A lunar regolith water ice shoveling quantitative sample sampling device and its sampling method

Abstract

The present invention provides a lunar regolith water ice shoveling type quantitative sample sampling device and a sampling method thereof, belonging to the technical field of deep space exploration equipment. It solves the problem that the prior art cannot perform multiple quantitative micro-sampling. It includes a rover, a rover sample receiving port, a robotic arm, and a micro-quantitative lunar regolith sampling shovel drill. The rover sample receiving port is installed on one side of the top of the rover. One end of the robotic arm is installed on one side of the rover sample receiving port of the rover. The micro-quantitative lunar regolith sampling shovel drill is installed at the other end of the robotic arm. The micro-quantitative lunar regolith sampling shovel drill includes a connecting shaft rod, shovel teeth, a shovel back, and a quantitative sampling groove. One end of the connecting shaft rod is connected to the robotic arm, and the other end of the connecting shaft rod is connected to the shovel body. Shovel teeth are provided at the bottom end of the shovel body, and a quantitative sampling groove is provided on the shovel back of the shovel body. It is mainly used for lunar regolith water ice sampling.

Description

Technical Field

[0001] The present invention belongs to the technical field of deep space exploration equipment, and particularly relates to a lunar soil water ice shoveling and quantitative sample sampling device and a sampling method thereof. Background Art

[0002] The exploration of the environment and resources in the lunar south pole, including the exploration tasks of the lunar surface environment, lunar soil water ice and volatile components in the lunar south pole, obtains remote sensing and in-situ exploration scientific data of the whole moon, the landing area and the patrol area, and lays a foundation for the construction of a lunar scientific research station.

[0003] To evaluate the isotopic calibration of elements in the lunar polar regolith and complete scientific tasks such as the detection of lunar soil volatiles, it is necessary to detect and sample the shallow lunar soil in the regolith. At present, for the sampling method of lunar soil water ice, the spiral drilling sampling and encapsulation method is mostly used to return to the ground for analysis. This method can meet the requirements for deep detection sampling during the sampling task, but it will be affected by uncertain factors such as the critical scale during the sampling process, resulting in the occurrence of drilling jamming. Its self-fault troubleshooting ability is poor, which is not conducive to multiple detection sampling and analysis; after sampling, it is returned to the ground for analysis. During this process, the volatiles in the lunar soil will be affected by factors such as large temperature and pressure changes, vibration and impact, resulting in some properties of the lunar soil changing. And because the detection accuracy of the analysis instrument is generally high, according to the conventional gram-level sampling and analysis, the volatile concentration is too high, which is not conducive to the analysis and determination of the lunar soil. Therefore, a quantitative micro-sampler that can meet the milligram level is needed to complete the sampling task and conduct in-situ detection and analysis. Summary of the Invention

[0004] In view of this, the present invention aims to propose a lunar soil water ice shoveling and quantitative sample sampling device and a sampling method thereof to solve the problem that the prior art cannot perform multiple quantitative micro-sampling.

[0005] To achieve the above object, the present invention adopts the following technical solutions:

[0006] A lunar soil water ice shoveling and quantitative sample sampling device includes a rover, a rover sample receiving port, a robotic arm, and a micro-quantitative lunar soil sampling shovel drill. The rover sample receiving port is installed on one side of the top of the rover. One end of the robotic arm is installed on one side of the rover sample receiving port of the rover. The micro-quantitative lunar soil sampling shovel drill is installed at the other end of the robotic arm. The micro-quantitative lunar soil sampling shovel drill includes a connecting shaft rod, shovel teeth, a shovel back, and a quantitative sampling groove. One end of the connecting shaft rod is connected to the robotic arm, and the other end of the connecting shaft rod is connected to the shovel body. Shovel teeth are provided at the bottom end of the shovel body, and a quantitative sampling groove is provided on the shovel back of the shovel body.

[0007] Furthermore, cutting edges are provided on both sides of the shovel body.

[0008] Furthermore, a centering tooth is provided at the bottom center position of the shovel body.

[0009] Furthermore, the centering tooth is in the shape of a drill bit.

[0010] Furthermore, a beam outer arm is provided on the shovel back.

[0011] Furthermore, the outer beam arm is arc-shaped.

[0012] Furthermore, force and displacement sensors are provided at the connection between the mechanical arm and the connecting rod.

[0013] Furthermore, a layer of antistatic material is provided on the surface of the trace quantitative star soil sampling shovel drill.

[0014] Furthermore, a sampling method for a lunar soil and water ice shoveling-type quantitative sample sampling device is provided, which adopts a shoveling-type method consisting of the coupling of two "UV" trajectories.

[0015] Furthermore, a sampling method of a lunar soil water ice shoveling type quantitative sample sampling device includes the following steps: Step 1: first shoveling downwards in a V shape, and then shoveling upwards in a U shape;

[0016] Step 2: Control the digging length and single digging depth of the "UV" digging trajectory to complete the removal of lunar soil and water ice on the surface;

[0017] Step 3: Repeat steps 1 and 2 until the desired target profile depth is reached;

[0018] Step 4: The mechanical arm drives the micro-quantitative star soil sampling shovel drill to the profile depth of the shovel, penetrates downward, and uses the constant volume performance of the quantitative sampling trough to complete the predetermined micro-quantitative sampling work.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention solves the problem that the prior art cannot perform multiple quantitative micro-sampling by using a quantitative sampling slot.

[0021] 2. The present invention is applied to the sampling of extraterrestrial body soil profiles. A trace quantitative soil sample sampling shovel drill is designed that integrates shoveling, drilling and sampling modes. It can effectively reduce the mechanical structure carried by the rover, improve the space utilization rate of the rover, and reduce the cost of deep space exploration.

[0022] 3. The present invention utilizes the device for shoveling, and the process is simple and the action rhythm is small; compared with the traditional mode of drilling sampling and separation, it can effectively reduce the occurrence of unexpected factors due to overly complicated actions when working outside the ground, resulting in sampling failure.

[0023] 4. The present invention proposes a "shovel-drill integrated" mode, which can troubleshoot the problem of shoveling jamming caused by large particles. During the shoveling operation, when encountering unexpected factors such as large particles that affect the operation process, the "drill" function can be used to rotate in place, break and displace large particles to get out of trouble, which can greatly reduce the risk of jamming caused by large particles.

[0024] 5. The present invention proposes a sampling scheme, which uses a sampling shovel to penetrate downward. Through the configuration characteristics of the micro-quantitative sampling groove, micro-quantitative sampling can be completed for scientific load analysis.

[0025] 6. The present invention proposes a detection scheme for the in-situ mechanical properties of lunar soil, which can conduct mechanical load analysis during the process of shoveling and sampling penetration, and deduce mechanical properties such as the relative density and shear modulus of lunar soil in the sampling area.

[0026] 7. The present invention retains the multi-freedom degrees of the micro-quantitative lunar soil sample sampling shovel-drill, which is convenient for sampling and sample delivery; the structural design functions and backup countermeasures are rich, and the anti-risk ability is strong, which can effectively respond to various shoveling failures and complete the sampling task. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0028] Figure 1 is a working schematic diagram of a lunar soil water-ice shoveling type quantitative sample sampling device according to the present invention;

[0029] Figure 2 is a front view of the micro-quantitative lunar soil sample sampling shovel-drill according to the present invention;

[0030] Figure 3 is a rear view of the micro-quantitative lunar soil sample sampling shovel-drill according to the present invention;

[0031] Figure 4 is a schematic diagram of the quantitative sampling groove according to the present invention;

[0032] Figure 5 is a cross-sectional view of the micro-quantitative lunar soil sample sampling shovel-drill according to the present invention;

[0033] 1 - Rover, 2 - Rover sample receiving port, 3 - Manipulator, 4 - Force and displacement sensor, 5 - Micro-quantitative lunar soil sampling shovel-drill, 5-1: Coupling rod, 5-2: Enclosing cutting edge, 5-3: Centering tooth, 5-4: Shovel tooth, 5-5: Shovel back, 5-6: Beam outer arm, 5-7: Quantitative sampling groove. DETAILED DESCRIPTION OF THE INVENTION

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. It should be noted that, without conflict, the embodiments and features in the embodiments of the present invention can be combined with each other. The described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments.

[0035] Specific Embodiment 1: Refer to Figures 1-5 To describe this embodiment, a lunar regolith water ice shoveling and quantitative sample sampling device includes a rover 1, a rover sample receiving port 2, a robotic arm 3, and a micro-quantitative lunar regolith sampling shovel drill 5. The rover sample receiving port 2 is installed on one side of the top of the rover 1. One end of the robotic arm 3 is installed on one side of the rover sample receiving port 2 of the rover 1. The micro-quantitative lunar regolith sampling shovel drill 5 is installed at the other end of the robotic arm 3. The micro-quantitative lunar regolith sampling shovel drill 5 includes a connecting shaft rod 5-1, shovel teeth 5-4, a shovel back 5-5, and a quantitative sampling groove 5-7. One end of the connecting shaft rod 5-1 is connected to the robotic arm 3, and the other end of the connecting shaft rod 5-1 is connected to the shovel body. Shovel teeth 5-4 are provided at the bottom end of the shovel body, and a quantitative sampling groove 5-7 is provided on the shovel back 5-5 of the shovel body.

[0036] Use the rover 1 to carry the micro-quantitative lunar regolith sample sampling shovel drill 5 to the designated sampling area for surface lunar regolith shoveling. The micro-quantitative lunar regolith sample sampling shovel drill 5 is installed at the end of the robotic arm 3, and control the micro-quantitative lunar regolith sample sampling shovel drill 5 to complete the predetermined shoveling and sampling.

[0037] In the lunar soil exploration and sampling work, the launch cost is relatively high, and the requirements for the quality of the detection equipment are very strict. It is required to have characteristics such as high integration, high reliability, and light weight. Moreover, the load of the rover robotic arm is limited. The designed micro-quantitative lunar regolith sample sampling shovel drill 5 can effectively reduce the load of the robotic arm 3 when driven by the robotic arm 3 and shoveling the surface according to the predetermined shoveling plan.

[0038] The profile shoveling trajectory is obtained through multiple ground tests and optimizations. Within the space range of the maximum extension length L of the robotic arm 3, control the single shoveling depth d, use a single "V" - shaped trajectory to shovel downwards, and then use a single "U" - shaped trajectory to shovel upwards. The two trajectories are coupled to complete a single shoveling. During the shoveling process, use the shovel teeth 5-4 to shovel the in-situ lunar regolith. When a certain depth is reached after shoveling, perform multiple repeated shoveling operations. After reaching the predetermined depth D, penetrate downwards for micro - quantitative sampling, and then send the sample to the rover sample receiving port 2 to complete the in-situ lunar regolith scientific payload analysis. Through the quantitative sampling groove 5-7, the problem that the prior art cannot perform multiple quantitative and micro - sampling is solved.

[0039] The above-mentioned quantitative sampling groove 5-7 is arranged on the back of the micro-quantitative star soil sample sampling shovel drill 5, and is flush with the shovel back 5-5 as a whole without protrusion. The back of the quantitative sampling groove 5-7 is in the bucket and is streamlined, which can reduce the resistance during the shoveling and penetration processes. The quantitative sampling groove 5-7 is in a constant volume state, and its width and height are fixed values, which can achieve micro-quantitative sampling. The rear beam angle β of the quantitative sampling groove 5-7 can ensure that the sample enters the quantitative sampling groove 5-7 smoothly. The sample is not easy to fall off during the transfer process. After reaching the designated position, the sample can be vibrated and fall off by the mechanical arm 3. The back of the quantitative sampling groove 5-7 is set to an internal streamline. During the shoveling process, the bucket volume is increased, the amount of chips discharged in a single shoveling is increased, and good conditions are provided for the next shoveling.

[0040] Specific implementation method 2: See Figures 1-5 To illustrate this embodiment, both sides of the shovel body are provided with cutting blades 5-2, which are the sharper parts of the trace quantitative star soil sample sampling shovel drill 5. During the shoveling process, when a certain shoveling depth is reached, the bulging soil bag in the shoveling groove can be cut to reduce the shoveling resistance.

[0041] Specific implementation method three: see Figures 1-5 The present embodiment is described. The present embodiment is for troubleshooting the stuck trouble of large particles in the process of lunar soil shoveling and digging. The "drilling" function of the trace quantitative space soil sample sampling shovel drill 5 is used to troubleshoot the stuck trouble of large particles, and then the shoveling and sampling is completed. A centering tooth 5-3 is provided at the bottom center of the shovel body. The centering tooth 5-3 is in the shape of a drill bit. When the shoveling and drilling equipment encounters a large particle stuck and starts the rotary motion to shift the particles, the centering effect will be improved. At this time, the shoveling and drilling equipment can play a "drilling" role. Since the ground conditions at the landing point of the rover are unknown, when the mechanical arm 3 drives the trace quantitative space soil sample sampling shovel drill 5 to shovel and dig, unknown conditions such as large particles may be encountered, causing the shoveling and digging to be stuck. At this time, the robot arm 3 cannot perform the predetermined shoveling and digging operation, and the end of the robot arm 3 can drive the trace quantitative star soil sample sampling shovel drill 5 to rotate in situ. During this process, the centering teeth 5-3 play a centering role, and the front and rear symmetrically distributed shovel teeth 5-4 act as drill blades to crush and shift large particles of soil, thereby eliminating shoveling and digging jams caused by unknown factors such as large particles. After troubleshooting, continue shoveling and digging to complete the predetermined procedure. The device is used in the sampling of extraterrestrial star soil profiles. A trace quantitative star soil sample sampling shovel drill that integrates shoveling, drilling, and sampling modes is designed, which can effectively reduce the mechanical structure carried by the rover, improve the space utilization rate of the rover, and reduce the cost of deep space exploration.

[0042] Specific implementation method four: Combination Figures 1-5 It is explained that this embodiment is the in-situ lunar soil profile sampling and sample delivery.

[0043] Utilizing the structural characteristics of the micro-quantitative lunar soil sample sampling shovel drill 5, when the predetermined sampling depth D is reached, the micro-quantitative lunar soil sample sampling shovel drill 5 can be carried downward by the robotic arm. When the quantitative sampling groove 5-7 is completely submerged below the soil surface, the lunar soil is extruded into the quantitative sampling groove 5-7 to complete the sampling.

[0044] After the sampling is completed, the micro-quantitative lunar soil sample sampling shovel drill 5 can transfer the collected sample to the sample receiving port 2 of the rover under the driving action of the robotic arm 3, and then start the predetermined scientific payload analysis to complete a single sampling operation.

[0045] Specific implementation method five: Refer to Figures 1-5 Describing this implementation method, a beam outer arm 5-6 is provided on the shovel back 5-5. The beam outer arm 5-6 is arc-shaped and is located on the back of the shovel drilling tool. During shoveling, it forms a constraint area with the advancing direction and the shovel surface to reduce the backward flow of the shovel surface chips.

[0046] Specific implementation method six: Refer to Figures 1-5 Describing this implementation method, a layer of anti-static material is provided on the surface of the micro-quantitative lunar soil sampling shovel drill 5, which can effectively reduce the adhesion of lunar soil particles to the surface of the sampling shovel drill due to static electricity, reduce the adhesion resistance during shoveling, and reduce the load of the robotic arm 3.

[0047] Specific implementation method seven: A sampling method for a lunar soil water ice shoveling type quantitative sample sampling device, which adopts a shoveling method composed of the coupling of "U" and "V" trajectories, specifically including the following steps:

[0048] Step 1: First shovel downward in a V shape and then shovel upward in a U shape;

[0049] Step 2: Control the shoveling length and the single shoveling depth of the "UV" shoveling trajectory to complete the shifting of the surface lunar soil water ice;

[0050] Step 3: Repeat Step 1 and Step 2 until the required target profile depth is reached;

[0051] Step 4: Drive the micro-quantitative lunar soil sampling shovel drill 5 by the robotic arm 3 to reach the shoveled profile depth, penetrate downward, and utilize the constant volume performance of the quantitative sampling groove 5-7 to complete the predetermined micro-quantitative sampling work.

[0052] After experimental verification, a shoveling trajectory composed of the coupling of two "UV" trajectories was designed. The shoveling length of the 'UV' shoveling trajectory and the single maximum shoveling depth d were reasonably designed within the extended length L of the robotic arm, which can effectively reduce the force on the robotic arm 3, improve the shoveling efficiency, and complete the displacement of lunar soil and water ice on the surface; after completing a single shoveling, repeat the above actions until the required target profile depth is reached, and then trace quantitative sampling can be started. The robotic arm 3 drives the trace quantitative star soil sample sampling shovel drill 5 to reach the shoveled profile depth, penetrate downward, and use the constant volume performance of the quantitative sampling slot 5-7 to complete the predetermined trace quantitative sampling work; then, under the condition of ensuring the multi-degree-of-freedom of the robotic arm 3, vibration sampling is carried out along the predetermined route for sample analysis. This method retains the multi-degree-of-freedom of the trace quantitative star soil sample sampling shovel drill 5, which is convenient for sampling and sample delivery; the structural design function and backup response measures are rich, and the risk resistance is strong, which can effectively deal with various shoveling failures and complete the sampling task.

[0053] The embodiments of the present invention disclosed above are only used to help illustrate the present invention. The embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. According to the content of this specification, many modifications and changes can be made. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well.

Claims

1. A lunar regolith water ice shoveling type quantitative sample sampling device, characterized in that: The invention comprises a patroller (1), a patroller sample receiving port (2), a mechanical arm (3) and a micro-quantitative star soil sampling shovel drill (5), wherein the patroller sample receiving port (2) is installed at one side of the top of the patroller (1), one end of the mechanical arm (3) is installed at one side of the patroller sample receiving port (2) of the patroller (1), and the micro-quantitative star soil sampling shovel drill (5) is installed at the other end of the mechanical arm (3). The micro-quantitative star soil sampling shovel drill (5) comprises a connecting rod (5-1), shovel teeth (5-4), a shovel back (5-5) and a quantitative sampling groove (5-7), one end of the connecting rod (5-1) is connected to the mechanical arm (3), and the other end of the connecting rod (5-1) is connected to a shovel body, the bottom end of the shovel body is provided with shovel teeth (5-4), and the shovel back (5-5) of the shovel body is provided with a quantitative sampling groove (5-7).

2. The lunar regolith water ice shoveling type quantitative sample sampling device according to claim 1, characterized in that: Both sides of the shovel body are provided with cutting blades (5-2).

3. The lunar regolith water ice shoveling type quantitative sample sampling device according to claim 1, wherein: A centering tooth (5-3) is arranged at the center position of the bottom of the shovel body.

4. The lunar regolith water ice shoveling type quantitative sample sampling device according to claim 3, characterized in that: The centering tooth (5-3) is in the shape of a drill bit.

5. The lunar regolith water ice shoveling type quantitative sample sampling device according to claim 1, wherein: The shovel back (5-5) is provided with a beam outer arm (5-6).

6. The lunar regolith water ice shoveling type quantitative sample sampling device according to claim 5, wherein: The beam outer arm (5-6) is arc-shaped.

7. The lunar regolith water ice shoveling type quantitative sample sampling device according to claim 1, wherein: A force and displacement sensor (4) is provided at the connection between the mechanical arm (3) and the connecting rod (5-1).

8. The lunar regolith water ice shoveling type quantitative sample sampling device according to claim 1, characterized in that: The surface of the micro-quantitative star soil sampling auger (5) is provided with a layer of antistatic material.

9. A sampling method for the lunar regolith water ice shoveling quantitative sample sampling device as described in claim 1, characterized in that: It adopts a shoveling and digging method consisting of two "UV" trajectories coupled.

10. The sampling method of a lunar regolith water ice shoveling type quantitative sample sampling device according to claim 9, characterized in that: The following steps are involved: Step 1: Dig downwards in a V shape, then dig upwards in a U shape; Step 2: Control the digging length and single digging depth of the "UV" digging trajectory to complete the removal of lunar soil and water ice on the surface; Step 3: Repeat steps 1 and 2 until the desired target profile depth is reached; Step 4: The mechanical arm (3) drives the micro-quantitative star soil sampling shovel drill (5) to reach the profile depth of the shovel, penetrates downward, and uses the volumetric performance of the quantitative sampling groove (5-7) to complete the predetermined micro-quantitative sampling work.

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