A sample capture orientation and transfer device and method

Abstract

The present invention discloses a sample capture, orientation, and transfer device. Four fan-shaped mechanisms are sequentially connected to enclose a cubic space, forming a capture space for sample containers. The fan-shaped mechanisms rotate about their corresponding rotation axes to gradually reduce the capture space to clamp the sample container delivered into the capture space. Each fan-shaped mechanism is equipped with a conveyor belt, which is arranged perpendicular to the mounting plane and is used to adjust the posture of the clamped sample container and place it into a packaging barrel. The packaging barrel is a groove opened on the mounting plane for accommodating the sample container, and the packaging barrel is located at the center of the capture space. The present invention realizes the integrated integration of sample capture, orientation, and transfer functions, and has the advantages of high functional integration and high space utilization. In addition, it has the characteristics of strong adaptability of sample container posture return, high transfer reliability, and multiple fault response and handling measures.

Description

Technical Field

[0001] The present invention belongs to the field of aerospace, and in particular relates to a sample capture orientation and transfer device and method. Background Art

[0002] With the continuous development of space technology, the in-orbit recovery of unknown samples has become a key technology in deep space exploration and a research focus in various countries. The Mars sample return mission is the top engineering project for deep space exploration in the next decade.

[0003] Due to the limited ability to take off from the surface of Mars, the mass of the platform carrying Martian samples and containers into the Martian orbit is limited, and the sample transfer mission cannot be completed using a traditional docking mechanism. It can only be done by configuring a sample container capture and transfer device system on the orbiter to capture the sample container released by the ascender and transfer it to the returner. As a key part of the mission, NASA JPL has been conducting research on the Mars sample capture and orientation system for the past few decades and has proposed more than ten system solutions. NASA JPL's sample capture and orientation system uses a capture cover to constrain the sample container in the capture space, a rotating cup-type orientation mechanism to adjust the sample container's posture, and then a rotating arm to transfer and fix it. The several proposed system solutions all adopt a modular design strategy and implement independent functional and spatial partitioning designs, but they have disadvantages such as occupying a lot of structural space and being heavy.

[0004] CN113955160A discloses a foldable capture device and its operation method, which uses an anti-escape cover and four rotating sectors to capture and clamp the sample container. However, if there is a large posture deviation after the sample container enters the capture space, the device cannot adjust the posture of the sample container, nor can it transfer the sample container. Summary of the Invention

[0005] The technical purpose of the present invention is to provide a sample capture orientation and transfer device and method to solve the sample container problem.

[0006] In order to solve the above problems, the technical solution of the present invention is:

[0007] A sample capture orientation and transfer device is installed on a side plane of the detector, which is the installation plane, and includes: a four-sided fan mechanism, a closing mechanism and a detection unit;

[0008] The four fan-shaped mechanisms are connected in sequence to form a cubic space, forming a capture space for the sample container. The fan-shaped mechanisms rotate around their corresponding rotation axes to gradually reduce the capture space to clamp the sample container sent into the capture space.

[0009] The fan mechanism is equipped with a conveyor belt, which is perpendicular to the installation plane and is used to adjust the posture of the clamped sample container and place it into the packaging barrel;

[0010] The packaging barrel is a groove opened on the mounting plane for placing the sample container, and the packaging barrel is located in the center of the capture space;

[0011] The closing mechanism is installed on one of the fan mechanisms and is used to cover the upper part of the capture space to prevent the sample container from escaping from the sample capture orientation and transfer device;

[0012] The detection unit is arranged on the outside of the fan mechanism and is used to sense the sample container to cooperate with the fan mechanism to achieve capture.

[0013] Further preferably, a mounting base is provided, which is mounted on the mounting plane and is used to mount the four-sided fan mechanism; a through hole corresponding to the opening of the packaging barrel is opened at the center of the mounting base to allow the sample container to pass through.

[0014] Specifically, the fan mechanism includes a fan drive unit, a fan shaft, a conveyor belt drive motor, a net rope, a conveyor belt, a fan frame and a locking mechanism;

[0015] The fan frame is a rectangular frame, and the net rope is installed in the fan frame along the vertical direction;

[0016] The fan drive unit is installed at the bottom of a vertical rod of the fan frame and is installed on the installation base plate. The fan shaft is passed through the fan drive unit. The fan drive unit is used to drive the fan mechanism to rotate around the fan shaft.

[0017] The conveyor belt drive motor is installed at one end of the lower crossbar of the fan frame, close to the fan drive unit. The conveyor belt pulley is installed at the other end of the lower crossbar and is rotatably connected to the conveyor belt drive motor via a rotating shaft. The conveyor belt vertically crosses the upper and lower crossbars of the fan frame to form a closed loop. The conveyor belt drive motor is used to drive the conveyor belt pulley to rotate, so as to cooperate with the control of the transmission belt transmission.

[0018] The locking mechanism is installed on the installation base plate and is used to lock the fan mechanism.

[0019] Specifically, the closing mechanism includes a closing motor, a transmission wire rope, and a lightweight cover;

[0020] The closing motor is arranged on the fan mechanism, and the transmission wire rope is respectively sleeved on the rotating shaft of the closing motor and the rotating shaft extending from the lightweight cover. The closing motor is used to drive the transmission wire rope to control the opening or closing of the lightweight cover.

[0021] Optionally, the conveyor belt can also be replaced by rollers arranged side by side along the transmission direction, and these rollers rotate synchronously to realize the function of the conveyor belt.

[0022] A sample capture, orientation, and transfer method, using the sample capture, orientation, and transfer device described above, comprises the following steps:

[0023] S1: Unlock and release the fan mechanism. After the closing mechanism is unlocked, it moves to the ready-to-close position, opening the entrance to the capture space.

[0024] S2: The detection unit senses the sample container. If a sample container is detected, the closing mechanism is activated to enclose the sample container in the capture space to achieve capture;

[0025] S3: The fan drive unit realizes synchronous contraction of the fan mechanism in a current control mode, clamping and positioning the sample container at the center position, until the operating current of the fan drive unit exceeds a preset threshold value, and then enters step S4;

[0026] S4: Detect whether the rotation angles of the fan mechanism are greater than a preset threshold angle. If so, proceed to step S5. Otherwise, control the fan mechanism to adjust the sample container back to the normal position.

[0027] S5: The sample container is transferred to the packaging barrel through the conveyor belt of the fan mechanism.

[0028] Among them, in step S4, the steps of controlling the fan mechanism to adjust the sample container back to the normal position are specifically as follows:

[0029] S41: Select a group of two fan mechanisms that are opposite to each other as the first fan group, maintain the current control mode, and continue to retract and maintain;

[0030] S42: Another set of two opposite fan surfaces is referred to as a second fan surface group. The second fan surface group is rotated outward by a certain angle, for example, 1°, to release the sample container.

[0031] S43: The first fan group rotates forward and reverse at the same speed until the rotation angle of the first fan group is greater than or equal to the clamping angle, for example, 30°, wherein the clamping force can be applied to the sample container at the clamping angle and the conveyor belt movement distance is less than a preset threshold. If so, the first fan group stops rotating and the second fan group is retracted and maintained in the current control mode. Otherwise, it is considered abnormal.

[0032] S44: rotating the first fan assembly outward by a certain angle, for example, 1°, to release the sample container;

[0033] S45: Make the second fan group rotate forward and reverse at the same speed until the rotation angle of the second fan group is greater than or equal to the clamping angle, for example 30°, and the conveyor belt movement distance is less than the preset threshold. If so, the second fan group stops rotating, and the first fan group is retracted and maintained in the current control mode, and the adjustment is completed and returned to the positive position. Otherwise, it is considered abnormal.

[0034] Among them, in step S5, the steps of driving the sample container to be transferred into the packaging barrel by the conveyor belt of the fan mechanism are specifically as follows:

[0035] S51: folding and maintaining all fan mechanisms in a current control mode;

[0036] S52: Reverse all conveyor belts to transport the sample containers toward the packaging barrels:

[0037] S53: Real-time detection of whether the sample container is in place. If so, the conveyor belt is stopped and the transfer is ended. If not, detection of whether the sample container has stopped moving. If not, the transfer is continued. If so, it is considered a transfer abnormality.

[0038] Among them, in step S5, after it is determined that the transfer is abnormal, the conveyor belt is rotated in the forward direction, and then rotated in the reverse direction and then returns to step S53.

[0039] Among them, in step S5, after it is determined that the transfer is abnormal, the conveyor belt continues to rotate in the reverse direction, causing the first fan group and / or the second fan group to swing slightly toward the outside direction, and then returns to step S53.

[0040] More preferably, the method further includes S7: after the sample container is transferred into place and locked, the conveyor belt stops moving, and the fan mechanism returns to its initial position.

[0041] Due to the adoption of the above technical solution, the present invention has the following advantages and positive effects compared with the prior art:

[0042] The device of the present invention uses a four-sided rotatable fan mechanism to achieve sample container capture, clamping and positioning, and a conveyor belt to realize sample container posture return and transfer, realizing the integrated integration of sample capture, orientation and transfer functions, with the advantages of high functional integration and high space utilization.

[0043] In addition, corresponding capture and transfer methods are proposed for the device, which can realize arbitrary posture adjustment and return of the sample container, and eliminate the problem of sample container jamming during the transfer process. It has the characteristics of strong adaptability of sample container posture return, high transfer reliability, and multiple fault response measures. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Various other advantages and benefits will become apparent to those skilled in the art by reading the following detailed description of the preferred embodiment.The accompanying drawings are only for the purpose of illustrating the preferred embodiment and are not to be considered as limiting the present invention.

[0045] Figure 1 This is an overall structural diagram of a sample capture orientation and transfer device in an optional embodiment of the present invention;

[0046] Figure 2This is a front view of a fan mechanism in an optional embodiment of the present invention;

[0047] Figure 3 It is an axonometric view of a fan mechanism in an optional embodiment of the present invention;

[0048] Figure 4 This is a structural diagram of a closing mechanism in an optional embodiment of the present invention;

[0049] Figure 5 A schematic diagram of a sample container capture space in an optional embodiment of the present invention;

[0050] Figure 6 Schematic diagram of four posture states of the sample container after clamping and positioning in an optional embodiment of the present invention;

[0051] Figure 7 This is a schematic diagram of the sample container posture adjustment principle in an optional embodiment of the present invention;

[0052] Figure 8 This is a diagram of a sample container posture adjustment process in an optional embodiment of the present invention;

[0053] Figure 9 A schematic diagram of the transition of the posture state of a sample container in an optional embodiment of the present invention;

[0054] Figure 10 This is a flow chart of a method for capturing, orienting, and transferring a sample container in an optional embodiment of the present invention;

[0055] Figure 11 This is a flow chart of adjusting the posture of the sample container back to the normal position in an optional embodiment of the present invention;

[0056] Figure 12 A flow chart of sample container transfer in an optional embodiment of the present invention;

[0057] Figure 13 A schematic diagram of eliminating jamming during sample container transfer in an optional embodiment of the present invention;

[0058] Figure 14 A schematic diagram of the layout of a sample capture orientation and transfer device in another optional embodiment of the present invention;

[0059] Figure 15 It is an AA cross-sectional view of a sample capturing, orientation and transfer device in another optional embodiment of the present invention.

[0060] Description of Reference Numerals

[0061] 100: Detector; 101: Packaging barrel; 200: Sample capture orientation and transfer device; 201: Detection unit; 202: Mounting base plate; 210: Closing mechanism; 211: Closing motor; 212: Lightweight cover; 213: Transmission wire rope; 220: Fan mechanism; 221: Fan drive unit; 222: Fan shaft; 223: Conveyor belt drive motor; 224: Net rope; 225: Conveyor pulley; 226: Conveyor belt; 227: Fan frame; 230: Locking mechanism; 300: Sample container; 400: Second sample capture orientation and transfer device; 401: Second packaging barrel; 410: Structural plate; 411: Laser ranging sensor; 420: Second fan mechanism; 430: Third fan mechanism; 421: First rotation axis; 431: Second rotation axis. DETAILED DESCRIPTION

[0062] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the specific embodiments of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings and other embodiments can be obtained based on these drawings without inventive work.

[0063] To simplify the drawings, only the parts relevant to the present invention are schematically shown in each figure. They do not represent the actual structure of the product. Furthermore, to simplify the drawings and facilitate understanding, in some figures, only one of the components with the same structure or function is schematically depicted or labeled. As used herein, "one" not only means "only one" but also "more than one."

[0064] The following is a detailed description of a sample capture, orientation and transfer device and method proposed by the present invention in conjunction with the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description and claims.

[0065] Example 1

[0066] See Figures 1 to 9 In response to the requirements of the Mars sampling return mission, a sample capture orientation and transfer device is proposed. Based on the integrated orientation and transfer design concept, four rotatable fan mechanisms 220 are used to position the sample container 300, and the conveyor belt 226 is used to realize the attitude return and transfer of the sample container 300. This device has orientation and transfer functions, and has the characteristics of high integration, strong adaptability of the attitude return of the sample container 300, and high transfer reliability.

[0067] See Figure 1This embodiment is mounted on a flat side surface of the detector 100, arbitrarily designated as the mounting surface. A packaging barrel 101 is positioned on the mounting surface. This barrel is located within a cylindrical recess defined within the mounting surface, positioned at the center of this embodiment and extending deep into the interior of the detector 100, with its opening facing outward. The size of the packaging barrel 101 is slightly larger than the sample container 300, allowing the sample container 300 to be inserted and secured within the packaging barrel 101.

[0068] See Figure 1 This embodiment specifically includes: a mounting base 202 , a four-sided fan mechanism 220 , a closing mechanism 210 , a detection unit 201 and a locking mechanism 230 .

[0069] The mounting base 202 is laid on the mounting plane and is used to mount the four-sided fan mechanism 220 and the locking mechanism 230. A through hole corresponding to the opening of the packaging barrel 101 is opened at the center of the mounting base 202 to ensure smooth passage of the sample container 300.

[0070] The four locking mechanisms 230 are secured to the four corners of the mounting base 202 via bolts or other means. The four fan-shaped mechanisms 220 are arranged to form a cubical space, forming a capture space for the sample container 300. The packaging barrel 101 is located at the center of the capture space. The fan-shaped mechanisms 220 can rotate about their respective axes. As the axes rotate inward, the capture space is gradually reduced, thereby clamping the sample container 300 into the capture space.

[0071] The locking mechanism 230 is also connected and fixed to the mounting base plate 202. The locking mechanism 230 is used to lock the fan mechanism 220 to ensure that the fan mechanism 220 withstands mechanical loads without being damaged during the ascending phase of rocket launch. Furthermore, the locking mechanism 230 can use conventional pyrotechnics, hot knives, shape memory alloys or smart materials to achieve locking and unlocking functions.

[0072] The detection unit 201 consists of a beam with several laser sensors mounted on it, located outside a fan-shaped mechanism 220. The laser sensors detect whether the sample container 300 has entered the capture space through the gaps in the fan-shaped mechanism 220. Alternatively, a visual camera or other method can be used to determine whether the sample container 300 has entered the capture space.

[0073] See Figure 2 and Figure 3The fan mechanism 220 specifically comprises a fan drive unit 221, a fan shaft 222, a conveyor belt drive motor 223, a net rope 224, a conveyor pulley 225, a conveyor belt 226, and a fan frame 227. The fan frame 227 is a rectangular frame having a certain height (in the direction of the fan shaft 222, i.e., the vertical direction) and width to ensure that the capture space enclosed by the fan mechanism 220 has a certain entrance size and depth.

[0074] The fan drive unit 221 is mounted at the bottom of the vertical rod of the fan frame 227 and is connected to the mounting base 202. The fan shaft 222 is disposed through the fan drive unit 221. The fan drive unit 221 can drive the fan mechanism 220 to rotate about the fan shaft 222. The fan mechanism 220 needs to adopt a lightweight structure. Therefore, a net rope 224 is used to tighten the fan frame 227 in the vertical direction. Furthermore, the net rope 224 can be made of polyimide rope, aramid rope, metal wire rope, etc. Preferably, the net rope 224 is arranged on the inner side of the fan mechanism 220 (i.e., the side in contact with the sample container 300). Optionally, the fan mechanism 220 can also be lined with a mesh, cloth, or other material on the inside to replace the net rope 224.

[0075] The conveyor belt 226 spans the upper and lower crossbars of the fan frame 227 to form a closed loop and is driven by a conveyor pulley 225 located at the bottom, which can realize the movement of the conveyor belt 226. The conveyor belt 226 is located at a position away from the fan shaft 222. The width and specific position design of the conveyor belt 226 are related to the structural dimensions of the capture space and the size of the sample container 300. The conveyor pulley 225 located at the bottom of the conveyor belt 226 is connected to the conveyor drive motor 223 via a transmission shaft. The conveyor drive motor 223 is arranged at one end of the lower crossbar of the fan frame 227 near the fan shaft 222. Preferably, for lightweight and compact structure, the transmission shaft between the conveyor pulley 225 and the conveyor drive motor 223 is placed in the inner hole of the lower crossbar of the fan frame 227. Optionally, the conveyor pulley 225 and the conveyor drive motor 223 can also be integrated into one. The conveyor belt 226 can be made of polyurethane, polyimide, metal braided belt or non-metal braided belt. Preferably, the conveyor belt 226 is a conventional synchronous belt, which is conducive to synchronous transmission. The conveyor belt 226 and the conveyor pulley 225 are both conventional transmission implementation methods, and this embodiment will not be repeated.

[0076] See Figure 4The closing mechanism 210 is installed on one of the fan mechanisms 220 to cover the top of the capture space and prevent the sample container 300 from escaping from the sample capture orientation and transfer device 200. Specifically, the closing mechanism 210 includes a closing motor 211, a transmission wire rope 213 and a lightweight cover 212. The closing motor 211 is provided on the fan mechanism 220, and the transmission wire rope 213 is respectively sleeved on the rotating shaft of the closing motor 211 and the rotating shaft extending from the lightweight cover 212. The transmission wire rope 213 is driven by the closing motor 211 to drive the lightweight cover 212 to rotate around the axis, thereby realizing the opening and closing of the closing mechanism 210. Furthermore, the closing mechanism 210 is in a locked state during the ascent stage of the rocket, and is generally locked and unlocked by a pyrotechnic cutter, a hot knife, etc.

[0077] The capture space of this embodiment is further described as follows:

[0078] After the sample container 300 enters the capture space, the four fan-shaped mechanisms 220 rotate synchronously to reduce the internal space and clamp the sample container 300 at the center. Figure 5 As shown, in Figure 5 The coordinate system O-XYZ is constructed in the figure, with the origin defined at the center of the bottom and the X axis perpendicular to the bottom plane pointing outward. Assume that D0 is the size of the capture space of the sample container 300, θ F is the rotation angle of the fan mechanism 220 around the fan rotation axis 222, and d is the size of the positioning space formed after the fan mechanism 220 rotates.

[0079] The relationship between the size of the positioning space of the sample container 300 and the rotation angle is as follows:

[0080]

[0081] In this embodiment, for example, the diameter of the sample container 300 is 200 mm and the length is 250 mm, so D0 is determined to be 620 mm. When the fan mechanism 220 rotates to form a positioning space with a size of 200 mm, the fan mechanism 220 rotates at an angle of about 30°, and the sample container 300X is s The axis is perpendicular to the mounting plane and is in the correct state.

[0082] The following describes the operation of returning the sample container 300 to its normal position after capture in this embodiment:

[0083] After the sample container 300 enters the capture space, it is still in an uncontrolled state. As the capture space gradually shrinks, the sample container 300 is clamped and positioned by the four fan mechanisms 220. The clamping and positioning state is as follows: Figure 6As shown, for the convenience of description, the fan mechanism 220 is numbered as I, II, III and IV. Other postures of the sample container 300 can be evolved from the above states. Figure 6 Among the states, state a is the vertical return state, which meets the conditions for transfer to the packaging barrel 101. The other states b, c, and d all need to be adjusted to state a through the coordinated movement of the four conveyor belts 226. These state judgments can be determined by the rotation angle of the four fan mechanisms 220. Further, these states can be confirmed by the visual camera of the detection unit 201.

[0084] The principle of the conveyor belt 226 adjusting the posture of the sample container 300 is shown as follows: Figure 7 As shown, the conveyor belt 226 driving the sample container 300 to move upward (XT) is defined as a forward direction, and the reverse direction is defined as a reverse direction.

[0085] Taking the sample container 300 from the horizontal horizontal state to the vertical return state as an example, the posture correction process of the sample container 300 is described. Figure 8 As shown, for the convenience of description, the conveyor belts 226 are numbered D1, D2, D3 and D4 respectively. The conveyor belt D1 moves in the forward direction and the conveyor belt D3 moves in the reverse direction, and the two form a differential motion. The initial contact point ① of the conveyor belt D1 and the sample container 300 passes through the central axis. The initial clamping space d of this embodiment is about 250mm, and the corresponding rotation angle of the fan mechanism 220 I and III is about 27°. When the movement distance of the conveyor belts D1 and D3 = 10cm, the corner point ② of the sample container 300 contacts the conveyor belt D1. At this time, the distance between the two conveyor belts D1 and D3 is the largest, that is, the clamping space d is about 280mm, and the corresponding fan mechanism I and III have the smallest rotation angle (about 25°). The conveyor belts D1 and D3 continue to move S d =12.5cm, the conveyor belt D1 contacts the midpoint ③ of the sample container 300. At this time, the sample container 300 is in a vertical return state. At this time, the clamping space d is about 200mm, and the corresponding fan mechanism I and III rotation angles are about 30°.

[0086] According to Figure 8 The sample container 300 posture correction process is analyzed. The four states of the sample container 300 after positioning in the capture space can be converted to each other. The conversion relationship is as follows: Figure 9 As shown, the posture of the sample container 300 is adjusted to the state a (vertically returned) with states b, c, and d as intermediate states.

[0087] Example 2, see Figures 10 to 13 This embodiment provides a sample capture, orientation, and transfer method, using the sample capture, orientation, and transfer device 200 as described above.

[0088] Initially, the sample capture, orientation, and transfer device 200 is in a locked state. That is, both the locking mechanism 230 and the closing mechanism 210 are in a locked state, so as to withstand the mechanical and vibration environments of the rocket's ascent stage.

[0089] The sample capture orientation and transfer device 200 then prepares for capture. Specifically, the entire device controller is powered on, the locking mechanism 230 is unlocked to release the fan mechanism 220, the closing mechanism 210 is unlocked and moves to the ready-to-close position, the capture space entrance is opened, and the detection unit 201 enters the operating state and performs an inspection.

[0090] Then, when the sample container 300 enters the capture space, the array sensor of the detection unit 201 senses the sample container 300, gives a "capture possible" signal, and activates the closing mechanism 210 to quickly close the capture entrance, enclosing the sample container 300 in a closed space to achieve capture.

[0091] Next, the four fan mechanisms 220 rotate synchronously, reducing the internal space and clamping the sample container 300 in the center. Once the sample container 300 is clamped, the fan drive unit 221 of the fan mechanism 220 operates in current mode until the operating current of the fan drive unit 221 exceeds a preset threshold, at which point the next step is entered. Furthermore, the fan mechanism 220 clamps the sample container 300 with a set torque.

[0092] By detecting whether the rotation angle of the fan mechanism 220 is greater than or equal to the preset threshold angle (29.5°), if so, proceed to the next step, otherwise control the fan mechanism 220 to adjust the sample container 300 back to the right position. Figure 10 As shown, the steps for controlling the fan mechanism 220 to adjust the sample container 300 back to its normal position are as follows: Select a pair of two opposing fan mechanisms 220 (fan mechanisms I and III) as the first fan group, maintain the current control mode, and continuously retract and hold them. Then, select another pair of opposing fan mechanisms 220 as the second fan group (fan mechanisms II and IV), and rotate the second fan group outward 1° to release the sample container 300.

[0093] The first fan group is made to rotate forward and reverse at the same speed until the rotation angle of the first fan group is greater than or equal to 30° and the movement distance of the conveyor belt 226 is less than the preset threshold (350mm). If so, the first fan group stops rotating and the second fan group is folded and maintained in the current control mode. Otherwise, it is considered abnormal.

[0094] Next, similarly, the first sector assembly is rotated outward by 1° to release the sample container 300 .

[0095] The second fan group is made to rotate forward and reverse at the same speed until the rotation angle of the second fan group is greater than or equal to 30° and the movement distance of the conveyor belt 226 is less than the preset threshold (350mm). If so, the second fan group stops rotating and the first fan group is made to fold and maintain in the current control mode. Otherwise, it is considered abnormal and the adjustment is completed after two adjustments are completed.

[0096] Optionally, the fan mechanism rotation angles of 1°, 29.5° and 30°, etc., can be optimized and selected according to the structural parameters of the specific embodiment.

[0097] See Figure 12 After the return is completed, the sample container 300 is transferred to the packaging barrel 101.

[0098] All conveyor belts 226 rotate in the opposite direction, driving the sample container 300 inward and into the packaging barrel 101. During the transfer of the sample container 300, multiple laser ranging sensors are placed on the capture cap or the bottom of the packaging barrel 101 to monitor the movement of the sample container 300 in real time. If the sample container 300 becomes stuck during transfer due to deviation, the laser ranging can be used to detect and confirm the situation. In this case, the transfer of the sample container 300 is considered abnormal.

[0099] When a transfer is deemed abnormal, two treatment options are proposed:

[0100] Processing method 1: The conveyor belt 226 rotates forward to push the sample container 300 out a certain distance, which is 1 cm in this embodiment. Then the conveyor belt 226 rotates reversely to check whether the sample container 300 can be introduced.

[0101] In the second processing method, the conveyor belt 226 rotates in the opposite direction to continue to guide the sample container 300 inward. At the same time, the first fan group and / or the second fan group are slightly swung outward to slightly adjust the posture of the sample container 300 relative to the packaging barrel 101, thereby eliminating jamming during the transfer process. The sample container 300 is then introduced into the packaging barrel 101 using the conveyor belt 226.

[0102] Finally, several laser rangefinders on the bottom of the packaging barrel 101 or on the closure mechanism 210 measure the distance to the sample container 300. When the distance measured by the laser rangefinders meets the transfer requirements, the control system generates a "sample container 300 transferred into position" signal. The conveyor belt 226 stops, and the fan mechanism 220 returns to its initial position (i.e., the initial locked position), awaiting subsequent operations. This completes the overall operation of this embodiment.

[0103] Example 3, see Figure 14 and Figure 15 This embodiment proposes another sample capture orientation and transfer device, which differs from the first embodiment mainly in that:

[0104] The second sample capture orientation and transfer device 400 of this embodiment includes second and third fan mechanisms 420 / 430, a structural plate 410, etc. This embodiment eliminates the closing mechanism 210, and instead uses the structural plate 410 to seal the side. The first and second rotation axes 421 / 431 of the second and third fan mechanisms 420 / 430 are parallel to the mounting plane of the detector 100. The second fan mechanism 420 located above the device serves as the capture space entrance. The second fan mechanism 420 can be expanded outward to open the capture entrance. The packaging barrel 401 is parallel to the first and second rotation axes 421 / 431 of the second and third fan mechanisms 420 / 430, is located at the center of the axis distribution circle, and is on the other side of the structural plate 410.

[0105] Furthermore, several laser rangefinders 411 are mounted on the structural plate 410 to measure the position of the sample container during transfer. Furthermore, the fan mechanisms 420 and 430 also include a fan drive unit 221, a fan frame 227, a net rope 224, a conveyor belt 226, a conveyor belt drive motor 223, and a conveyor pulley 225, similar to the fan mechanism in Example 1 and will not be further described. Optionally, other mechanisms may be mounted on the structural plate 410, including but not limited to packaging mechanisms and visual cameras.

[0106] According to the description of this embodiment, the working process of this embodiment is also as shown in Example 2. The difference is that the function of the closing mechanism 210 is replaced by the second fan mechanism 420. The second fan mechanism 420 can perform both the capture function and the clamping positioning function.

[0107] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they still fall within the scope of protection of the present invention.

Claims

1. A sample capture orientation and transfer device, mounted on a side plane of a detector, which is a mounting plane, characterized in that: include: Four-sided fan mechanism, closing mechanism and detection unit; The four fan-shaped mechanisms are sequentially connected to enclose a cubic space to form a capture space for the sample container. The fan-shaped mechanisms rotate around their corresponding rotation axes to gradually reduce the capture space to clamp the sample container placed in the capture space. The fan mechanism is provided with a conveyor belt, which is arranged perpendicular to the installation plane and is used to adjust the posture of the clamped sample container and place it into the packaging barrel; The packaging barrel is a groove opened on the installation plane for placing the sample container, and the packaging barrel is located in the center of the capture space; The closing mechanism is installed on one of the fan mechanisms to cover the upper portion of the capture space and prevent the sample container from escaping from the sample capture orientation and transfer device; The detection unit is arranged outside the fan mechanism and is used to sense the sample container to cooperate with the fan mechanism to achieve capture.

2. The sample capture orientation and transfer device according to claim 1, characterized in that: A mounting base is also provided, which is mounted on the mounting plane and is used to mount the four fan mechanisms. A through hole corresponding to the opening of the packaging barrel is opened at the center of the mounting base to allow the sample container to pass through.

3. The sample capture orientation and transfer device according to claim 2, characterized in that: The fan mechanism includes a fan drive unit, a fan shaft, a conveyor belt drive motor, a net rope, a conveyor belt wheel, a conveyor belt, a fan frame and a locking mechanism; The fan frame is a rectangular frame, and the net rope is installed in the fan frame along the vertical direction; The fan drive unit is installed at the bottom of a vertical rod of the fan frame and is installed on the mounting base. The fan shaft is passed through the fan drive unit. The fan drive unit is used to drive the fan mechanism to rotate around the fan shaft. The conveyor belt drive motor is installed at one end of the lower cross bar of the fan frame and is arranged close to the fan drive unit. The conveyor belt pulley is arranged at the other end of the lower cross bar and is rotatably connected to the conveyor belt drive motor via a rotating shaft. The conveyor belt vertically spans the upper and lower cross bars of the fan frame to form a closed loop. The conveyor belt drive motor is used to drive the conveyor belt pulley to rotate, so as to cooperate with the control of the conveyor belt transmission. The locking mechanism is installed on the installation base plate and is used to lock the fan mechanism.

4. The sample capture orientation and transfer device according to claim 1, characterized in that: The closing mechanism includes a closing motor, a transmission wire rope and a lightweight cover; The closing motor is arranged on the fan mechanism, and the transmission wire rope is respectively sleeved on the rotating shaft of the closing motor and the rotating shaft extending from the lightweight cover. The closing motor is used to drive the transmission wire rope to control the opening or closing of the lightweight cover.

5. A sample capture, orientation and transfer method, using the sample capture, orientation and transfer device according to any one of claims 1 to 4, characterized in that: The steps include: S1: Unlock and release the fan mechanism. After the closing mechanism is unlocked, it moves to the ready-to-close position, opening the entrance to the capture space. S2: sensing the sample container through the detection unit, and if the sample container is detected, activating the closing mechanism to surround the sample container into the capture space to achieve capture; S3: The fan drive unit realizes synchronous contraction of the fan mechanism in a current control mode, clamping and positioning the sample container at the center position, until the operating current of the fan drive unit exceeds a preset threshold value, and then enters step S4; S4: Detect whether the rotation angles of the fan mechanism are greater than a preset threshold angle. If so, proceed to step S5. Otherwise, control the fan mechanism to adjust the sample container back to the normal position. S5: The sample container is transferred to the packaging barrel through the conveyor belt of the fan mechanism.

6. The sample capture orientation and transfer method according to claim 5, characterized in that: In step S4, the steps of controlling the fan mechanism to adjust the sample container back to the normal position are specifically as follows: S41: Select a group of two fan mechanisms that are opposite to each other as the first fan group, maintain the current control mode, and continue to retract and maintain; S42: Another set of two opposite fan surfaces is referred to as a second fan surface group. The second fan surface group is rotated outwards at a certain angle to release the sample container. S43: The first fan group rotates forward and reverse at the same speed until the rotation angle of the first fan group is greater than or equal to the clamping angle, wherein the clamping force can be applied to the sample container under the clamping angle, and the conveyor belt movement distance is less than a preset threshold. If so, the first fan group stops rotating, and the second fan group is retracted and maintained in the current control mode. Otherwise, it is considered abnormal. S44: rotating the first fan assembly outward by a certain angle to release the sample container; S45: Make the second fan group rotate forward and reverse at the same speed until the rotation angle of the second fan group is greater than or equal to the clamping angle, and the conveyor belt movement distance is less than the preset threshold. If so, the second fan group stops rotating, and the first fan group is retracted and maintained in the current control mode, and the adjustment is completed and returned to the positive position. Otherwise, it is considered abnormal.

7. The sample capture orientation and transfer method according to claim 6, characterized in that: In step S5, the steps of transferring the sample container to the packaging barrel by the conveyor belt of the fan mechanism are specifically as follows: S51: folding and maintaining all fan mechanisms in a current control mode; S52: Reverse all conveyor belts to transport the sample containers toward the packaging barrels: S53: Real-time detection of whether the sample container is in place. If so, the conveyor belt is stopped and the transfer is ended. If not, detection of whether the sample container has stopped moving. If not, the transfer is continued. If so, it is considered a transfer abnormality.

8. The sample capture orientation and transfer method according to claim 7, characterized in that: In step S5, after it is determined that the transfer is abnormal, the conveyor belt is rotated in the forward direction, and then rotated in the reverse direction and then returns to step S53.

9. The sample capture orientation and transfer method according to claim 7, characterized in that: In step S5, after the transfer is determined to be abnormal, the conveyor belt continues to rotate in the reverse direction, causing the first fan group and / or the second fan group to swing slightly toward the outside, and then returns to step S53.

10. The sample capture orientation and transfer method according to claim 5, characterized in that: The process also includes S7: after the sample container is transferred to a position and locked, the conveyor belt stops moving and the fan mechanism returns to its initial position.

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