Device for sampling shallow soil of extraterrestrial star

Abstract

The invention relates to a device for sampling shallow soil of an extraterrestrial star. The device comprises two parts, namely a guide rail swing-arm type position mechanism and a terminal executing mechanism, wherein the guide rail swing-arm type position mechanism comprises a guide rail, a moving unit, a swing arm joint, a swing arm and a terminal joint; the terminal executing mechanism comprises a shovel, a ratchet wheel, a sample box and a connecting and separating mechanism; a position mechanism has the advantages of high rigidity, good flexibility and simplicity in the control method and can be used for completing tasks of currently frequently-used four-freedom-degree two-stage space mechanical arms besides sampling the shallow soil of the extraterrestrial star; the terminal executing mechanism mainly relies on a shoveling task method while a ratchet wheel rotary-digging task method as a subsidiary; soil samples can be obtained effectively; the device has functions of temporary storage and primary package for samples; in addition, the samples are transferred into an airtight packaging device on an ascender; and thedevice for sampling soil has a wide application range.

Description

technical field [0001] The invention relates to an extraterrestrial shallow soil sampling device, and belongs to the technical field of deep space exploration and the technical field of spacecraft mechanism. Background technique [0002] The United States has successively used shallow soil sampling devices to sample stellar soil in the Surveyor (surveyor) lunar exploration mission, Viking (pirate) and Phoenix (Phoenix) Mars exploration mission. Although these three sampling devices have all been successful, they all have some shortcomings, for example: the surveyor sampling device has too many telescopic arm hinges, the structure is more complicated, the rigidity is low, and the force of the shovel on the soil is also small, so the sampling The operation method is single, and the adaptability to the geological environment is poor; the structure of the Viking sampling device is relatively complex, with too many degrees of freedom and insufficient flexibility, the sampling ran...

AI Technical Summary

Problems solved by technology

Although these three sampling devices have all been successful, they all have some shortcomings, for example: the surveyor sampling device has too many telescopic arm hinges, the structure is more complicated, the rigidity is low, and the force of the shovel on the soil is also small, so the sampling The operation method is single, and the adaptability to the geological environment is poor; the structure of the Viking sampling device is relatively complex, with too many degrees of freedom and insufficient flexibility, the sampling range is limited, and the volume of the telescopic arm is still large after the telescopic arm is folded, and the sampling operation method is single. The adaptability to the geological environment is poor; the force transmission path of the Phoenix sampling device is long, the stiffness is low, and the force on the soil is small. In order to improve the adaptability to the geological environment, a micro-drilling rig is added to the end effector, so The structure of its end effector is relatively complex. In addition, the control technology of its position mechanism-four degrees of freedom two-stage space manipulator is relatively difficult.

The shortcomings of the sampling devices in the above missions will have a negative impact on the reliability of the shallow soil sampling mission on the star

Images