt; 12, spring; 13, guide rail; 14, pulley; 15, landing leg.
The specific embodiment
As shown in the figure, the grappling of a kind of minor planet detector of the present invention and sampling mechanism comprise landing leg 15, holdfast 2 and foot pad 1; Landing leg 15 inwalls are provided with guide rail 13; Be provided with a sampling motor 10 in landing leg 15 in-to-ins upper end, the output revolving shaft 9 of this sampling motor 10 is captiveed joint with prospecting bit 4, also is provided with a spring 12 and explosive bolt 11 in the upper end of sampling motor; Spring 12 has superhigh intensity; The upper end of this superhigh intensity compression spring and explosive bolt 11 all is connected with the top of landing leg 15, also is provided with two groups of 4 pulleys 14 in the both sides of sampling motor 10, and sampling motor 10 passes through pulley 14 slippage up and down in landing leg 15 with prospecting bit 4; Foot pad 1 is arranged on the lower end of landing leg 15; Prospecting bit 6 inner upper end are equipped with collects motor 7, and flexible sampler bag 5 is equipped with in the lower end, collects motor 7 and is connected through high strength cord 6 with flexible sampler bag 5.
When the minor planet detector stably lands on the minor planet surface; The igniting of high pressure gas catalyst chamber produces high pressure gas, and high pressure gas accelerate to required speed with holdfast, draw back the two-stage pipeline; Holdfast hammers into the minor planet surface, and the detector leg that lands is fixed in the minor planet surface.Then explosive bolt detonates, and prospecting bit is carried out release, and the sampling motor is started working; The rotation of drive prospecting bit; Because the superhigh intensity spring has given prospecting bit an axial force, prospecting bit pierces the minor planet surface, and the minor planet surface sample enters into the flexible sampler bag of prospecting bit in-to-in; Flexible sampler bag lower end can be tightened up automatically, and flexible sampler bag lower end is enclosed within on the prospecting bit internal boss.When flexible sampler bag is collected the sample of predetermined quantity, the sampling motor quits work.At this moment, the prospecting bit in-to-in is collected motor and is started working, and the tension high strength cord is mentioned flexible sampler bag, and when the prospecting bit internal boss was left in flexible sampler bag lower end, tightened up automatically flexible sampler bag lower end, i.e. sampling completes successfully.
Claims (4)
1. the grappling of planetary probe sampling mechanism; Comprise landing leg, anchoring device and sampling setup; It is characterized in that: described anchoring device is arranged on the outside of landing leg lower end; In described landing leg set inside guide rail is arranged, described sampling setup is on buffering landing leg in-to-in guide rail, and the upper end of sampling setup is connected with landing leg upper end.
2. the grappling of planetary probe according to claim 1 sampling mechanism, it is characterized in that: described anchoring device comprises high pressure gas catalyst chamber and holdfast, described holdfast is provided with the high pressure gas exit of high pressure gas catalyst chamber.
3. the grappling of planetary probe according to claim 2 sampling mechanism; It is characterized in that: described sampling setup comprises sampling motor, prospecting bit and gathering-device; Described sampling motor is fixed in the linear bearing; The upper end of linear bearing is connected landing leg upper end through the snap catch explosive bolt, and described prospecting bit is connected on the output shaft of sampling motor, and described gathering-device is arranged on the inside of prospecting bit.
4. the grappling of planetary probe according to claim 3 sampling mechanism; It is characterized in that: described gathering-device comprises that one collects motor and sampler bag; Described sampling motor is fixed on the inside of described prospecting bit, and described sampler bag is connected with described collection motor through a rope.
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| CN 201110296038 CN102501986B (en) | 2011-09-27 | 2011-09-27 | Anchoring and sampling mechanism of planetary probe |
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| CN 201110296038 CN102501986B (en) | 2011-09-27 | 2011-09-27 | Anchoring and sampling mechanism of planetary probe |
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Cited By (21)
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| CN102866035A (en) * | 2012-09-14 | 2013-01-09 | 东南大学 | Self-embedding anchoring method for asteroid sampler |
| CN102866036A (en) * | 2012-09-14 | 2013-01-09 | 东南大学 | Self-embedded anchorage device for minor planet sampler |
| CN103144785A (en) * | 2013-03-29 | 2013-06-12 | 哈尔滨工业大学 | Lander and instrument anchoring system for microgravity environment |
| CN105510073A (en) * | 2015-11-27 | 2016-04-20 | 北京卫星制造厂 | Mechanical reinforcement pin-type connection separation mechanism |
| CN105510077A (en) * | 2015-11-27 | 2016-04-20 | 北京卫星制造厂 | Multifunctional integrated soil sample recovery and transport mechanism |
| CN106428654A (en) * | 2016-11-17 | 2017-02-22 | 上海卫星工程研究所 | Small-sized split type survivable deep space impactor |
| CN106742061A (en) * | 2016-11-25 | 2017-05-31 | 北京空间机电研究所 | Mechanism is maked an inspection tour on a kind of asteroid microgravity surface |
| CN108362518A (en) * | 2018-02-12 | 2018-08-03 | 河北地质大学 | A kind of soil layer sampling apparatus used for geological prospecting |
| CN110514475A (en) * | 2019-10-14 | 2019-11-29 | 吉林大学 | The adaptive sample of celestial body soil and rock self-balancing drills through system outside a kind of ground |
| CN111044317A (en) * | 2019-11-29 | 2020-04-21 | 北京卫星制造厂有限公司 | Gas excitation sampler suitable for celestial body |
| CN111120787A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface three-leg anchoring device based on rotary impact type ultrasonic drill |
| CN111122218A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Index disc cutter cutting sampling and pull rope feeding type asteroid surface star soil sampler |
| CN111114844A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on ring type damping and penetration anchoring |
| CN111114850A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Three-leg support asteroid surface anchoring device based on impact type ultrasonic drill |
| CN111114841A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN111122219A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Disc cutter cutting sampling and sample bag pull rope feeding type asteroid surface star soil sampler |
| CN111114851A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Planetary surface anchoring device based on rotation motor and impact type ultrasonic drill are coaxial |
| CN111122216A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Planet surface selectable point sampler |
| CN111645880A (en) * | 2020-05-29 | 2020-09-11 | 南京理工大学 | Fast spinning small satellite lander and landing method thereof |
| CN113820168A (en) * | 2021-09-24 | 2021-12-21 | 复旦大学 | Anchoring device of asteroid mining sampling machine |
| CN113911395A (en) * | 2021-09-29 | 2022-01-11 | 北京空间飞行器总体设计部 | Variable-rigidity unfolding mechanism for asteroid sampling detection |
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| CN102866035A (en) * | 2012-09-14 | 2013-01-09 | 东南大学 | Self-embedding anchoring method for asteroid sampler |
| CN102866036A (en) * | 2012-09-14 | 2013-01-09 | 东南大学 | Self-embedded anchorage device for minor planet sampler |
| CN102866036B (en) * | 2012-09-14 | 2014-07-16 | 东南大学 | Self-embedded anchorage device for minor planet sampler |
| CN103144785A (en) * | 2013-03-29 | 2013-06-12 | 哈尔滨工业大学 | Lander and instrument anchoring system for microgravity environment |
| CN103144785B (en) * | 2013-03-29 | 2015-04-15 | 哈尔滨工业大学 | Lander and instrument anchoring system for microgravity environment |
| CN105510077A (en) * | 2015-11-27 | 2016-04-20 | 北京卫星制造厂 | Multifunctional integrated soil sample recovery and transport mechanism |
| CN105510077B (en) * | 2015-11-27 | 2018-06-01 | 北京卫星制造厂 | A kind of multifunctional unit pedotheque recycling and transport mechanism |
| CN105510073B (en) * | 2015-11-27 | 2018-07-24 | 北京卫星制造厂 | A kind of mechanical booster pin type connection separation mechanism |
| CN105510073A (en) * | 2015-11-27 | 2016-04-20 | 北京卫星制造厂 | Mechanical reinforcement pin-type connection separation mechanism |
| CN106428654A (en) * | 2016-11-17 | 2017-02-22 | 上海卫星工程研究所 | Small-sized split type survivable deep space impactor |
| CN106742061A (en) * | 2016-11-25 | 2017-05-31 | 北京空间机电研究所 | Mechanism is maked an inspection tour on a kind of asteroid microgravity surface |
| CN106742061B (en) * | 2016-11-25 | 2019-04-09 | 北京空间机电研究所 | Mechanism is maked an inspection tour on a kind of asteroid microgravity surface |
| CN108362518B (en) * | 2018-02-12 | 2020-04-28 | 河北地质大学 | Soil layer sampling device for geological exploration |
| CN108362518A (en) * | 2018-02-12 | 2018-08-03 | 河北地质大学 | A kind of soil layer sampling apparatus used for geological prospecting |
| CN111120787A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface three-leg anchoring device based on rotary impact type ultrasonic drill |
| CN111114844B (en) * | 2018-10-30 | 2022-09-13 | 哈尔滨工业大学 | Asteroid surface attachment device based on ring type damping and penetration anchoring |
| CN111114851B (en) * | 2018-10-30 | 2022-09-20 | 哈尔滨工业大学 | Planetary surface anchoring device based on rotation motor and impact type ultrasonic drill are coaxial |
| CN111122218A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Index disc cutter cutting sampling and pull rope feeding type asteroid surface star soil sampler |
| CN111114844A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on ring type damping and penetration anchoring |
| CN111114850A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Three-leg support asteroid surface anchoring device based on impact type ultrasonic drill |
| CN111114841A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN111122219A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Disc cutter cutting sampling and sample bag pull rope feeding type asteroid surface star soil sampler |
| CN111114851A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Planetary surface anchoring device based on rotation motor and impact type ultrasonic drill are coaxial |
| CN111122216A (en) * | 2018-10-30 | 2020-05-08 | 哈尔滨工业大学 | Planet surface selectable point sampler |
| CN111114850B (en) * | 2018-10-30 | 2022-09-13 | 哈尔滨工业大学 | Three-leg support asteroid surface anchoring device based on impact type ultrasonic drill |
| CN111114841B (en) * | 2018-10-30 | 2022-07-26 | 哈尔滨工业大学 | Asteroid surface attachment device based on airbag buffering-drilling anchoring |
| CN110514475A (en) * | 2019-10-14 | 2019-11-29 | 吉林大学 | The adaptive sample of celestial body soil and rock self-balancing drills through system outside a kind of ground |
| CN110514475B (en) * | 2019-10-14 | 2024-01-19 | 吉林大学 | Self-balancing and self-adaptive sample drilling system for extra-ground star soil rock |
| CN111044317A (en) * | 2019-11-29 | 2020-04-21 | 北京卫星制造厂有限公司 | Gas excitation sampler suitable for celestial body |
| CN111645880B (en) * | 2020-05-29 | 2022-03-18 | 南京理工大学 | Fast spinning small satellite lander and landing method thereof |
| CN111645880A (en) * | 2020-05-29 | 2020-09-11 | 南京理工大学 | Fast spinning small satellite lander and landing method thereof |
| CN113820168A (en) * | 2021-09-24 | 2021-12-21 | 复旦大学 | Anchoring device of asteroid mining sampling machine |
| CN113820168B (en) * | 2021-09-24 | 2022-11-15 | 复旦大学 | Anchoring device of asteroid mining and sampling machine |
| CN113911395A (en) * | 2021-09-29 | 2022-01-11 | 北京空间飞行器总体设计部 | Variable-rigidity unfolding mechanism for asteroid sampling detection |
| CN113911395B (en) * | 2021-09-29 | 2024-03-26 | 北京空间飞行器总体设计部 | Variable-rigidity unfolding mechanism for asteroid sampling detection |
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