CN209356228U - A kind of objects outside Earth sampling apparatus - Google Patents
A kind of objects outside Earth sampling apparatus Download PDFInfo
- Publication number
- CN209356228U CN209356228U CN201822251830.8U CN201822251830U CN209356228U CN 209356228 U CN209356228 U CN 209356228U CN 201822251830 U CN201822251830 U CN 201822251830U CN 209356228 U CN209356228 U CN 209356228U
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- main body
- truss
- satellite main
- mechanical arm
- objects outside
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- 238000005070 sampling Methods 0.000 title claims abstract description 22
- 229910003460 diamond Inorganic materials 0.000 claims abstract description 18
- 239000010432 diamond Substances 0.000 claims abstract description 18
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 20
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000010521 absorption reaction Methods 0.000 abstract 1
- 230000015572 biosynthetic process Effects 0.000 abstract 1
- 239000011435 rock Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012876 topography Methods 0.000 description 1
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- Sampling And Sample Adjustment (AREA)
Abstract
The utility model belongs to objects outside Earth research field, specifically a kind of objects outside Earth sampling apparatus, the bottom of satellite main body is respectively equipped with supporting leg, flexible grabbing device and multi-degree-of-freemechanical mechanical arm, supporting leg be it is multiple, be evenly distributed, the upper end of multi-degree-of-freemechanical mechanical arm is connected to the bottom of satellite main body, and lower end is connected with the diamond chain saw of cutting objects outside Earth sample；Flexible grabbing device can be mounted in satellite main body to relative telescopic, and upper end is connected with the power source being mounted on inside satellite main body, is stretched by the power source drive, and lower end is equipped with the capture pawl of capture sample.Satellite main body landing supports the working space of multi-degree-of-freemechanical mechanical arm using supporting leg after finishing, later celestial body surface is implemented to cut using the diamond chain saw being mounted in multi-degree-of-freemechanical mechanical arm, the taper sample for cutting formation is detached from celestial body surface by flexible absorption grabbing device crawl.The utility model structure is simple, and flexibly, control is exquisite for movement, guarantees the success rate of sampling.
Description
Technical field
The utility model belongs to objects outside Earth research field, specifically a kind of objects outside Earth sampling apparatus.
Background technique
Objects outside Earth has contained the information largely to originate from about life and universe, and utilizes the rock specimens of objects outside Earth
It is analyzed, is effective means the most direct；But since objects outside Earth is with a varied topography, suitable rock specimens are obtained
Also more difficult.
Utility model content
In order to adapt to objects outside Earth complicated landform and then be convenient for obtaining objects outside Earth rock specimens, the purpose of this utility model
It is to provide a kind of objects outside Earth sampling apparatus.
The purpose of this utility model is achieved through the following technical solutions:
The utility model includes satellite main body, supporting leg, flexible grabbing device, multi-degree-of-freemechanical mechanical arm and diamond chain
Saw, it is more that wherein the bottom of satellite main body, which is respectively equipped with supporting leg, flexible grabbing device and multi-degree-of-freemechanical mechanical arm, the supporting leg,
It is a, be evenly distributed, the upper end of the multi-degree-of-freemechanical mechanical arm is connected to the bottom of satellite main body, and lower end is connected with outside cutting ground
The diamond chain saw of celestial body sample；The flexible grabbing device can be mounted in satellite main body to relative telescopic, upper end with
It is mounted on the power source inside satellite main body to be connected, stretched by the power source drive, lower end is equipped with the capture pawl of capture sample；
Wherein: the supporting leg includes support leg and multiple truss being hinged, and the truss of the top is articulated with described
In satellite main body, the bottom of bottom truss is hinged with support leg, and driving the top truss pendulum is equipped in the satellite main body
Dynamic linear motor A, the bottom end of each truss are mounted on driving lower section adjacent truss and swing or support leg is driven to swing
Linear motor A；
The truss is two, and respectively truss A and truss B, the top of truss A are articulated in the satellite main body,
Bottom end and the top of the truss B are hinged, and the bottom end of truss B is hinged with support leg；The bottom end of the satellite main body, truss A
And the bottom end of truss B is mounted on linear motor A, the linear motor A in the satellite main body drives the truss A to swing, described
Linear motor A driving truss B on truss A is swung, and the linear motor A driving support leg on the truss B is swung；
The flexible grabbing device include power source, telescopic rod, pedestal and capture pawl, the telescopic rod by linear bearing with
The bottom of satellite main body can connect to relative telescopic, the upper end of the telescopic rod and the power source phase being mounted on inside satellite main body
Even, lower end is equipped with pedestal, capture pawl is equipped on the pedestal；
The capture pawl includes motor A, lead screw A, screw A, drive rod and crawl clamping jaw, and motor A is installed on the base,
Output shaft is connected with the lead screw A of rotational installation on the base, screw A is threaded on lead screw A, the screw A is circumferentially
Multiple drive rods are uniformly connected with, crawl clamping jaw is hinged on each drive rod, the crawl clamping jaw is articulated on pedestal；
The power source is linear motor B, and linear motor B is fixed on inside the satellite main body, with the telescopic rod
Upper end it is direct-connected, drive the telescopic rod flexible；
The power source is motor B, and motor B is connected by the upper end of transmission mechanism and telescopic rod, drives the telescopic rod
It is flexible；The transmission mechanism includes lead screw B and screw B, and lead screw B is mounted in the satellite main body, and with the motor B
Output end connection, driven and rotated by motor B, the screw B is threadedly coupled with lead screw B, the upper end of the telescopic rod and silk
Female B is connected；
The multi-degree-of-freemechanical mechanical arm is seven freedom mechanical arm, and the execution end of the seven freedom mechanical arm has one
Rotary freedom, and there is a relative rotation freedom degree between the A of joint, the joint A has a rotary freedom, and
There is a relative rotation freedom degree between the B of joint, the joint B has a rotary freedom, and has between the C of joint
There is a relative rotation freedom degree, there is a rotary freedom between the joint C and satellite main body；The seven freedom machine
Tool armband is moved diamond chain saw and is carried out around satellite main body longitudinal center line pivotal cutting movement.
The advantages of the utility model and good effect are as follows:
1. sampling apparatus structure provided by the utility model is simple, flexibly, control is exquisite for movement, can be certainly by mechanical arm
By adjustment cutting angle, guarantee the success rate of sampling.
2. the utility model drives diamond chain saw to be cut by multi-degree-of-freemechanical mechanical arm, the shape finally cut is
Taper, being conducive to sample in this way can smoothly take out.
3. the utility model is adapted to the sampling work under Various Complex topographic features.
Detailed description of the invention
Fig. 1 is the schematic perspective view of the utility model；
Fig. 2 is the structural schematic diagram of supporting leg in the utility model；
Fig. 3 is the structural schematic diagram of pedestal and capture pawl in the flexible grabbing device of the utility model；
Fig. 4 is the structural schematic diagram that pawl is captured in Fig. 3；
Fig. 5 is the structure principle chart of multi-degree-of-freemechanical mechanical arm in the utility model；
Fig. 6 is one of the utility model sampling operation process schematic；
Fig. 7 is the two of the utility model sampling operation process schematic；
Fig. 8 is the three of the utility model sampling operation process schematic；
Fig. 9 is that the utility model uses the four of course of work schematic diagram；
Wherein: 1 is satellite main body, and 2 be supporting leg, and 201 be linear motor A, and 202 be truss A, and 203 be truss B, and 204 are
Support leg, 3 be flexible grabbing device, and 301 be telescopic rod, and 302 be pedestal, and 303 be motor A, and 304 be lead screw B, and 305 be screw,
306 be drive rod, and 307 be crawl clamping jaw, and 308 be pin shaft, and 4 be multi-degree-of-freemechanical mechanical arm, and 401 is execute end, and 402 be joint
A, 403 be joint B, and 404 be joint C, and 5 be diamond chain saw.
Specific embodiment
The utility model is described in further detail with reference to the accompanying drawing.
As shown in Figure 1, the utility model includes satellite main body 1, supporting leg 2, flexible grabbing device 3, multi freedom degree mechanical
Arm 4 and diamond chain saw 5, wherein the bottom of satellite main body 1 is respectively equipped with supporting leg 2, flexible grabbing device 3 and multiple degrees of freedom machine
Tool arm 4, the supporting leg 2 are multiple, uniformly distributed along 1 bottom margin circumferencial direction of satellite main body, the upper end of multi-degree-of-freemechanical mechanical arm 4
It is connected to the middle position of 1 bottom of satellite main body, lower end is connected with the diamond chain saw 5 of cutting objects outside Earth sample；It is flexible to grab
Take device 3 that can be mounted on to relative telescopic in satellite main body 1, upper end is connected with the power source being mounted on inside satellite main body 1,
It is stretched by the power source drive, lower end is equipped with the capture pawl of capture sample.
The supporting leg 2 of the utility model includes that support leg 204 and multiple truss being hinged, the truss of the top are hinged
In in satellite main body 1, the bottom of bottom truss is hinged with support leg 204, and driving the top purlin is equipped in satellite main body 1
The linear motor A201 that frame is swung, the bottom end of each truss are mounted on driving lower section adjacent truss and swing or drive support leg 204
The linear motor A201 of swing.As shown in Figure 1 and Figure 2, the supporting leg 2 of the present embodiment is three, and the truss of each supporting leg 2 is equal
To be two, the top of respectively truss A202 and truss B203, truss A202 are articulated with the edge of 1 bottom of satellite main body
Place, bottom end and the top of truss B203 are hinged, and the bottom end of truss B203 is hinged with support leg 204.Satellite main body 1, truss
The bottom end of A202 and the bottom end of truss B203 are mounted on linear motor A201, and the linear motor A201 in the satellite main body 1 drives
It moves the truss A202 to swing, the linear motor A201 driving truss B203 on truss A202 is swung, the straight line on truss B203
Motor A201 drives support leg 204 to swing.In this way, each supporting leg 2 has any freedom degree in plane, three supporting legs 3
The rotation angle of adjustable hinge, to adapt to different terrain environments.
As shown in Fig. 1, Fig. 3 and Fig. 4, the flexible grabbing device 3 of the utility model is three, by three independent power sources
It controls respectively；Each flexible grabbing device 3 includes power source, telescopic rod 301, pedestal 302 and capture pawl, the telescopic rod 301
It can be connect to relative telescopic by linear bearing with the bottom of satellite main body 1, the upper end of telescopic rod 301 and be mounted on satellite main body
Power source inside 1 is connected, and lower end is equipped with pedestal 302, is equipped with capture pawl on the pedestal 302.Capturing pawl includes motor
A303, lead screw A304, screw A305, drive rod 306 and crawl clamping jaw 307, motor A303 are mounted on pedestal 302, are exported
Axis is connected with the lead screw A304 being rotatably installed on pedestal 302, is threaded with screw A305, screw on lead screw A304
A305 is circumferentially uniformly connected with multiple drive rods 306, and crawl clamping jaw 307 is hinged on each drive rod 306, is each grabbed
It takes and is equipped with pin shaft 308 on clamping jaw 307, be articulated on pedestal 302 by the pin shaft 308.It is each crawl clamping jaw 307 one end with
Drive rod 306 is hinged, the other end be it is hook-shaped, for grabbing objects outside Earth surface rock.The power source of the utility model can be straight
Line motor B, linear motor B is fixed on inside satellite main body 1, direct-connected with the upper end of telescopic rod 301, drives the telescopic rod 301
It is flexible.Alternatively, power source is motor B, motor B is connect by transmission mechanism with the upper end of telescopic rod 301, drives the telescopic rod
301 is flexible.Transmission mechanism includes lead screw B and screw B, and lead screw B is mounted in satellite main body 1, and is connected with the output end of motor B
It connects, is driven and rotated by motor B, screw B is threadedly coupled with lead screw B, and the upper end of telescopic rod 301 is connected with screw B.This is practical new
The flexible grabbing device 3 of three of type can be according to the respective fortune of three flexible grabbing devices 3 of grabbed celestial surface Adjusting Shape
Dynamic stroke.
Multi-degree-of-freemechanical mechanical arm 4 be the prior art, as shown in figure 5, the multi-degree-of-freemechanical mechanical arm 4 of the utility model be seven from
By degree mechanical arm, diamond chain saw 5 is mounted on the execution end 401 of the seven freedom mechanical arm, and executing end 401 has one
Rotary freedom θ7, and there is a relative rotation freedom degree θ between the A402 of joint6, joint A402 is with a rotation freedom
Spend θ5, and there is a relative rotation freedom degree θ between the B403 of joint4, joint B403 is with a rotary freedom θ3, and
There is a relative rotation freedom degree θ between the C404 of joint2, there is a rotation certainly between joint C404 and satellite main body 1
By spending θ1.Seven freedom mechanical arm drives diamond chain saw 5 cut around 1 longitudinal center line pivotal cutting movement of satellite main body
Cutting the rock specimens to be formed is taper, and each joint angle of mechanical arm can be adjusted according to the size of required cutting object, with
Cut the sample of suitable dimension.
The method of sampling of the utility model are as follows:
As shown in fig. 6, supporting the work of multi-degree-of-freemechanical mechanical arm 4 using supporting leg 2 after the landing of satellite main body 1 finishes
Make space, later celestial surface is implemented to cut using the diamond chain saw 5 being mounted in multi-degree-of-freemechanical mechanical arm 4, cut shape
At taper sample grabbed by flexible grabbing device 3, then satellite main body 1 is detached from celestial body surface.Specifically:
As shown in fig. 7, original state, supporting leg 2 is in elongation state, driving of the grabbing device 3 by power source of stretching
It is recovered to the position that stroke is zero, multi-degree-of-freemechanical mechanical arm 4 drives diamond chain saw 5 to be in folded state and is located at satellite master
The lower part of body 1.
As shown in figure 8, starting sample cut state after celestial body surface is landed, satellite main body 1 is on objects outside Earth surface
Lu Hou, supporting leg 2 adjust the joint angle in each joint according to celestial surface landform, provide a stable support ring for sampling
Border；Multi-degree-of-freemechanical mechanical arm 4 be unfolded, diamond chain saw 5 is tiltedly goed deep into celestial surface hereinafter, and drive diamond chain saw 5 into
Row circumgyration incision, other rocks that will sample this cutting is tapered, is taken taper sample root and celestial body do not connect, just
In taking-up.
As shown in figure 9, starting sample after celestial body surface is landed recycles state, the grabbing device 3 that stretches passes through power source
Driving is stretched out, and grabs sample using the capture pawl of bottom end, then promoted by power source drive；Meanwhile multi-degree-of-freemechanical mechanical arm 4 is received
Inflection is folded, is adjusted to not interfere the suitable position of flexible grabbing device 3.
Final working condition, supporting leg 2 gradually fold, sample are encircled, and play an additional fixed function；Satellite master
Body 1 leaves objects outside Earth surface.
The utility model can be used for realizing that other objects outside Earths sample to asteroid etc..
Claims (8)
1. a kind of objects outside Earth sampling apparatus, it is characterised in that: including satellite main body (1), supporting leg (2), flexible grabbing device
(3), multi-degree-of-freemechanical mechanical arm (4) and diamond chain saw (5), wherein the bottom of satellite main body (1) be respectively equipped with supporting leg (2),
Flexible grabbing device (3) and multi-degree-of-freemechanical mechanical arm (4), the supporting leg (2) be it is multiple, be evenly distributed, the multiple degrees of freedom
The upper end of mechanical arm (4) is connected to the bottom of satellite main body (1), and lower end is connected with the diamond of cutting objects outside Earth sample
Chain saw (5)；The flexible grabbing device (3) can be mounted on to relative telescopic on satellite main body (1), upper end and be mounted on satellite master
The internal power source of body (1) is connected, is stretched by the power source drive, and lower end is equipped with the capture pawl of capture sample.
2. objects outside Earth sampling apparatus according to claim 1, it is characterised in that: the supporting leg (2) includes support leg
(204) and multiple truss being hinged, the truss of the top are articulated on the satellite main body (1), the bottom of bottom truss
Portion is hinged with support leg (204), and the linear motor A that driving the top truss is swung is equipped on the satellite main body (1)
(201), the bottom end of each truss is mounted on the straight line that driving lower section adjacent truss is swung or driving support leg (204) is swung
Motor A (201).
3. objects outside Earth sampling apparatus according to claim 2, it is characterised in that: the truss is two, respectively purlin
Frame A (202) and truss B (203), the top of truss A (202) are articulated on the satellite main body (1), bottom end and the truss
The top of B (203) is hinged, and the bottom end of truss B (203) is hinged with support leg (204)；The satellite main body (1), truss A
(202) bottom end of bottom end and truss B (203) is mounted on linear motor A (201), the linear motor in the satellite main body (1)
A (201) drives the truss A (202) to swing, linear motor A (201) driving truss B (203) pendulum on the truss A (202)
Dynamic, linear motor A (201) driving support leg (204) on the truss B (203) is swung.
4. objects outside Earth sampling apparatus according to claim 1, it is characterised in that: the flexible grabbing device (3) includes
Power source, telescopic rod (301), pedestal (302) and capture pawl, the telescopic rod (301) pass through linear bearing and satellite main body (1)
Bottom can connect to relative telescopic, the upper end of the telescopic rod (301) the power source phase internal with satellite main body (1) is mounted on
Even, lower end is equipped with pedestal (302), is equipped with capture pawl on the pedestal (302).
5. objects outside Earth sampling apparatus according to claim 4, it is characterised in that: the capture pawl includes motor A
(303), lead screw A (304), screw A (305), drive rod (306) and crawl clamping jaw (307), motor A (303) are mounted on pedestal
(302) on, output shaft is connected with the lead screw A (304) being rotatably installed on pedestal (302), is threadedly coupled on lead screw A (304)
Have screw A (305), the screw A (305) is circumferentially uniformly connected with multiple drive rods (306), on each drive rod (306)
It is hinged with crawl clamping jaw (307), the crawl clamping jaw (307) is articulated on pedestal (302).
6. objects outside Earth sampling apparatus according to claim 4, it is characterised in that: the power source is linear motor B, should
Linear motor B is fixed on the satellite main body (1) inside, direct-connected with the upper end of the telescopic rod (301), drives the telescopic rod
(301) it stretches.
7. objects outside Earth sampling apparatus according to claim 1, it is characterised in that: the power source is motor B, the motor
B is connect by transmission mechanism with the upper end of telescopic rod (301), drives the telescopic rod (301) flexible；The transmission mechanism includes silk
Thick stick B and screw B, lead screw B are mounted in the satellite main body (1), and are connect with the output end of the motor B, by motor B
Driving rotation, the screw B are threadedly coupled with lead screw B, and the upper end of the telescopic rod (301) is connected with screw B.
8. objects outside Earth sampling apparatus according to claim 1, it is characterised in that: the multi-degree-of-freemechanical mechanical arm (4) is
Seven freedom mechanical arm, the execution end (401) of the seven freedom mechanical arm have a rotary freedom, and with joint A
(402) there is a relatives rotation freedom degree between, the joint A (402) with a rotary freedom, and with joint B
(403) there is a relatives rotation freedom degree between, the joint B (403) with a rotary freedom, and with joint C (404)
Between there is a relatives rotation freedom degree, with a rotary freedom between the joint C (404) and satellite main body (1)；Institute
Stating seven freedom mechanical arm drives diamond chain saw (5) to carry out around satellite main body (1) longitudinal center line pivotal cutting movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822251830.8U CN209356228U (en) | 2018-12-29 | 2018-12-29 | A kind of objects outside Earth sampling apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822251830.8U CN209356228U (en) | 2018-12-29 | 2018-12-29 | A kind of objects outside Earth sampling apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209356228U true CN209356228U (en) | 2019-09-06 |
Family
ID=67801855
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822251830.8U Withdrawn - After Issue CN209356228U (en) | 2018-12-29 | 2018-12-29 | A kind of objects outside Earth sampling apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209356228U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109520768A (en) * | 2018-12-29 | 2019-03-26 | 中国科学院沈阳自动化研究所 | A kind of objects outside Earth sampling apparatus and its method of sampling |
| CN113899581A (en) * | 2021-12-09 | 2022-01-07 | 沈阳中科新宇空间智能装备有限公司 | Trigger grabbing type multi-cavity sampling mechanism |
| CN116952649A (en) * | 2023-09-13 | 2023-10-27 | 中国农业大学 | Multi-dimensional soil collection and environment detection device and method |
-
2018
- 2018-12-29 CN CN201822251830.8U patent/CN209356228U/en not_active Withdrawn - After Issue
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109520768A (en) * | 2018-12-29 | 2019-03-26 | 中国科学院沈阳自动化研究所 | A kind of objects outside Earth sampling apparatus and its method of sampling |
| CN109520768B (en) * | 2018-12-29 | 2023-12-29 | 中国科学院沈阳自动化研究所 | Extraterrestrial celestial body sampling device and sampling method thereof |
| CN113899581A (en) * | 2021-12-09 | 2022-01-07 | 沈阳中科新宇空间智能装备有限公司 | Trigger grabbing type multi-cavity sampling mechanism |
| CN113899581B (en) * | 2021-12-09 | 2022-04-12 | 沈阳中科新宇空间智能装备有限公司 | Trigger grabbing type multi-cavity sampling mechanism |
| CN116952649A (en) * | 2023-09-13 | 2023-10-27 | 中国农业大学 | Multi-dimensional soil collection and environment detection device and method |
| CN116952649B (en) * | 2023-09-13 | 2023-11-24 | 中国农业大学 | Multi-dimensional soil collection and environment detection device and method |
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Granted publication date: 20190906 Effective date of abandoning: 20231229 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20190906 Effective date of abandoning: 20231229 |