CN111119773A - Asteroid sampler based on core breaking of rotary impact ultrasonic drilling coring mechanical arm - Google Patents
Asteroid sampler based on core breaking of rotary impact ultrasonic drilling coring mechanical arm Download PDFInfo
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- CN111119773A CN111119773A CN201811276491.7A CN201811276491A CN111119773A CN 111119773 A CN111119773 A CN 111119773A CN 201811276491 A CN201811276491 A CN 201811276491A CN 111119773 A CN111119773 A CN 111119773A
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- drill rod
- mechanical arm
- coring
- ultrasonic
- drill
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- E—FIXED CONSTRUCTIONS
- E21—EARTH DRILLING; MINING
- E21B—EARTH DRILLING, e.g. DEEP DRILLING; OBTAINING OIL, GAS, WATER, SOLUBLE OR MELTABLE MATERIALS OR A SLURRY OF MINERALS FROM WELLS
- E21B25/00—Apparatus for obtaining or removing undisturbed cores, e.g. core barrels, core extractors
Abstract
The invention provides a rotary impact ultrasonic drilling coring mechanical arm core breaking-based asteroid sampler which comprises a detector body, a mechanical arm, an ultrasonic drill and a returning cabin, wherein the mechanical arm and the returning cabin are both arranged on the detector body, the ultrasonic drill is arranged at the tail end of the mechanical arm, the mechanical arm drives the ultrasonic drill to sample and then send the sample into the returning cabin, the ultrasonic drill comprises a rotor, a V-shaped rear cover plate, a piezoelectric ceramic stack, an amplitude-changing rod, a transmission shaft, a lower shell, a coring drill rod and an upper shell, and the coring drill rod comprises a drill rod base shaft and a hollow drill rod which are integrally arranged. The single piezoelectric stack is used as the only power source, the vibration of two sides of the piezoelectric stack is fully utilized, the vibration of one side of the piezoelectric stack is converted into the rotary motion of the coring drill rod, chip removal is accelerated, and the drilling efficiency is improved; and the vibration of the other side is converted into the impact motion of the coring drill rod, so that the rock is quickly crushed, and finally, the rotary impact ultrasonic drill is used for spiral drilling and sampling.
Description
Technical Field
The invention belongs to the technical field of aerospace sampling, and particularly relates to a asteroid sampler based on core breaking of a rotary impact ultrasonic drilling coring mechanical arm.
Background
The solar asteroid completely reserves the vestige formed in the early stage of the solar system, and becomes one of the key targets of deep space exploration in recent years. With the continuous deepening of the knowledge of the detection value of the asteroid, a heat tide of asteroid detection is rising internationally. Sampling analysis is one of the important means for asteroid detection. The more successful asteroid sampling analysis task that has been completed today belongs to the japanese "falcon" number. The 'one touch and go' sampling method adopted by the method only brings back about 1500 particles, and the research value of the particles is much smaller compared with that of a bulk rock sample. Therefore, the sampler capable of acquiring a large rock sample at the asteroid has great significance for asteroid detection.
Disclosure of Invention
In view of the above, the invention aims to provide a core breaking asteroid sampler for a core drilling mechanical arm based on rotary impact ultrasonic waves, wherein a single piezoelectric stack is used as a unique power source, the vibration at two sides of the piezoelectric stack is fully utilized, the vibration at one side of the piezoelectric stack is converted into the rotary motion of a core drilling rod, the chip removal is accelerated, and the drilling efficiency is improved; and the vibration of the other side is converted into the impact motion of the coring drill rod, so that the rock is quickly crushed, and finally, the rotary impact ultrasonic drill is used for spiral drilling and sampling.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a core breaking asteroid sampler of an ultrasonic drilling coring mechanical arm based on rotary impact comprises a detector body, the mechanical arm, an ultrasonic drill and a returning capsule, wherein the mechanical arm and the returning capsule are both arranged on the detector body;
the ultrasonic drill comprises a rotor, a V-shaped rear cover plate, a piezoelectric ceramic stack, an amplitude transformer, a transmission shaft, a lower shell, a coring drill rod and an upper shell, wherein the rotor, the V-shaped rear cover plate, the piezoelectric ceramic stack, the amplitude transformer and the transmission shaft are arranged in a space enclosed by the upper shell and the lower shell, the amplitude transformer is fixed on the lower shell and comprises a drill rod base shaft and a hollow drill rod which are integrally arranged, a clamping reed is arranged on the inner wall of the hollow drill rod, an extending edge is arranged at the end part of the hollow drill rod, the drill rod base shaft penetrates into the lower shell, the amplitude transformer is a hollow rod body which is wide at the top and narrow at the bottom, a wide section is arranged in the upper shell and extends into a cavity of the V-shaped rear cover plate, a narrow section is arranged in the lower shell and is connected with the drill rod base shaft of the coring drill rod, and the wide section of the amplitude transformer compresses the piezoelectric ceramic stack on the, the upper end of the V-shaped rear cover plate is provided with a rotor, the transmission shaft sequentially penetrates through the rotor and the amplitude transformer and then is inserted into a drill rod base shaft of the coring drill rod, a compression spring is sleeved on the transmission shaft between the rotor and the upper wall of the upper shell, and a recovery spring is sleeved on the drill rod base shaft in the lower shell.
Further, the mechanical arm is a three-degree-of-freedom mechanical arm and comprises a first joint arm, a second joint arm and a third joint arm which are sequentially arranged from top to bottom, the first joint arm is connected with the second joint arm through a second joint, the second joint arm is connected with the third joint arm through a third joint, the first joint arm is connected with the detector body through a first joint, and the third joint arm is connected with the ultrasonic drill.
Furthermore, a first bearing used for supporting the transmission shaft is arranged at the end part of the upper shell, a copper sleeve is matched with an inner ring of the first bearing, one end of the compression spring tightly presses the copper sleeve, and the other end of the compression spring presses the rotor on the V-shaped rear cover plate.
Furthermore, a second bearing is arranged at the position where the recovery spring abuts against the lower shell, one end of the recovery spring presses the drill rod base shaft of the coring drill rod to enable the end face of the drill rod base shaft to be attached to the amplitude transformer, and the other end of the recovery spring presses the second bearing to enable the second bearing to be attached to the lower shell.
Furthermore, the upper shell and the lower shell are connected through bolts.
Further, the mechanical arm is arranged on the side face of the detector body, and the returning capsule is arranged at the bottom of the detector body.
Further, the transmission shaft is a hollow shaft.
Compared with the prior art, the asteroid sampler based on the rotary impact ultrasonic drilling coring mechanical arm core breaking has the following advantages:
the asteroid sampler based on the rotary impact ultrasonic drilling coring mechanical arm core breaking ① adopts a rotary impact type ultrasonic drilling coring with low bit pressure and high efficiency, the mechanical arm core breaking realizes asteroid surface sampling, ② takes a single piezoelectric stack as a unique power source, the vibration of two sides of the piezoelectric stack is fully utilized, the vibration of one side of the piezoelectric stack is converted into the rotary motion of a coring drill rod, chip removal is accelerated, the drilling efficiency is improved, the vibration of the other side is converted into the impact motion of the coring drill rod, rock is crushed rapidly, and finally the rotary impact ultrasonic drilling spiral drilling sampling is realized.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a core breaking asteroid sampler of a rotary impact ultrasonic drilling coring mechanical arm according to an embodiment of the invention;
FIG. 2 is a schematic view of a robotic arm according to an embodiment of the present invention;
FIG. 3 is a schematic structural view of an ultrasonic drill;
FIG. 4 is a schematic view of a robot arm core breaking.
Description of reference numerals:
1-a detector body, 2-a mechanical arm, 2-1-a first joint, 2-2-a first joint arm, 2-3 a second joint, 2-4 a second joint arm, 2-5-a third joint, 2-6-a third joint arm, 3-an ultrasonic drill, 3-1-a rotor, 3-2-a rear cover plate, 3-3-a piezoelectric ceramic stack, 3-4-an amplitude transformer, 3-5-a transmission shaft, 3-6-a lower shell, 3-7-a core drill rod, 3-8-a clamping reed, 3-9-a first bearing, 3-10-a copper sleeve, 3-11-a compression spring, 3-12-an upper shell and 3-13-a return spring, 3-14-second bearing, 3-15-extension edge, 4-return capsule.
Detailed Description
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1-4, the minor planet sampler for core breaking of the core-taking mechanical arm based on rotary impact ultrasonic drilling comprises a detector body 1, a mechanical arm 2, an ultrasonic drill 3 and a return capsule 4, wherein both the mechanical arm 2 and the return capsule 4 are arranged on the detector body 1, the ultrasonic drill 3 is arranged at the tail end of the mechanical arm 2, and the mechanical arm 2 drives the ultrasonic drill 3 to sample and then send the sample into the return capsule 4;
the ultrasonic drill 3 comprises a rotor 3-1, a V-shaped rear cover plate 3-2, a piezoelectric ceramic stack 3-3, an amplitude transformer 3-4, a transmission shaft 3-5, a lower shell 3-6, a coring drill rod 3-7 and an upper shell 3-12, wherein the rotor 3-1, the V-shaped rear cover plate 3-2, the piezoelectric ceramic stack 3-3, the amplitude transformer 3-4 and the transmission shaft 3-5 are arranged in a space enclosed by the upper shell 3-12 and the lower shell 3-6, the amplitude transformer 3-4 is fixed on the lower shell 3-6, the coring drill rod 3-7 comprises a drill rod base shaft and a hollow drill rod which are integrally arranged, a clamping reed 3-8 is arranged on the inner wall of the hollow drill rod, and an extension edge 3-15 is arranged at the end part of the hollow drill rod, the drill rod base shaft penetrates into the lower shell 3-6, the amplitude transformer 3-4 is a hollow rod body with a wide upper part and a narrow lower part, the wide section is arranged in the upper shell 3-12 and extends into the cavity of the V-shaped rear cover plate 3-2, the narrow section is arranged in the lower shell 3-6 and is connected with the drill rod base shaft of the coring drill rod 3-7, the wide section of the amplitude transformer 3-4 tightly presses the piezoelectric ceramic stack 3-3 on the V-shaped rear cover plate 3-2, the upper end of the V-shaped rear cover plate 3-2 is provided with a rotor 3-1, the transmission shaft 3-5 sequentially penetrates through the rotor 3-1 and the amplitude transformer 3-4 and then is inserted into the drill rod base shaft of the drill rod 3-7, the compression spring 3-11 is sleeved on the transmission shaft 3-5 between the rotor 3-1 and the coring wall of the upper shell 3-12, a restoring spring 3-13 is sleeved on the drill rod base shaft in the lower shell 3-6.
The mechanical arm 2 is a three-degree-of-freedom mechanical arm and comprises a first joint arm 2-2, a second joint arm 2-4 and a third joint arm 2-6 which are sequentially arranged from top to bottom, the first joint arm 2-2 is connected with the second joint arm 2-4 through a second joint 2-3, the second joint arm 2-2 is connected with the third joint arm 2-6 through a third joint 2-5, the first joint arm 2-2 is connected with the detector body 1 through a first joint 2-1, and the third joint arm 2-6 is connected with the ultrasonic drill 3. The mechanical arm 2 can also be a plurality of joint arms, and specifically according to needs, the mechanical arm 2 is provided with three joint arms, so that the movement in the X direction and the Z direction can be realized, the rotation around the Z axis can be realized, the adjustment of the height and the angle of the mechanical arm 2 can be realized, the flexibility is realized, and the selection of sampling points is facilitated.
The end part of the upper shell 3-12 is provided with a first bearing 3-9 for supporting the transmission shaft 3-5, the inner ring of the first bearing 3-9 is matched with a copper sleeve 3-10, one end of the compression spring 3-11 is tightly pressed on the copper sleeve 3-10, and the other end of the compression spring presses the rotor 3-1 on the V-shaped rear cover plate 3-2.
A second bearing 3-14 is arranged at the position where the restoring spring 3-13 is abutted against the lower shell 3-6, one end of the restoring spring 3-13 presses the drill rod base shaft of the coring drill rod 3-7 to enable the end surface of the drill rod base shaft to be attached to the amplitude transformer 3-4, and the other end of the restoring spring presses the second bearing 3-14 to enable the second bearing to be attached to the lower shell 3-6.
The upper shell 3-12 and the lower shell 3-6 are connected by bolts, and the connection is firm and reliable.
The mechanical arm 2 is arranged on the side face of the detector body 1, the returning capsule 4 is arranged at the bottom of the detector body 1, the mechanical arm 2 is convenient for firstly placing a sample acquired by the coring drill rod 3-7 into the returning capsule 4, and the mechanical arm 2 is convenient for secondly pushing laterally to realize sample core breaking.
The transmission shafts 3-5 are hollow shafts, so that the weight of the whole sampler is reduced.
The working principle of the sampler is as follows:
after the probe body 1 selects a sampling point on the surface of the asteroid, the mechanical arm 2 is unfolded from the original folded state to a proper angle for sampling. The piezoelectric ceramic stack 3-3 is introduced with high-frequency sinusoidal alternating voltage to generate high-frequency longitudinal vibration, and the amplitude transformer 3-4 amplifies the high-frequency longitudinal vibration to drive the coring drill rod 3-7 to vibrate in a high-frequency longitudinal mode; meanwhile, the V-shaped rear cover plate 3-2 can generate torsional vibration to drive the rotor 3-1 to rotate and transmit power to the coring drill rod 3-7 through the transmission shaft 3-5, so that the rotary motion of the coring drill rod 3-7 is realized. The working modes of the coring drill rods 3-7 are the coupling of the rotary motion and the longitudinal high-frequency vibration. Meanwhile, the angle of each joint of the mechanical arm 2 is continuously adjusted to provide drilling pressure for the ultrasonic drill 3. The broken rocks of the high-frequency impact motion of the coring drill rod 3-4 can be quickly drilled into the surface of the asteroid, the drilled part can be held tightly by the clamping spring 3-6, when the expected drilling depth is reached, because the end part of the hollow drill rod is provided with the extension edge 3-15, when the coring drill rod 3-7 is drilled, a gap larger than the outer diameter of the coring drill rod 3-7 is formed, thus when the mechanical arm 2 is pushed laterally, the root of a sample rocks to realize core breaking, and then the mechanical arm 2 adjusts the angle of each joint to take the coring drill rod out from the surface of the asteroid and send the coring drill rod into the returning cabin 4. And then, continuously selecting points and sampling until the sampling task is completed.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (7)
1. The utility model provides a little planet sample thief of coring based on gyration is strikeed ultrasonic wave and is bored coring arm and break core which characterized in that: the ultrasonic detector comprises a detector body (1), a mechanical arm (2), an ultrasonic drill (3) and a returning capsule (4), wherein the mechanical arm (2) and the returning capsule (4) are both arranged on the detector body (1), the ultrasonic drill (3) is arranged at the tail end of the mechanical arm (2), and the mechanical arm (2) drives the ultrasonic drill (3) to sample and then send the sample into the returning capsule (4);
the ultrasonic drill (3) comprises a rotor (3-1), a V-shaped rear cover plate (3-2), a piezoelectric ceramic stack (3-3), an amplitude transformer (3-4), a transmission shaft (3-5), a lower shell (3-6), a coring drill rod (3-7) and an upper shell (3-12), wherein the rotor (3-1), the V-shaped rear cover plate (3-2), the piezoelectric ceramic stack (3-3), the amplitude transformer (3-4) and the transmission shaft (3-5) are arranged in a space enclosed by the upper shell (3-12) and the lower shell (3-6), the amplitude transformer (3-4) is fixed on the lower shell (3-6), the coring drill rod (3-7) comprises a drill rod base shaft and a hollow drill rod which are integrally arranged, and a clamping reed (3-8) is arranged on the inner wall of the hollow drill rod, an extension edge (3-15) is arranged at the end part of the hollow drill rod, the drill rod base shaft penetrates into the lower shell (3-6), the amplitude transformer (3-4) is a hollow rod body with a wide upper part and a narrow lower part, the wide section is arranged in the upper shell (3-12) and extends into the cavity of the V-shaped rear cover plate (3-2), the narrow section is arranged in the lower shell (3-6) and is connected with the drill rod base shaft of the coring drill rod (3-7), the piezoelectric ceramic stack (3-3) is tightly pressed on the V-shaped rear cover plate (3-2) by the wide section of the amplitude transformer (3-4), the upper end of the V-shaped rear cover plate (3-2) is provided with a rotor (3-1), the transmission shaft (3-5) sequentially penetrates through the rotor (3-1) and the amplitude transformer (3-4) and then is inserted into the drill rod base shaft of the coring drill rod (3-7), a compression spring (3-11) is sleeved on a transmission shaft (3-5) between the rotor (3-1) and the upper wall of the upper shell (3-12), and a recovery spring (3-13) is sleeved on a drill rod base shaft in the lower shell (3-6).
2. The asteroid sampler based on core breaking of a rotary impact ultrasonic drilling coring mechanical arm as claimed in claim 1, wherein: the mechanical arm (2) is a three-degree-of-freedom mechanical arm and comprises a first joint arm (2-2), a second joint arm (2-4) and a third joint arm (2-6), wherein the first joint arm (2-2) and the second joint arm (2-4) are sequentially arranged from top to bottom and are connected through a second joint (2-3), the second joint arm (2-2) and the third joint arm (2-6) are connected through a third joint (2-5), the first joint arm (2-2) is connected with the detector body (1) through a first joint (2-1), and the third joint arm (2-6) is connected with the ultrasonic drill (3).
3. The asteroid sampler based on core breaking of a rotary impact ultrasonic drilling coring mechanical arm as claimed in claim 2, wherein: a first bearing (3-9) used for supporting the transmission shaft (3-5) is arranged at the end part of the upper shell (3-12), a copper sleeve (3-10) is matched with the inner ring of the first bearing (3-9), one end of the compression spring (3-11) is tightly pressed on the copper sleeve (3-10), and the other end of the compression spring presses the rotor (3-1) on the V-shaped rear cover plate (3-2).
4. The asteroid sampler of claim 3 for coring based on gyratory impact ultrasonic drilling coring as characterized in that: and a second bearing (3-14) is arranged at the position where the restoring spring (3-13) abuts against the lower shell (3-6), one end of the restoring spring (3-13) presses a drill rod base shaft of the coring drill rod (3-7) to enable the end surface of the drill rod base shaft to be attached to the amplitude transformer (3-4), and the other end of the restoring spring presses the second bearing (3-14) to enable the second bearing to be attached to the lower shell (3-6).
5. The asteroid sampler of any one of claims 1-4 based on core breaking of a rotary impact ultrasonic drilling coring mechanical arm, wherein: the upper shell (3-12) is connected with the lower shell (3-6) by bolts.
6. The asteroid sampler of claim 5 based on core breaking of a rotary impact ultrasonic drilling coring mechanical arm, which is characterized in that: the mechanical arm (2) is arranged on the side face of the detector body (1), and the returning capsule (4) is arranged at the bottom of the detector body (1).
7. The asteroid sampler based on core breaking of a rotary impact ultrasonic drilling coring mechanical arm as claimed in claim 6, wherein: the transmission shaft (3-5) is a hollow shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811276491.7A CN111119773A (en) | 2018-10-30 | 2018-10-30 | Asteroid sampler based on core breaking of rotary impact ultrasonic drilling coring mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811276491.7A CN111119773A (en) | 2018-10-30 | 2018-10-30 | Asteroid sampler based on core breaking of rotary impact ultrasonic drilling coring mechanical arm |
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| Publication Number | Publication Date |
|---|---|
| CN111119773A true CN111119773A (en) | 2020-05-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811276491.7A Pending CN111119773A (en) | 2018-10-30 | 2018-10-30 | Asteroid sampler based on core breaking of rotary impact ultrasonic drilling coring mechanical arm |
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| CN (1) | CN111119773A (en) |
Citations (6)
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| US20040127925A1 (en) * | 2002-12-30 | 2004-07-01 | Shu Du | Dual probe |
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| CN103170987A (en) * | 2011-12-21 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Planet surface mechanical arm sampling device |
| CN106134448B (en) * | 2011-09-16 | 2014-02-19 | 北京卫星制造厂 | Month soil sampler is got core actuating unit |
| CN105158016A (en) * | 2015-09-10 | 2015-12-16 | 哈尔滨工业大学 | Rotary impacting ultrasonic drill actuated by single piezoelectric stacking |
| CN107191148A (en) * | 2017-08-01 | 2017-09-22 | 温晓妮 | A kind of precision drilling corning machine |
-
2018
- 2018-10-30 CN CN201811276491.7A patent/CN111119773A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040127925A1 (en) * | 2002-12-30 | 2004-07-01 | Shu Du | Dual probe |
| CN201507260U (en) * | 2009-09-18 | 2010-06-16 | 安徽两淮科力机械制造有限责任公司 | Single-action snap spring catcher for corers |
| CN106134448B (en) * | 2011-09-16 | 2014-02-19 | 北京卫星制造厂 | Month soil sampler is got core actuating unit |
| CN103170987A (en) * | 2011-12-21 | 2013-06-26 | 中国科学院沈阳自动化研究所 | Planet surface mechanical arm sampling device |
| CN105158016A (en) * | 2015-09-10 | 2015-12-16 | 哈尔滨工业大学 | Rotary impacting ultrasonic drill actuated by single piezoelectric stacking |
| CN107191148A (en) * | 2017-08-01 | 2017-09-22 | 温晓妮 | A kind of precision drilling corning machine |
Non-Patent Citations (1)
| Title |
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| 王印超: "一种单压电叠堆驱动的回转冲击超声波钻", 《北京航空航天大学学报》 * |
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