CN109470514A - A kind of combined type asteroid sampler and its sampling method - Google Patents
A kind of combined type asteroid sampler and its sampling method Download PDFInfo
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- CN109470514A CN109470514A CN201811562286.7A CN201811562286A CN109470514A CN 109470514 A CN109470514 A CN 109470514A CN 201811562286 A CN201811562286 A CN 201811562286A CN 109470514 A CN109470514 A CN 109470514A
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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
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Abstract
The invention discloses a kind of combined type asteroid sampler and its sampling methods; the sampler includes: cylindrical tube shape side wall, the installation chassis being mounted in side wall, the brushing mechanism being fixed on installation chassis, drills through mechanism, sample container; sensor module, control module and power module; the bottom of the side wall is equipped with sample hook section; motor protecting cover is covered on brushing mechanism; the top of the motor protecting cover is equipped with partition; sensor module, control module and power module are mounted on the partition, and the top of the sample container is equipped with top cover；This method comprises the step of: sampler decline, sampler contacts ground, sample properties detection, sample point selection and Sampling Strategy planning, the sampler and sampling method solve traditional asteroid sampler there are collection capacities that small, sampling efficiency is low, sampling power consumption is high, can not adapt to the problems such as complicated sampling environment carries out effective sampling work.
Description
Technical field
The present invention relates to instrumental science field, specifically a kind of combined type asteroid sampler and its sampling method.
Background technique
Asteroid detection is with important research significance, the problem in science such as solvable celestial body originates from and extraterrestrial life exists,
Outer space is explored, utilizes space resources for the mankind and the energy provides technical support, asteroid detection is tried to be the first research as various countries
Popular domain.Asteroid is the celestial body of most original in the solar system, and more remains the something lost that the solar system is formed and early stage develops
Mark, research shows that there is the metals such as iron abundant, nickel, copper on asteroid, some there are also precious metals and rare earth elements such as gold and platinum,
In addition it is also possible on asteroid containing the highly desirable precious resources-chilled water that can be found of space tourist, if it is possible to extract small
Water on planet, is not only used as drinking water, can also be decomposed into for the oxygen of human breathing and for rocket fuel
Hydrogen.Therefore, scientific meaning, commercial value and the relevant social value of human civilization of asteroid research are currently that can not estimate
Amount.Asteroid surface area can provide closely comprehensive data for us, us is made to more clearly understand small row
Star.
The form of country's outer planet sampler at present, be broadly divided into projection impinger, drill through sampler, grab jaw formula takes
Sample device and brush sweep sampler.Impinger is wherein projected, difficult to the sample collection after shock, sampling efficiency is relatively low, bores
Take sampler that can sample to planet deep layer, but not high for the particle sampling efficiency of planetary surface；Grab jaw formula sampler, can
A large amount of sample is acquired, but mechanism is more complicated, power consumption is higher；Brush sweeps sampler can be when contacting planetary surface, to particle
Sample fast brushing sweeps sampling, but may be only available for simple sampling environment.The asteroid that patent 201410298650.9 proposes is visited
That surveys drills through grab jaw formula composite sampler, can collect a large amount of sample, but grab jaw formula mechanism is complicated, and controls the big function of difficulty
Consumption is high, on the asteroid surface of bad environments, it is difficult to ensure that sampler safely and efficiently works.
Summary of the invention
Goal of the invention: It is an object of the present invention to solve the deficiency of the existing technology and provide a kind of combined type asteroids to take
Sample device and its sampling method, solve traditional asteroid sampler there are collection capacities that small, sampling efficiency is low, sampling power consumption is high, nothing
Method adapts to the problems such as complicated sampling environment carries out effective sampling work, proposes and a kind of based on brush swept, drills through and hooked up
Composite sampler and its control method.
Technical solution: in order to achieve the goal above, a kind of combined type asteroid sampler of the present invention, it includes:
Cylindrical tube shape side wall, the brushing mechanism being fixed on installation chassis, drills through mechanism, sample at the installation chassis being mounted in side wall
The bottom of container, sensor module, control module and power module, the side wall is equipped with sample hook section, and sample hooks up machine
The shape of structure be it is barb-like, sampler contact asteroid surface certain depth after, a small amount of sample can be hooked up, be stored in barb-like
Inside configuration, motor protecting cover is covered on brushing mechanism, and the top of the motor protecting cover is equipped with partition, the sensor
Module, control module and power module are mounted on the partition, and the top of the sample container is equipped with top cover, top cover peace
Mounted in the inside of cylindrical tube shape side wall, play the role of sealing, the collar aperture that the side wall is equipped with is for being fixedly mounted chassis.
The installation chassis includes: internal installation plate, lower installation board, front mounting plate and rear mounting plate, under described
Mounting plate is fixed on the bottom of internal installation plate, front mounting plate and rear mounting plate parallel alignment, and it is flat to be located at internal installation
The front and rear sides of plate, and be fixed on the lower mounting plate, the centre of lower installation board is provided with linear axis bearing bore, left and right sides difference
Equipped with rounding arc A and rounding arc B, the inside installation plate is used to fix brushing mechanism, drill through mechanism and sample container.
As present invention further optimization, the brushing mechanism includes: brush wheel motor fixing plate, brush wheel motor, passes
Moving gear A, transmission gear B, transmission gear C, transmission gear D, transmission gear E, brush wheel A and brush wheel B；
The brush wheel motor fixing plate is mounted on internal installation plate, and brush wheel motor is mounted on brush wheel motor fixing plate
On, the output shaft of brush wheel motor is towards front mounting plate；Transmission gear A, transmission gear B, transmission gear C, transmission gear D and transmission
Gear E is mounted on the surface of front mounting plate, and the brush wheel A and brush wheel B are located at lower section and the parallel arrangement of lower installation board, brush wheel
The brush wheel axis of A and brush wheel B passes through bearing respectively and is mounted on front mounting plate and rear mounting plate, the end of brushing piece on brush wheel A and brush wheel B
Endpoint respectively on lower installation board rounding arc A and rounding arc B offset, brush wheel A and brush wheel B can according to need the different numbers of setting
The brushing piece of amount,
The transmission gear A is mounted on the output shaft of brush wheel motor, and transmission gear C and transmission gear B pass through fixation
Axis on front mounting plate is mounted on front mounting plate, and transmission gear E and transmission gear D are mounted on the output of brush wheel A and brush wheel B
On axis.
The transmission gear C is engaged with transmission gear A, and transmission gear B and transmission gear E are engaged with transmission gear C,
Transmission gear D is engaged with transmission gear B；
When brush wheel motor works, driving transmission gear A rotation, transmission gear A band nutating gear C, transmission gear C drive
Transmission gear B, transmission gear E, transmission gear B band nutating gear D, transmission gear E and transmission gear D rotation direction on the contrary,
Driving brush wheel A and brush wheel B is rotated backward, and when driving brush wheel A to rotate counterclockwise, brush wheel B is rotated clockwise, brush wheel A and brush wheel B
Particle and pulverized specimen are swept to direction brush among sampler, brush is can be improved and sweeps efficiency.
As present invention further optimization, the mechanism that drills through includes: to drill through motor fixing plate, drill through motor,
One transmission gear, the second transmission gear, shaft coupling, linear bearing, flange bearing A and flange bearing B, nut A and nut B, it bores
Head, compression spring A, pressure spring B, pressure spring C, compression spring axis A, compression spring axis B and compression spring axis C；
The compression spring A, pressure spring B, pressure spring C are respectively fitted on compression spring axis A, compression spring axis B and compression spring axis C, compression spring axis A, pressure
The bottom end of spring axis B and compression spring axis C are fixed by screws on internal installation plate；Compression spring A, pressure spring B, pressure spring C lower end fix
On inside installation plate, the upper end of compression spring axis A, compression spring axis B and compression spring axis C with drill through motor fixing plate and be connected and and pressure spring
A, pressure spring B, pressure spring C top be fixedly connected, drill through motor fixing plate along compression spring axis A, compression spring axis B and compression spring axis C relatively in
Portion's installation plate slides up and down；
The described motor fixing plate that drills through is U-shaped structure, it is described drill through motor and be mounted on U-shaped drill through motor fixing plate
On, the first transmission gear is mounted on the output shaft for drilling through motor, and the second transmission gear is mounted on shaft coupling, the second driving cog
Wheel is engaged with the first transmission gear；
Two sides that U-shaped drills through motor fixing plate are equipped with hole, are respectively arranged with flange bearing A and flange in two holes
Bearing B, the upper and lower surface that U-shaped drills through motor fixing plate upper side are respectively equipped with nut A and nut B, and top is equipped with externally threaded
Shaft coupling sequentially passes through flange bearing A, nut B, flange bearing B and nut A and drills through motor fixing plate rotation relative to U-shaped,
The lower part of shaft coupling is passed through the linear bearing inside lower installation board, and the bottom of shaft coupling is equipped with drill bit.
When drilling through motor work, driving the first transmission gear rotation, the first transmission gear drives the second transmission gear again,
Second transmission gear drives shaft coupling to rotate again, and shaft coupling drives drill bit to drill through sample；The drill bit 4-17 is by small row
Reaction force is transmitted to U-shaped and drills through motor fixing plate by the reaction force in star catalogue face, shaft coupling, is drilled through motor fixing plate and is driven it
On other parts the sliding of thin tail sheep is done relative to compression spring axis A, compression spring axis B and compression spring axis C, compression spring A, pressure spring B, pressure spring C make
Sampler keeps certain flexibility, and the reaction force that sampler moment can be prevented to be subject to is excessive and damages.
As present invention further optimization, the motor protecting cover is fixed on internal installation plate, electric motor protecting
Cover is the shell of bottom opening, covers on the brush wheel motor of brushing mechanism, and drill through internally positioned installation plate top in mechanism,
It prevents sample dust from entering brush wheel motor and drilling through in the micro-structures of the parts such as motor, influences normally to sample.
As present invention further optimization, the sample container is fixed on the two of internal installation plate by card slot
Side, the upper and lower part of sample container are respectively equipped with arcuate structure and arc lower structure, the upper arcuate structure on top be in order to
It allowing sample to be brushed from after planetary surface, rapidly enters in sample container, the arc lower structure function of lower part is similar to baffle,
It splashes after preventing sample from being swiped, the direction for enabling sample to rotate along brush wheel enters the inside of sample container.
As present invention further optimization, the sensor module includes: six-dimension force sensor, ultrasonic sensor
And current sensor, the six-dimension force sensor are mounted on the top of top cover, connect with mobile mechanical arm, measure drilling operation
Reaction force of the middle sampler by asteroid surface；The ultrasonic sensor is mounted on the shaft coupling bottom for drilling through mechanism
The two sides of disc structure, the depth of measurement drilling operation drilling；The current sensor being mounted on partition is for measuring brush wheel electricity
Machine and the electric current for drilling through motor work.
As present invention further optimization, control module includes information acquisition unit, control processing unit, wireless communication
Unit and electric-motor drive unit, the information acquisition unit obtain the data of sensor module, control processing unit to acquisition
Data be analyzed and processed, and make corresponding control command, unit communicates sampler with remote terminal by wireless communication, institute
The electric-motor drive unit stated driving brush wheel motor and the rotation for drilling through motor under the control of control processing unit.
As present invention further optimization, the power module includes battery and voltage conversion circuit, the electricity
Pond is lithium polymer battery, and the voltage conversion circuit is the voltage for the voltage of battery being converted to a variety of different benchmark, is
Sensor module and control module provide the energy.
A kind of combined type asteroid sampling method of the present invention, method includes the following steps:
(1), sampler declines
Sampler of the present invention is mounted on to the end of mobile mechanical arm, under the control of mobile mechanical arm, sampling
Device reaches sample point, and mobile mechanical arm pushes sampler close to asteroid surface with a constant speed, drills through mechanism and exist
Touch in advance with a constant speed rotation before ground, between ultrasonic sensor real-time detection sampler and ground away from
From six-dimension force sensor detects the force information of drill bit and ground, and current sensor real-time detection drills through the current information of motor；
(2), sampler contacts ground
Sampler constantly declines, drill bit and ground Contact, is mounted on the two sides ultrasound of shaft coupling bottom disc structure
Wave sensor is able to detect that a distance, and numerical value is equal to ultrasonic sensor at a distance from drill tip, six-dimensional force sensing
Device and current sensor can detect that the numerical value of moment increases, so that completion autonomously detects sampler and touches asteroid table
Face；
(3), sample properties detection, sample point selection and Sampling Strategy planning
After bit contact is to asteroid surface, mobile mechanical arm continues to drive sampler with a constant small speed
Decline, is drilled through mechanism and is continued to rotate with a constant speed, and sensor module continues to test distance, reaction force and electric current letter
Breath；
After sampler drills through certain depth D, mobile mechanical arm stopping continues to advance downwardly, the control processing unit
Sensing data is analyzed, according to the geometry of the instantaneous depth d (t) and drill bit that drill through, brill can be calculated
The cross-sectional area of head and ground face contact: S (t)=π R (t)2, wherein R (t)=Cd(t)D (t), Cd(t)Be drill bit plan radius R with
The related coefficient of instantaneous depth d (t)；Ratio A (t)=F (t)/S (t) that sample hardness is reaction force and cross-sectional area is defined,
The then firmness change information during available depth selection D, it is assumed that the brushing mechanism can directly sweep sample brush
Sample hardness critical value be A1, the critical value for drilling through the sample hardness that mechanism can overcome is A2(A1And A2Pass through reason
It is obtained by modeling or Physical Experiment, brush sweeps sampling hardness and is generally less than drive sampling hardness, i.e. A1<A2),
If A (t) > A2, then illustrate that the sample hardness of the sample point is excessive, be more than that the sampler can work normally
Range, unit feeds back information to mobile mechanical arm to control processing unit by wireless communication, and it is next suitable to look for
Sampling spot；
If A (t) < A1, then control processing unit control mobile mechanical arm and continue to advance downwardly, and control brushing mechanism simultaneously
Work carries out brush and sweeps sampling, and reads the data of sensor module in real time, passes through the current data and 6 DOF to brush wheel motor
The reaction force data of force snesor control the speed of mobile mechanical arm decline and the revolving speed of brush wheel motor by pid algorithm, real
The brush of existing safety and stability sweeps sampling；
If A1<A(t)<A2, it controls processing unit 11-4 control brushing mechanism 3 and is sampled with the collaborative work of mechanism 4 is drilled through,
And real-time detection drill through motor and brush wheel motor current information and ground face sampler reaction force information, pass through PID
The decrease speed of algorithm control mobile mechanical arm, the revolving speed for drilling through motor and brush wheel motor, realize safe and efficient sampling control.
The utility model has the advantages that a kind of combined type asteroid sampler provided by the invention and its sampling method, with prior art phase
Than having the advantage that
1, have many advantages, such as that brush sweeps that sampling efficiency is high, it is simple to hook up sampling mechanism, and to drill through sampling adaptable；
2, can particle to asteroid surface and the sampling of star earth, also can be deep to rock and asteroid surface by drilling through
Layer sampling；
3, asteroid sampler sampling efficiency and the irreconcilable problem of system power dissipation are solved, sample properties can be completed
Unknown asteroid surface autonomous intelligence samples task；
4, the configuration of the present invention is simple, it is low in energy consumption, it can be also used for the sample collection or Collecting operation of like environment, such as moon
It is independently sampled with powder in Mars sampling, unknown hazardous environment and solid leakage article, using flexible is strong.
Detailed description of the invention
Fig. 1 is system composition schematic diagram of the invention；
Fig. 2 is main view of the invention；
Fig. 3 is the perspective view for installing chassis；
Fig. 4 is the top view of internal installation plate；
Fig. 5 is the perspective view of lower installation board；
Fig. 6 is the perspective view of brushing mechanism with the inside for drilling through mechanism；
Fig. 7 is the perspective view inside brushing mechanism；
Fig. 8 is to drill through in-house perspective view；
Fig. 9 is the main view for drilling through mechanism and drill bit junction；
Figure 10 is the top view for drilling through mechanism and drill bit junction；
Figure 11 is the perspective view of hook section；
Figure 12 is the perspective view of motor protecting cover；
Figure 13 is sample container scheme of installation.；
Figure 14 is the perspective view of sample container；
Figure 15 is the workflow schematic diagram of sensing control module.
Specific embodiment
With reference to the accompanying drawings and examples, the working principle of the invention and the course of work are described in further detail.
As shown in Figure 1 and Figure 2, a kind of combined type asteroid sampler of the present invention, it includes: side wall 1, installs bottom
Frame 2, brushing mechanism 3 drill through mechanism 4, sample hook section 5, motor protecting cover 6, sample container 7, partition 8, top cover 9, sensor
Module 10, control module 11 and power module 12；
Side wall 1 is cylindrical tube shape structure, and the collar aperture that side wall 1 is equipped with is for being fixedly mounted chassis 2；Brushing mechanism 3 drills through
Mechanism 4 and sample container 7 are fixed on installation chassis 2；It is covered with motor protecting cover 6 on brushing mechanism 3, as shown in figure 12, prevents
Sample dust enters brush wheel motor 32 and drills through in the micro-structures of the parts such as motor 42, influences normally to sample；Motor protecting cover 6
Top be equipped with partition 8, sensor module 10, control module 11 and power module 12 are installed on the partition 8；Sample holds
The top of device 7 is equipped with top cover 9, and top cover 9 is mounted on the inside of cylindrical tube shape side wall 1, plays the role of sealing；The bottom of side wall 1
Equipped with sample hook section 5, the shape of sample hook section 5 be it is barb-like, after sampler contacts asteroid surface certain depth, sample
Hook section 5 can hook up a small amount of sample, be stored in barb-like inside configuration, as shown in figure 11.
As shown in Fig. 1, attached drawing 3, attached drawing 4 and attached drawing 5, installation chassis 2 include: internal installation plate 21, lower installation board 22,
Front mounting plate 23 and rear mounting plate 24, the lower installation board 22 are fixed on the bottom of internal installation plate 21, front mounting plate 23
With rear 24 parallel alignment of mounting plate, it is located at the front and rear sides of internal installation plate 21, and is fixed on lower installation board 22,
The centre of lower installation board 22 is provided with linear axis bearing bore 221, is respectively arranged on the left side and the right side rounding arc A222 and rounding arc B223, institute
The inside installation plate 21 stated is used to fix brushing mechanism 3, drill through mechanism 4 and sample container 7, and sample container 7 passes through card slot 71
The two sides of internal installation plate 21 are fixed on, the upper and lower part of sample container 7 is respectively equipped with arcuate structure 73 and arc lower
Structure 72, the upper arcuate structure 73 on top are rapidly to enter sample container 7 to allow sample to be brushed from after planetary surface
In, the effect of arc lower structure 72 of lower part is similar to baffle, splashes after preventing sample from being swiped, enables sample along brush wheel 38
The direction of rotation enters the inside of sample container 7, as shown in figs. 13 and 14.
As shown in attached drawing 1, attached drawing 6 and attached drawing 7, brushing mechanism 3 includes: brush wheel motor fixing plate 31, brush wheel motor 32, passes
Moving gear A33, transmission gear B34, transmission gear C35, transmission gear D36, transmission gear E37, brush wheel A38 and brush wheel B39；
When brush wheel motor 32 works, driving transmission gear A33 rotation, transmission gear A33 band nutating gear C35 is passed
Moving gear C35 band nutating gear B34, transmission gear E37, transmission gear B34 band nutating gear D36, transmission gear E37,
Transmission gear D36 rotation direction is on the contrary, driving brush wheel A38 and brush wheel B39 is rotated backward, when driving brush wheel A33 is rotated counterclockwise
When, brush wheel B39 is rotated clockwise, and brush wheel A38 and brush wheel B39 sweep particle and pulverized specimen to direction brush among sampler, energy
Enough brushes that improves sweep efficiency.
As shown in Fig. 1, attached drawing 6, attached drawing 8, attached drawing 9 and attached drawing 10, drilling through mechanism 4 includes: that U-shaped drills through motor fixing plate
41, motor 42, the first transmission gear 43, the second transmission gear 44, shaft coupling 45, linear bearing 416, flange bearing A46 are drilled through
With flange bearing B47, nut A48 and nut B49, drill bit 417, compression spring A 411, pressure spring B413, pressure spring C415, compression spring axis A410,
Compression spring axis B412 and compression spring axis C414；
It is flat that U-shaped takes motor fixing plate 41 to install along compression spring axis A410, compression spring axis B412 and compression spring axis C414 relative interior
Plate 21 slides up and down, and drills through motor 42 and is mounted on U-shaped and drills through on motor fixing plate 41, and the first transmission gear 43, which is mounted on, to be drilled through
On the output shaft of motor 42, the second transmission gear 44 is mounted on shaft coupling 45, the second transmission gear 44 and the first transmission gear
43 engagements；
When drilling through the work of motor 42, driving the first transmission gear 43 rotation, the first transmission gear 43 drives the second biography again
Moving gear 44, the second transmission gear 44 drive shaft coupling 45 to rotate again, and shaft coupling 45 drives drill bit 417 to drill through sample, described
Drill bit, 17 reaction force by asteroid surface, reaction force is transmitted to U-shaped and drills through motor fixing plate by shaft coupling 45
41, U-shaped drills through the other parts of the drive of motor fixing plate 41 thereon relative to compression spring axis A410, compression spring axis B412 and compression spring axis
C414 does the sliding of thin tail sheep, and compression spring A 411, pressure spring B413 and pressure spring C415 make sampler keep certain flexibility, can prevent from taking
The reaction force that sample device moment is subject to is excessive and damages.
Embodiment
A kind of combined type asteroid sampling method, method includes the following steps:
(1), sampler declines
Sampler is mounted on to the end of mobile mechanical arm 1001, under the control of mobile mechanical arm 1001, sampler is arrived
Up to sample point, mobile mechanical arm 1001 pushes sampler close to asteroid surface with a constant speed, drills through mechanism 4 and exists
It is rotated in advance with a constant speed before touching ground, between 102 real-time detection sampler of ultrasonic sensor and ground
Distance, six-dimension force sensor 101 detects the force information of drill bit 417 and ground, and 103 real-time detection of current sensor drills through motor
42 current information, as shown in figure 15；
(2), sampler contacts ground
Sampler constantly declines, and drill bit 417 and ground Contact are mounted on the two sides of 45 bottom disc structure of shaft coupling
Ultrasonic sensor 102 is able to detect that a distance, numerical value be equal to ultrasonic sensor 102 and 417 end of drill bit away from
From six-dimension force sensor 101 and current sensor 103 can detect that the numerical value of moment increases, to complete to autonomously detect
Sampler touches asteroid surface；
(3), sample properties detection, sample point selection and Sampling Strategy planning
After drill bit 417 touches asteroid surface, mobile mechanical arm 1001 continues to drive with a constant small speed
Dynamic sampler decline, is drilled through mechanism 4 and is continued to rotate with a constant speed, and sensor module 10 continues to test distance, anti-work
Firmly and current information；
After sampler drills through certain depth D, the stopping of mobile mechanical arm 1001 continues to advance downwardly, the control processing
Unit 112 analyzes sensing data, can be with according to the geometry of the instantaneous depth d (t) and drill bit 417 drilled through
The cross-sectional area of drill bit 417 and ground face contact: S (t)=π R (t) is calculated2, wherein R (t)=Cd(t)D (t), Cd(t)It is drill bit
Plan radius R and instantaneous depth d (t) related coefficient；Define the ratio A that sample hardness is reaction force and cross-sectional area
(t)=F (t)/S (t), then the firmness change information during available depth selection D, it is assumed that 3 energy of brushing mechanism
Enough is directly A to the sample hardness critical value that sample brush is swept1, described to drill through the critical of sample hardness that mechanism 4 overcome
Value is A2(A1And A2It is obtained by theoretical modeling or Physical Experiment, brush sweeps sampling hardness and is generally less than drive sampling hardness, i.e. A1<
A2),
If A (t) > A2, then illustrate that the sample hardness of the sample point is excessive, be more than that the sampler can work normally
Range, control processing unit 112 by wireless communication unit 113 feed back information to mobile mechanical arm 1001, look for down
One suitable sampling spot；
If A (t) < A1, then control the control mobile mechanical arm 1001 of processing unit 112 and continue to advance downwardly, and control simultaneously
The work of brushing mechanism 3 carries out brush and sweeps sampling, and reads the data of sensor module 10 in real time, passes through the electricity to brush wheel motor 32
The reaction force data of flow data and six-dimension force sensor 101 control the speed and brush of mobile mechanical arm decline by pid algorithm
The revolving speed of turbin generator 32 realizes that the brush of safety and stability sweeps sampling；
If A1<A(t)<A2, it controls processing unit 11-4 control brushing mechanism 3 and is sampled with the collaborative work of mechanism 4 is drilled through,
And real-time detection drill through motor 41 and brush wheel motor 32 current information and ground face sampler reaction force information, lead to
It crosses the decrease speed of pid algorithm control mobile mechanical arm 1001, drill through the revolving speed of motor 42 and brush wheel motor 32, realize that safety is high
The sampling of effect controls.
Claims (10)
1. a kind of combined type asteroid sampler, it is characterised in that: it includes: cylindrical tube shape side wall (1), is mounted on side wall (1)
Interior installation chassis (2), drills through mechanism (4), sample container (7) at the brushing mechanism (3) being fixed in installation chassis (2), senses
The bottom of device module (10), control module (11) and power module (12), the side wall (1) is equipped with sample hook section (5), sample
Product hook up mechanism (5) shape be it is barb-like, be covered with motor protecting cover (6) on the brushing mechanism (3), the motor is protected
The top of shield (6) is equipped with partition (8), the sensor module (10), control module (11) and power module (12) installation
On the partition (8), the top of the sample container (7) is equipped with top cover (9), the circle that the side wall (1) is equipped with
Hole is for being fixedly mounted chassis (2).
2. a kind of combined type asteroid sampler according to claim 1, it is characterised in that: the installation chassis (2)
It include: internal installation plate (21), lower installation board (22), front mounting plate (23) and rear mounting plate (24), the lower installation board
(22) it is fixed on the bottom of internal installation plate (21), front mounting plate (23) and rear mounting plate (24) parallel alignment, is located at
The front and rear sides of inside installation plate (21), and be fixed on lower installation board (22), the centre of lower installation board (22) is provided with directly
Spool bearing bore (221), is respectively arranged on the left side and the right side rounding arc A (222) and rounding arc B (223), and plate is installed in the inside
(21) it is used to fix brushing mechanism (3), drill through mechanism (4) and sample container (7).
3. a kind of combined type asteroid sampler according to claim 1, it is characterised in that: the brushing mechanism (3)
It include: brush wheel motor fixing plate (31), brush wheel motor (32), transmission gear A (33), transmission gear B (34), transmission gear C
(35), transmission gear D (36), transmission gear E (37), brush wheel A (38) and brush wheel B (39)；
The brush wheel motor fixing plate (31) is mounted on internal installation plate (21), and brush wheel motor (32) is mounted on brush wheel motor
In fixed plate (31), the output shaft of brush wheel motor (32) is towards front mounting plate (23)；Transmission gear A (33), transmission gear B
(34), transmission gear C (35), transmission gear D (36) and transmission gear E (37) are mounted on the surface of front mounting plate (23), described
Brush wheel A (38) and brush wheel B (39) be located at lower section and the parallel arrangement of lower installation board (22), brush wheel A (38) and brush wheel B's (39)
Brush wheel axis passes through bearing respectively and is mounted on front mounting plate (23) and rear mounting plate (24), brushes on brush wheel A (38) and brush wheel B (39)
The distal point of piece respectively on lower installation board (22) rounding arc A (222) and rounding arc B (223) offset.
The transmission gear A (33) is mounted on the output shaft of brush wheel motor (32), transmission gear C (35) and transmission gear B
(34) it is mounted on front mounting plate (23) by being fixed on front mounting plate the axis of (23), transmission gear E (37) and transmission gear D
(36) it is mounted on the output shaft of brush wheel A (38) and brush wheel B (39)；
The transmission gear C (35) is engaged with transmission gear A (33), transmission gear B (34) and transmission gear E (37) all with biography
Moving gear C (35) engagement, transmission gear D (36) are engaged with transmission gear B (34)；
When brush wheel motor (32) works, driving transmission gear A (33) rotation, transmission gear A (33) band nutating gear C (35),
Transmission gear C (35) band nutating gear B (34), transmission gear E (37), transmission gear B (34) band nutating gear D (36),
Transmission gear E (37) and transmission gear D (36) rotation direction are on the contrary, driving brush wheel A (38) and brush wheel B (39) are rotated backward.
4. a kind of combined type asteroid sampler according to claim 1, it is characterised in that: described drills through mechanism (4)
It include: to drill through motor fixing plate (41), drill through motor (42), the first transmission gear (43), the second transmission gear (44), shaft coupling
(45), linear bearing (416), flange bearing A (46) and flange bearing B (47), nut A (48) and nut B (49), drill bit
(417), compression spring A (411), pressure spring B (413), pressure spring C (415), compression spring axis A (410), compression spring axis B (412) and compression spring axis C
(414)；
The compression spring A (411), pressure spring B (413), pressure spring C (415) be respectively fitted over compression spring axis A (410), compression spring axis B (412) and
On compression spring axis C (414), the bottom end of compression spring axis A (410), compression spring axis B (412) and compression spring axis C (414) are fixed by screws in interior
It installs on plate (21) in portion；Compression spring A (411), pressure spring B (413), pressure spring C (415) lower end be fixed on internal installation plate (21)
On, the upper end of compression spring axis A (410), compression spring axis B (412) and compression spring axis C (414) with drill through motor fixing plate (41) be connected and
It is fixedly connected with the top of compression spring A (411), pressure spring B (413), pressure spring C (415), drills through motor fixing plate (41) along compression spring axis
A (410), compression spring axis B (412) and compression spring axis C (414) relative interior installation plate (21) slide up and down；
It is described drill through motor (42) and be mounted on drill through on motor fixing plate (41), the first transmission gear (43), which is mounted on, drills through electricity
On the output shaft of machine (42), the second transmission gear (44) is mounted on shaft coupling (45), and the second transmission gear (44) is passed with first
Moving gear (43) engagement；
Described drill through motor fixing plate (41) are U-shaped structure, and two sides that U-shaped drills through motor fixing plate (41) are equipped with
Hole is respectively arranged with flange bearing A (46) and flange bearing B (47) in two holes, and U-shaped drills through motor fixing plate (41) upper side
Upper and lower surface be respectively equipped with nut A (48) and nut B (49), top is equipped with externally threaded shaft coupling (45) and sequentially passes through flange
Bearing A (46), nut B (49), flange bearing B (47) and nut A (48) simultaneously drill through motor fixing plate (41) turn relative to U-shaped
Dynamic, the lower part of shaft coupling (45) is passed through the internal linear bearing (416) of lower installation board (22), the bottom of shaft coupling (45)
Equipped with drill bit (417).
5. a kind of combined type asteroid sampler according to claim 1, it is characterised in that: the motor protecting cover
(6) it is fixed on internal installation plate (21), motor protecting cover (6) is the shell of bottom opening, covers on the brush of brushing mechanism (3)
Turbin generator (32), and drill through internally positioned installation plate (21) top in mechanism (4).
6. a kind of combined type asteroid sampler according to claim 1, it is characterised in that: the sample container (7)
The two sides of internal installation plate (21) are fixed on by card slot (71), the upper and lower part of sample container (7) is respectively equipped with arc
Shape structure (73) and arc lower structure (72).
7. a kind of combined type asteroid sampler according to claim 1, it is characterised in that: the sensor module
It (10) include: six-dimension force sensor (101), ultrasonic sensor (102) and current sensor (103), the six-dimensional force passes
Sensor (101) is mounted on the top of top cover (9), connect with mobile mechanical arm (1001), measure drilling operation in sampler by
The reaction force on asteroid surface；The ultrasonic sensor (102) is mounted on shaft coupling (45) bottom for drilling through mechanism (4)
The two sides of disc structure, the depth of measurement drilling operation drilling；The current sensor (103) being mounted on partition (8) is for surveying
Amount brush wheel motor (32) and the electric current for drilling through motor (42) work.
8. a kind of combined type asteroid sampler according to claim 1, it is characterised in that: control module (11) includes letter
Acquisition unit (111), control processing unit (112), wireless communication unit (113) and electric-motor drive unit (114) are ceased, it is described
Information acquisition unit (111) obtains the data of sensor module (10), and control processing unit (112) divides the data of acquisition
Analysis processing, and corresponding control command is made, unit (113) communicates sampler with remote terminal by wireless communication, the electricity
Machine driving unit (114) drives brush wheel motor (32) under the control of control processing unit and drills through the rotation of motor (42).
9. a kind of combined type asteroid sampler according to claim 1, it is characterised in that: the power module (12)
Including battery (121) and voltage conversion circuit (122), the battery (121) is lithium polymer battery, the voltage conversion
Circuit (122) is the voltage for the voltage of battery being converted to a variety of different benchmark, is sensor module (10) and control module
(11) energy is provided.
10. a kind of combined type asteroid sampling method according to claim 1, which is characterized in that this method includes following
Step:
(1), sampler declines
Sampler of the present invention is mounted on to the end of mobile mechanical arm (1001), the control in mobile mechanical arm (1001)
Under, sampler reaches sample point, and mobile mechanical arm (1001) pushes sampler to lean on a constant speed to asteroid surface
Closely, mechanism (4) is drilled through before touching ground in advance with a constant speed rotation, and ultrasonic sensor (102) is examined in real time
The distance between sampler and ground are surveyed, six-dimension force sensor (101) detects the force information of drill bit (417) and ground, and electric current passes
Sensor (103) real-time detection drills through the current information of motor (42)；
(2), sampler contacts ground
Sampler constantly declines, and drill bit (417) and ground Contact are mounted on the two sides of shaft coupling (45) bottom disc structure
Ultrasonic sensor (102) is able to detect that a distance, and numerical value is equal to ultrasonic sensor (102) and drill bit (417) end
The distance at end, six-dimension force sensor (101) and current sensor (103) can detect that the numerical value of moment increases, to complete
It autonomously detects sampler and touches asteroid surface；
(3), sample properties detection, sample point selection and Sampling Strategy planning
After drill bit (417) touches asteroid surface, mobile mechanical arm (1001) continues to drive with a constant small speed
Dynamic sampler decline, is drilled through mechanism (4) and is continued to rotate with a constant speed, sensor module (10) continue to test distance,
Reaction force and current information；
After sampler drills through certain depth D, mobile mechanical arm (1001) stopping continues to advance downwardly, and the control handles single
First (112) analyze sensing data, can according to the geometry of the instantaneous depth d (t) and drill bit (417) that drill through
The cross-sectional area of drill bit (417) and ground face contact: S (t)=π R (t) is calculated2, wherein R (t)=Cd(t)D (t), Cd(t)It is
The related coefficient of the plan radius R and instantaneous depth d (t) of drill bit；Define the ratio that sample hardness is reaction force and cross-sectional area
Value A (t)=F (t)/S (t), then the firmness change information during available depth selection D, it is assumed that the brushing mechanism
It (3) can be directly A to the sample hardness critical value that sample brush is swept1, the sample hardness that drills through mechanism (4) and can overcome
Critical value be A2(A1And A2It is obtained by theoretical modeling or Physical Experiment, brush sweeps sampling hardness, and to be generally less than drive sampling hard
Degree, i.e. A1<A2),
If A (t) > A2, then illustrate that the sample hardness of the sample point is excessive, be more than the amount that the sampler can work normally
Journey, unit (113) feeds back information to mobile mechanical arm (1001) by wireless communication for control processing unit (112), looks for
Next suitable sampling spot；
If A (t) < A1, then control processing unit (112) control mobile mechanical arm (1001) and continue to advance downwardly, and pilot brush simultaneously
Sweep mechanism (3) work carry out brush sweep sampling, and in real time reading sensor module (10) data, by brush wheel motor (32)
Current data and six-dimension force sensor (101) reaction force data, pass through pid algorithm control mobile mechanical arm decline speed
The revolving speed of degree and brush wheel motor (32), realizes that the brush of safety and stability sweeps sampling；
If A1<A(t)<A2, control processing unit 11-4 control brushing mechanism 3 and be sampled with the collaborative work of mechanism 4 is drilled through, and is real
When detection drill through the current information of motor (41) and brush wheel motor (32) and ground faces the reaction force information of sampler, it is logical
It crosses the decrease speed of pid algorithm control mobile mechanical arm (1001), drill through the revolving speed of motor (42) and brush wheel motor (32), realize
Safe and efficient sampling control.
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| CN115855570A (en) * | 2023-03-01 | 2023-03-28 | 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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| CN111947964A (en) * | 2020-07-08 | 2020-11-17 | 北京卫星制造厂有限公司 | Planet wheel transposition centrifugal directional sampler suitable for extraterrestrial celestial body |
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| CN113375962A (en) * | 2021-06-10 | 2021-09-10 | 哈尔滨工业大学 | Planet surface remote sampler |
| CN115855570A (en) * | 2023-03-01 | 2023-03-28 | 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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