A sample anti-escape device and its usage method under microgravity environment
By designing a dual-stage storage container and sample collection mechanism in a microgravity environment, the guide ring and leaf spring structure are used to realize sample storage and avoid escape, and the problem of difficulty in storing and preventing escape of sample particles in the prior art is solved, and the safe and complete collection of samples is achieved.
Patent Information
- Application Number
- CN202211120700.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2022-09-15
- Publication Date
- 2025-05-30
- Estimated Expiration
- 2042-09-15
AI Technical Summary
The prior art is difficult to effectively store and prevent sample particles that escape ≥30mm and <20mm in microgravity environments.
A two-stage storage container in a microgravity environment is designed, using a guide ring, a two-stage container and a leaf spring structure, and combined with a sample collection mechanism to realize sample storage and avoid escape through a robotic arm and a linear actuator.
Effective storage and prevention of escape of sample particles ≥30mm and <20mm under microgravity environment, ensuring the safety and integrity of the sample.
Smart Images
Figure CN116002071B_ABST
Abstract
Description
Technical Field
[0001] The present invention belongs to the technical field of small celestial body exploration, and particularly relates to a sample anti-escape device and a usage method under a microgravity environment. Background Art
[0002] The double-stage storage container under a microgravity environment is an important part of the small celestial body sample sealing subsystem, mainly responsible for the storage and anti-escape of samples collected by the robotic arm. The feasibility and reliability of its solution directly determine the success or failure of the small celestial body sample sampling and return mission.
[0003] According to the research results, the sample particles collected in domestic and foreign small celestial body sampling missions are all less than 20 mm, and no sampling scheme for sample particles ≥ 30 mm has been found. Summary of the Invention
[0004] In view of this, the purpose of the present invention is to provide a sample anti-escape device and a usage method under a microgravity environment, which can meet the two-stage storage and anti-escape of two types of samples under a microgravity environment.
[0005] A double-stage storage container under a microgravity environment is used in cooperation with a sample collection mechanism; the sample collection mechanism includes a linear actuator 9, a robotic arm skeleton 8, a first-stage sampler 6, and a second-stage sampler 7, and the double-stage storage container includes a guide ring 1, a first-stage container 2, a second-stage container 10, a first-layer leaf spring 3, and a second-layer leaf spring 4;
[0006] The guide ring 1 is an annular structure that matches the conical protrusion shape of the robotic arm skeleton 8 of the sample collection mechanism. The upper end is a conical opening, the lower end is a cylinder, and a docking flange is provided on the outer edge.
[0007] The first-layer leaf spring 3 and the second-layer leaf spring 4 have an annular structure, on which a plurality of leaf springs made of elastic materials are provided. One end of the leaf spring is fixed on the annular structure, and the other end is a free end, facing the central axis of the annular structure and having a certain inclination angle relative to the plane where the annular structure is located. The free ends of all the leaf springs enclose a hollow structure.
[0008] Both the upper and lower ends of the second-stage container 10 are open. A docking flange is provided on the outer edge of the upper end for fixing to the docking flange of the guide ring 1; the annular structure of the second-layer leaf spring 4 is fixed on the inner wall of the upper end of the second-stage container 10, and the placement method is that the overall leaf spring is located below the plane where the annular structure is located.
[0009] The upper end of the first-stage container 2 is open, and the lower end is closed. Its open end is docked and fixed to the lower end of the second-stage container 10, and the first-stage container 2 and the second-stage container 10 are connected as one container.
[0010] The first - layer leaf spring 3 is installed on the inner wall of the upper end of the first - stage container 2, and the placement method is such that the whole leaf spring is located below the plane where the annular structure is located.
[0011] Furthermore, a check ring is provided on the outer surface of the first - stage sampler 6.
[0012] Furthermore, a check groove is provided on the outer surface of the second - stage sampler 7.
[0013] Preferably, the first - layer leaf spring 3 and the second - layer leaf spring 4 are respectively connected to the second - stage container 10 and the first - stage container 2 by riveting.
[0014] Preferably, the docking flange of the guiding ring 1 and the docking flange of the second - stage container 2 are bolt - connected.
[0015] A method for using a two - stage storage container in a microgravity environment includes:
[0016] 1) The first - stage sampler 6 is placed into the sample anti - escape device.
[0017] After the sample collection mechanism completes the collection of sample particles through the first - stage sampler 6, it first moves to directly above the sample anti - escape device, and then approaches the sample anti - escape device in the vertical direction; the guiding ring 1 and the robotic arm skeleton 8 are positioned through conical surface fitting; under the action of the linear actuator 9, the first - stage sampler 6 is separated from the robotic arm skeleton 8, and at the same time, the first - stage sampler 6 and the second - stage sampler 7 move vertically downward; under the thrust of the first - stage sampler 6, the leaf springs of the second - layer leaf spring 4 and the first - layer leaf spring 3 are pushed open, and the two - layer leaf springs are opened in sequence; the sample collection mechanism moves into place, and at the same time, the leaf springs distributed on the first - layer leaf spring 3 rebound and enter the check ring provided on the outer surface of the first - stage sampler 6, and the leaf springs lock the first - stage sampler 6, and the placement action of the first - stage sampler 6 is completed.
[0018] 2) The second - stage sampler 7 is placed into the sample anti - escape device.
[0019] After the sample collection mechanism completes the collection of sample particles through the second - stage sampler 7, it first moves to directly above the anti - escape device, and then approaches in the vertical direction; the guiding ring 1 and the robotic arm skeleton 8 are positioned through conical surface fitting; under the action of the linear actuator 9, the second - stage sampler 7 is separated from the robotic arm skeleton 8, and at the same time, the second - stage sampler 7 moves vertically downward; under the thrust of the second - stage sampler 7, the second - layer leaf spring 4 is opened, and during the movement, the second - stage sampler 7 contacts the first - stage sampler 6 and drives the first - stage sampler 6 to move vertically downward. The first - stage sampler 6 moves into place, and at the same time, the leaf springs distributed on the second - layer leaf spring 4 rebound and enter the check groove on the outer surface of the second - stage sampler 7, and the placement action of the second - stage sampler 7 is completed.
[0020] The present invention has the following beneficial effects:
[0021] By providing two - stage containers and leaf springs at the mouth of each stage of the container, the present invention can accommodate two samplers and prevent the samplers from escaping; by adopting the leaf - spring structure, the opening and closing of the anti - escape structure can be realized under passive conditions; the anti - escape device of the present invention has a simple and compact structure, and can realize the installation and fixation of the anti - escape structure in a limited space. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] Figure 1 It is a schematic diagram of the positional relationship of each component in the initial state of sample storage of the present invention;
[0023] Figure 2 It is a schematic diagram of the front - sectional structure after the robotic arm is docked with the two - stage storage container of the present invention;
[0024] Figure 3 It is a schematic diagram of the front - sectional structure when the first - stage sampler is entering the two - stage storage container of the present invention;
[0025] Figure 4 It is a schematic diagram of the front - sectional structure after the robotic arm returns after placing the first - stage sampler into the container of the present invention;
[0026] Figure 5 It is a schematic diagram of the front - sectional structure when the second - stage sampler is entering the two - stage storage container of the present invention;
[0027] Figure 6 It is a schematic diagram of the front - sectional structure after the robotic arm returns after placing the second - stage sampler into the container of the present invention;
[0028] Figure 7 It is a schematic diagram of the structure of the first - layer leaf spring and the second - layer leaf spring.
[0029] Among them, 1 - guide ring, 2 - first - stage container, 3 - first - layer leaf spring, 4 - second - layer leaf spring, 5 - rivet, 6 - first - stage sampler, 7 - second - stage sampler, 8 - robotic - arm skeleton, 9 - linear actuator, 10 - second - stage container. DETAILED DESCRIPTION OF THE INVENTION
[0030] The following combines the drawings and gives examples to describe the present invention in detail.
[0031] The purpose of the present invention is to solve the deficiencies of the prior art and propose a two - stage storage container in a microgravity environment to realize the storage of sample particles with a size of ≥30 mm and <20 mm by the robotic arm.
[0032] Such as Figure 1As shown in the figure, the existing sample collection mechanism includes a linear actuator 9, a robotic arm skeleton 8, a first-stage sampler 6, and a second-stage sampler 7; the robotic arm skeleton 8 is a cylindrical structure with an open bottom end, and a conical protrusion is provided on the outer edge of the bottom; the linear actuator 9 extends from the upper end of the robotic arm container 2 into the cylinder, and the lower end 3 is connected to the second-stage sampler 7 and the first-stage sampler 6; when collecting samples, the robotic arm drives the linear actuator 9 and the connected robotic arm skeleton 8, first-stage sampler 6, and second-stage sampler 7 to the designated position. After the first-stage sampler 6 collects sample particles with a diameter ≥ 30 mm, it moves to the sample container, detaches the first-stage sampler 6, and retains it in the sample container; then it drives the linear actuator 9 and the connected robotic arm skeleton 8 and second-stage sampler 7 to the designated position. After the second-stage sampler 7 collects sample particles with a diameter < 20 mm, it moves to the sample container, detaches the second-stage sampler 7, and retains it in the sample container, completing the collection of samples of two sizes.
[0033] In view of the above sample collection mechanism, the present invention designs a sample anti-escape device in a microgravity environment, which can accommodate the two-stage samplers and prevent the samplers from escaping. The device includes: a first-stage container 2, a second-stage container 10, a guide ring 1, a first-layer leaf spring 3, and a second-layer leaf spring 4.
[0034] As Figure 1 shown in the figure, the guide ring 1 is an annular structure that fits the conical protrusion shape of the robotic arm skeleton 8 of the sample collection mechanism. The upper end is a conical open end, the lower end is a cylinder, and a docking flange is provided on the outer edge. When the sample collection mechanism moves downward into the guide ring 1 of the anti-escape device of the present invention, the conical open end guides the robotic arm skeleton 8 into the anti-escape device. After moving into place, the robotic arm skeleton 8 is stuck on the guide ring 1.
[0035] As Figure 7 shown in the figure, the first-layer leaf spring 3 and the second-layer leaf spring 4 have an annular structure, on which a plurality of leaf springs made of elastic material are provided. One end of the leaf spring is fixed on the annular structure, and the other end is a free end, facing the central axis of the annular structure and having a certain inclination angle relative to the plane where the annular structure is located. The free ends of all the leaf springs enclose a hollow structure.
[0036] Both the upper and lower ends of the second-stage container 10 are open, and a docking flange is provided on the outer edge of the upper end for fixing with the docking flange of the guide ring 1. The annular structure of the second-layer leaf spring 4 is fixed on the inner wall of the upper end of the second-stage container 10, and the placement method is that the leaf springs are all located below the plane where the annular structure is located.
[0037] The upper end of the first-stage container 2 is open and the lower end is closed. Its open end is docked and fixed with the lower end of the second-stage container 10, and the first-stage container 2 and the second-stage container 10 are connected as one container.
[0038] The first-layer leaf spring 3 is installed on the inner wall of the upper end of the first-stage container 2, and the placement method is such that the entire leaf spring is located below the plane where the annular structure is located. The first-layer leaf spring 3 and the second-layer leaf spring 4 are respectively connected to the second-stage container 10 and the first-stage container 2 by riveting; the docking flange of the guiding ring 1 and the docking flange of the second-stage container 2 are bolted.
[0039] The working process of the anti-escape device of the present invention is as follows:
[0040] (1) The first-layer sampler is placed into the sample anti-escape device
[0041] After the robotic arm completes the collection of sample particles with a diameter ≥ 30 mm on the surface of the small celestial body through the first-stage sampler 6, it first moves to directly above the sample anti-escape device, and then approaches the sample anti-escape device in the vertical direction. The guiding ring 1 and the robotic arm skeleton 8 are positioned through conical surface fitting. Under the action of the linear actuator 9, the first-stage sampler 6 is separated from the robotic arm skeleton 8, and at the same time, the first-stage sampler 6 and the second-stage sampler 7 move vertically downward. Under the thrust of the first-stage sampler 6, the leaf springs of the second-layer leaf spring 4 and the first-layer leaf spring 3 are pushed open, and the two-layer leaf springs are opened in sequence. The sample collection device moves into place, and at the same time, the leaf springs distributed on the first-layer leaf spring 3 rebound and enter the check ring arranged on the outer surface of the first-stage sampler 6, and the leaf springs catch the first-stage sampler, ensuring the smooth disconnection of the two-stage samplers, and at the same time ensuring that the first-stage sampler 6 is stuck in the container to prevent its escape; the placement action of the first-stage sampler 6 is completed, and the robotic arm returns.
[0042] (2) The second-layer sampler is placed into the container
[0043] After the robotic arm completes the collection of sample particles with a diameter < 20 mm on the surface of the small celestial body through the second-stage sampler 7, it first moves to directly above the anti-escape device, and then approaches in the vertical direction. The guiding ring 1 and the robotic arm skeleton 8 are positioned through conical surface fitting. Under the action of the linear actuator 9, the second-stage sampler 7 is separated from the robotic arm skeleton 8, and at the same time, the second-stage sampler 7 moves vertically downward. Under the thrust of the second-stage sampler 7, the second-layer leaf spring 4 is opened. During the movement of the second-stage sampler 7, it contacts the first-stage sampler 6 and drives the first-stage sampler 6 to move vertically downward. The first-stage sampler 6 moves into place, and at the same time, the leaf springs distributed on the second-layer leaf spring 4 rebound and enter the check groove on the outer surface of the second-stage sampler 7, and the placement action of the second-stage sampler 7 is completed, and the robotic arm returns.
[0044] In summary, the above is only the preferred embodiment of the present invention, and is not used to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
Claims
1. A double - stage storage container under microgravity environment, which is used in cooperation with a sample collection mechanism; the sample collection mechanism includes a linear actuator (9), a robotic arm skeleton (8), a first - stage sampler (6), and a second - stage sampler (7). Characterized in that, the double - stage storage container includes a guide ring (1), a first - stage container (2), a second - stage container (10), a first - layer leaf spring (3), and a second - layer leaf spring (4); The guide ring (1) is an annular structure that matches the conical protrusion shape of the robotic arm skeleton (8) of the sample collection mechanism. The upper end is a conical opening, the lower end is a cylinder, and a docking flange is provided on the outer edge; The first - layer leaf spring (3) and the second - layer leaf spring (4) have an annular structure, on which a plurality of leaf springs made of elastic material are provided. One end of the leaf spring is fixed on the annular structure, and the other end is a free end, facing the central axis of the annular structure and having a certain inclination angle relative to the plane where the annular structure is located. The free ends of all leaf springs enclose a hollow structure; Both the upper and lower ends of the second - stage container (10) are open. A docking flange is provided on the outer edge of the upper end for fixing with the docking flange of the guide ring (1). The annular structure of the second - layer leaf spring (4) is fixed on the inner wall of the upper end of the second - stage container (10), and the placement method is that the leaf springs are entirely below the plane where the annular structure is located; The upper end of the first - stage container (2) is open and the lower end is closed. Its open end is docked and fixed with the lower end of the second - stage container (10). The first - stage container (2) and the second - stage container (10) are connected as a container; The first - layer leaf spring (3) is installed on the inner wall of the upper end of the first - stage container (2), and the placement method is that the leaf springs are entirely below the plane where the annular structure is located. A check ring is provided on the outer surface of the first - stage sampler (6); a check groove is provided on the outer surface of the second - stage sampler (7). The first - layer leaf spring (3) and the second - layer leaf spring (4) are connected to the second - stage container (10) and the first - stage container (2) respectively by riveting.
2. A double - stage storage container under microgravity environment according to claim 1, Characterized in that, the docking flange of the guide ring (1) and the docking flange of the second - stage container (10) are bolt - connected.
3. A method of using a double - stage storage container under microgravity environment according to claim 1, Characterized in that, including: 1) The first - stage sampler (6) is placed into the sample anti - escape device After the sample collection mechanism completes the collection of sample particles through the first-stage sampler (6), it first moves to directly above the sample anti-escape device and then approaches the sample anti-escape device in the vertical direction; the guide ring (1) and the robotic arm skeleton (8) are positioned through conical surface fitting; under the action of the linear actuator (9), the first-stage sampler (6) is separated from the robotic arm skeleton (8), and at the same time, the first-stage sampler (6) and the second-stage sampler (7) move vertically downward; under the thrust of the first-stage sampler (6), the reeds of the second-layer leaf spring (4) and the reeds of the first-layer leaf spring (3) are pushed open, and the two-layer leaf springs are opened in sequence; the sample collection mechanism moves into place, and at the same time, the reeds distributed on the first-layer leaf spring (3) rebound and enter the check ring provided on the outer surface of the first-stage sampler (6), and the reeds catch the first-stage sampler (6), and the placement action of the first-stage sampler (6) is completed. 2) Place the second-stage sampler (7) into the sample anti-escape device After the sample collection mechanism completes the collection of sample particles through the second-stage sampler (7), it first moves to directly above the anti-escape device and then approaches in the vertical direction; the guide ring (1) and the robotic arm skeleton (8) are positioned through conical surface fitting; Under the action of the linear actuator (9), the second-stage sampler (7) is separated from the robotic arm skeleton (8), and at the same time, the second-stage sampler (7) moves vertically downward; under the thrust of the second-stage sampler (7), the second-layer leaf spring (4) is opened, and the second-stage sampler (7) contacts the first-stage sampler (6) during movement and drives the first-stage sampler (6) to move vertically downward; the first-stage sampler (6) moves into place, and at the same time, the reeds distributed on the second-layer leaf spring (4) rebound and enter the check groove on the outer surface of the second-stage sampler (7), and the placement action of the second-stage sampler (7) is completed.
Citation Information
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