An automated encapsulation system for extraterrestrial sample collection

Abstract

The application relates to an automatic packaging system for extraterrestrial object sample collection, which comprises a loading base plate, a sample tank storage device, a sealing end cover storage device, a sealing workbench, a first driving part, a second driving part and a mechanical arm, the sample tank storage device and the sealing end cover storage device are arranged on the upper side of the loading base plate, and the mechanical arm is arranged on the lower side of the loading base plate; the sample tank storage device comprises a plurality of tank body storage parts for storing single sealing tanks respectively, the loading base plate is provided with a tank taking hole and a cover taking hole, the tank taking hole is arranged below the tank body storage part in correspondence, the first driving part is in transmission connection with the sample tank storage device and drives the sample tank storage device to rotate; the cover taking hole is arranged below the sealing end cover storage device in correspondence, the sealing end cover storage device is arranged in the inner cavity of the sealing end cover storage device in a stacked mode through a double-ball lock mechanism, the second driving part is arranged on the sealing workbench and the driving end of the second driving part is connected with a pressing head for pressing the sealing end cover in the sealing tank.

Description

Technical Field

[0001] This invention relates to the field of extraterrestrial sample sealing technology, specifically to an automated packaging system for collecting extraterrestrial samples. Background Technology

[0002] Extraterrestrial sampling refers to the collection of samples or data from the surface of celestial bodies or their surrounding environment outside of Earth. This sampling is typically conducted through scientific exploration activities using unmanned aerial vehicles, probes, or manned missions. The purpose of extraterrestrial sampling is to study and understand the composition, structure, chemical composition, and potential signs of life in other celestial bodies in the universe. Different scientific research topics require the acquisition of extraterrestrial samples from multiple locations to support comprehensive research. However, current equipment for many unmanned extraterrestrial sampling missions can only collect and seal samples from a single location, resulting in limited sample and storage capacity, a lack of multi-sample processing capabilities, or complex overall structures. Therefore, it is essential to develop a simple, high-capacity extraterrestrial celestial body sampling sample sealing and temporary storage system.

[0003] During my country's Chang'e 5 lunar exploration mission, a lunar surface automatic sampling and sealing device was used to collect surface and drilling samples from a single location on the moon, successfully sealing them and collecting a total of 1731g of samples. The Soviet Luna program drilled and sealed samples from a single location on the moon, collecting approximately 326g of samples across three missions. Japan's Hayabusa2 mission collected samples from multiple locations on Ryugu planet using an impact-blowing method. The US Mars 2020 mission can collect and seal samples from multiple locations on Mars. The Chang'e and Luna missions could only store samples from a single sampling, limiting the richness of the samples. While the Hayabusa2 mission could sample from multiple points, the sample storage capacity was limited, and the complex structure of the US Perseverance rover increased the uncertainty of the entire process. Summary of the Invention

[0004] In order to solve one or more technical problems existing in the prior art, the present invention provides an automated packaging system for the collection of extraterrestrial celestial body samples.

[0005] The technical solution of this invention to solve the above-mentioned technical problems is as follows: An automatic packaging system for collecting samples from extraterrestrial bodies includes a loading base plate and a sample container storage unit, a sealed end cap storage unit, a sealed worktable, a first drive unit, a second drive unit, and a robotic arm disposed on the loading base plate. The sample container storage unit and the sealed end cap storage unit are disposed on the upper side of the loading base plate, and the robotic arm is located on the lower side of the loading base plate. The sample container storage unit includes multiple container storage sections, each storing a single sealed container. The loading base plate is provided with a container retrieval hole and a cap retrieval hole. The container retrieval hole is correspondingly arranged below the container storage section. The first drive unit is connected to the sample container storage section. The sample container storage is driven to rotate; the cap removal hole is correspondingly arranged below the sealing cap storage, and the sealing cap storage uses a double ball locking mechanism to stack multiple sealing caps vertically in the inner cavity of the sealing cap storage; the second drive unit is set on the sealing worktable and its drive end is connected to a pressure head that presses and fixes the sealing cap in the sealing container; wherein, the end effector of the robotic arm is used to take the sealing container from the can removal hole, move the sealing container to the cap removal hole to take the sealing cap, put the sealing cap on the sealing container, and then move the sealing container with the sealing cap on to the pressure head for pressing and sealing.

[0006] The beneficial effects of this invention are as follows: This invention relates to an automated packaging system for collecting samples from extraterrestrial bodies. Its main function is to automatically seal and store samples collected from extraterrestrial bodies, and it has the capability to process multiple samples. This automated packaging system can be used as an integral component of an extraterrestrial exploration robot, providing necessary support for extraterrestrial exploration missions.

[0007] Based on the above technical solution, the present invention can be further improved as follows.

[0008] Furthermore, the sealed end cap storage device includes a first storage cylinder, a first spring, a second spring, a first inner liner, and a second inner liner. The first storage cylinder is arranged vertically and has an open structure at its lower end. The lower end of the first storage cylinder passes through the cap removal hole and is located below the cap removal hole. The tops of multiple sealed end caps arranged vertically are elastically connected to the top of the first storage cylinder through the first spring.

[0009] Both the first inner liner and the second inner liner are cylindrical structures with open top and bottom. The upper end of the first inner liner is fixedly connected to the inner wall of the first storage cylinder. The second inner liner is sleeved on the outer side of the lower end of the first inner liner. The upper end of the second inner liner is elastically connected to the first inner liner through a second spring. A double ball locking mechanism is provided between the first inner liner and the second inner liner.

[0010] The beneficial effect of adopting the above-mentioned further solution is that by setting a double ball lock mechanism, the automatic removal and retrieval of the sealed end cap can be realized.

[0011] Furthermore, the double ball lock mechanism includes a first ball lock and a second ball lock, the first ball lock and the second ball lock are arranged vertically at intervals in the side wall through hole of the first inner liner, the inner side wall of the second inner liner is provided with a first unlocking groove and a second unlocking groove arranged vertically at intervals, and the upper outer periphery of the sealing end cap is provided with a ring edge that is limited by the first ball lock or the second ball lock.

[0012] Among them, the sealing end cap located at the lowest end is the second sealing end cap, and the sealing end cap located above the second sealing end cap is the first sealing end cap; in the locked state, the first ball lock is located in the first unlocking groove, the first sealing end cap is in the unlocked state, and the second ball lock abuts against the inner wall of the second inner liner between the first and second unlocking grooves, limiting the circumferential edge of the second sealing end cap; in the unlocked state, the end effector of the robotic arm is used to take the sealed can from the can-taking hole and push the second inner liner upward, so that the second ball lock moves into the second unlocking groove, and the first ball lock moves downward from the first unlocking groove to abut against the second inner liner. On the inner wall of the liner, the second sealing end cap is unlocked by the second ball lock and removed from the sealing can. The first sealing end cap is locked by the first ball lock during its descent. After unlocking, the end effector of the robotic arm moves the sealing can with the sealing end cap out of the can removal hole. The second liner moves down to the locked state under the drive of the second spring, causing the first ball lock to move up into the first unlocking groove, so that the first sealing end cap is no longer locked by the first ball lock. The second ball lock moves up and abuts against the inner wall of the second liner between the first unlocking groove and the second unlocking groove. Multiple sealing end caps arranged vertically move down under the drive of the first spring, so that the first sealing end cap is locked by the second ball lock.

[0013] Furthermore, the upper end of the first liner is provided with an outward flange, which is fixed to the inner wall of the first storage cylinder by bolts, and the second spring is sleeved on the outer wall of the first liner.

[0014] Furthermore, the tank storage section includes a second storage cylinder that runs vertically through the tank, and the sealed tank includes a tank body and a can retrieval slot provided at the bottom of the tank body. The can retrieval slot is provided with a single ball locking mechanism. The sealed tank is fitted inside the second storage cylinder and is engaged with the second storage cylinder by the single ball locking mechanism.

[0015] The end effector of the robotic arm is equipped with an unlocking mechanism, which can be engaged in the can retrieval slot and unlock the single ball lock mechanism from the second storage cylinder, so that the sealed can is taken out from the second storage cylinder.

[0016] Furthermore, the can-retrieving slot has a through hole and an unlocking slot on its wall. A third ball lock is installed in the through hole, and a slot for engaging the third ball lock is installed on the inner side wall of the second storage cylinder. A third inner liner is slidably installed inside the can-retrieving slot. The third inner liner is elastically connected to the top of the can-retrieving slot via a third spring. A third unlocking slot is installed on the outer side wall of the third inner liner. The through hole is located above the third unlocking slot, and the unlocking slot is located below the third unlocking slot. When the unlocking mechanism on the end effector of the robotic arm is inserted into the can-retrieving slot and engages in the unlocking slot, the unlocking mechanism pushes the third inner liner upward to move the third ball lock from the slot to engage in the third unlocking slot, thereby unlocking the third ball lock on the can-retrieving slot from the second storage cylinder.

[0017] Furthermore, the lower side of the loading base plate is also provided with a third driving part, a clamping and fixing part, and a clamping and movable part. The clamping and fixing part and the clamping and movable part are both located below the pressure head. The driving end of the third driving part is connected to the clamping and movable part and can make the clamping and movable part move away from the clamping and fixing part or close with the clamping and movable part to form a clamping cylinder. The clamping cylinder is arranged coaxially with the pressure head.

[0018] Furthermore, a flexible connector is connected between the driving end of the third driving unit and the clamping movable part. The axis of the driving end of the third driving unit is perpendicular to the axis of the clamping cylinder. The flexible connector includes a connecting plate with a through hole in the middle. Two parallel connecting rods are arranged in the through hole. The driving end of the third driving unit is arranged perpendicularly to the connecting plate and fixedly connected to the middle of the two connecting rods respectively. An L-shaped connector is provided on the peripheral edge of the connecting plate, and the L-shaped connector is connected and fixedly connected to the clamping movable part.

[0019] Furthermore, the second driving unit is a lead screw and nut driving mechanism, and the pressure head is installed at the lower end of the lead screw of the lead screw and nut driving mechanism.

[0020] Furthermore, the sample container storage, the sealed end cap storage, and the sealed worktable are arranged circumferentially on the loading base plate with the robotic arm as the center. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the main structure of the automatic packaging system for collecting extraterrestrial samples according to the present invention;

[0022] Figure 2 This is a schematic diagram of the structure of the loading base plate of the present invention;

[0023] Figure 3 This is a three-dimensional structural diagram of the sample container storage of the present invention;

[0024] Figure 4This is a schematic diagram of the internal structure of the sample container storage of the present invention;

[0025] Figure 5 This is a schematic diagram of the main structure of the second driving unit of the present invention;

[0026] Figure 6 This is a schematic diagram of the sealed end cap memory in the locked state of the present invention;

[0027] Figure 7 This is a schematic diagram of the sealed end cap memory in the unlocked state of the present invention;

[0028] Figure 8 This is a schematic diagram of the structure of the sealed end cap memory of the present invention after unlocking;

[0029] Figure 9 This is a schematic diagram of the sample container storage structure of the present invention;

[0030] Figure 10 for Figure 9 A schematic diagram of the cross-sectional structure of the C-C section;

[0031] Figure 11 This is a schematic diagram of the main structure of the third driving unit of the present invention. Figure 1 ;

[0032] Figure 12 This is a schematic diagram of the main structure of the third driving unit of the present invention. Figure 2 ;

[0033] Figure 13 This is a front view schematic diagram of the third drive unit clamping and fixing part and the clamping movable part of the present invention in the open state;

[0034] Figure 14 This is a schematic diagram of the structure of the robotic arm of the present invention.

[0035] The attached diagram lists the components represented by each number as follows:

[0036] 100. Loading base plate; 101. Can removal hole; 102. Lid removal hole; 103. Robotic arm mounting hole;

[0037] 200. Sample container storage; 201. Second storage cylinder; 202. Container body; 203. Can retrieval slot; 204. Unlocking slot; 205. Third ball lock; 206. Third liner; 207. Third unlocking slot; 208. Third spring;

[0038] 300. Sealed end cap memory; 301. First sealed end cap; 302. First spring; 303. Second spring; 304. First storage cylinder; 305. First inner liner; 306. Second inner liner; 307. First ball lock; 308. Second ball lock; 309. First unlocking groove; 310. Second unlocking groove; 311. Second sealed end cap; 312. Ring edge; 313. Outward flange;

[0039] 400. Sealed workbench;

[0040] 500, First drive unit; 501, First motor; 502, First gear assembly;

[0041] 600, Second drive unit; 601, Lead screw; 602, Nut; 604, Pressure head; 605, Second gear assembly;

[0042] 701. Clamping and fixing part; 702. Clamping and moving part; 703. Connecting plate; 704. Through hole; 705. Connecting rod; 706. L-shaped connector; 707. Third motor; 708. Third gear assembly; 709. Mounting housing; 710. Drive shaft;

[0043] 800. Robotic arm; 801. Unlocking mechanism; 802. End effector; 803. Lifting column; 804. First transmission assembly; 805. Support beam; 806. Second transmission assembly. Detailed Implementation

[0044] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0045] like Figures 1 to 14As shown, this embodiment of an automated packaging system for collecting samples from extraterrestrial bodies includes a loading base plate 100 and a sample container storage 200, a sealed end cap storage 300, a sealed worktable 400, a first drive unit 500, a second drive unit 600, and a robotic arm 800 disposed on the loading base plate 100. The sample container storage 200 and the sealed end cap storage 300 are disposed on the upper side of the loading base plate 100, and the robotic arm 800 is located on the lower side of the loading base plate 100. The sample container storage 200 includes multiple container storage sections, each storing a single sealed container. The loading base plate 100 is provided with a container retrieval hole 101 and a cap retrieval hole 102. The container retrieval hole 101 is correspondingly arranged below the container storage section. The first drive unit 500 and the sealed end cap storage 300 are connected to the loading base plate 100. The sample container storage 200 is driven and rotated; the cap removal hole 102 is correspondingly arranged below the sealing end cap storage 300, and the sealing end cap storage 300 uses a double ball locking mechanism to stack multiple sealing end caps vertically in the inner cavity of the sealing end cap storage 300; the second driving unit 600 is set on the sealing worktable 400 and its driving end is connected to a pressure head 604 to press and fix the sealing end cap in the sealing container; wherein, the end effector 802 of the robotic arm 800 is used to take the sealing container from the container removal hole 101, move the sealing container to the cap removal hole 102 to take the sealing end cap, put the sealing end cap on the sealing container, and then move the sealing container with the sealing end cap on to the pressure head 604 for pressing and sealing.

[0046] like Figures 6-8 As shown, the sealed end cap storage device in this embodiment includes a first storage cylinder 304, a first spring 302, a second spring 303, a first inner liner 305, and a second inner liner 306. The first storage cylinder 304 is vertically arranged and has an open lower end. The lower end of the first storage cylinder 304 passes through the cap removal hole 102 and is located below the cap removal hole 102. The tops of multiple vertically stacked sealed end caps are elastically connected to the top of the first storage cylinder 304 via the first spring 302. The first inner liner 305 and the second inner liner 306 are both cylindrical structures with open upper and lower ends. The upper end of the first inner liner 305 is fixedly connected to the inner wall of the first storage cylinder 304. The second inner liner 306 is sleeved on the outer side of the lower end of the first inner liner 305. The upper end of the second inner liner 306 is elastically connected to the first inner liner 305 via the second spring 303. A double ball locking mechanism is provided between the first inner liner 305 and the second inner liner 306. By setting the double ball locking mechanism, automatic retrieval of the sealed end caps can be achieved. The sealed end caps in the storage device are placed vertically in a stacked manner to maximize space utilization. A double ball locking mechanism allows one sealed end cap to be extracted in a single working cycle.

[0047] like Figures 6-8As shown, the double ball lock mechanism in this embodiment includes a first ball lock 307 and a second ball lock 308. The first ball lock 307 and the second ball lock 308 are arranged vertically at intervals in the side wall through holes of the first inner liner 305. The inner side wall of the second inner liner 306 is provided with a first unlocking groove 309 and a second unlocking groove 310 arranged vertically at intervals. The upper outer periphery of the sealing end cap is provided with a ring edge 312 that is limited by the first ball lock 307 or the second ball lock 308. Among them, the sealing end cap located at the lowermost end is the second sealing end cap. 311, a sealing end cap located above the second sealing end cap 311 is the first sealing end cap 301; in the locked state, the first ball lock 307 is located in the first unlocking groove 309, the first sealing end cap 301 is in the unlocked state, and the second ball lock 308 abuts against the inner wall of the second liner 306 between the first unlocking groove 309 and the second unlocking groove 310, and limits the circumferential edge 312 of the second sealing end cap 311; in the unlocked state, the end effector 802 of the robotic arm 800 is used for The sealed can is taken out through the can-retrieving hole 101, and the second inner liner 306 is pushed upward, causing the second ball lock 308 to move into the second unlocking groove 310. This causes the first ball lock 307 to move downward from the first unlocking groove 309 to abut against the inner wall of the second inner liner 306. The second sealing end cap 311 is unlocked by the second ball lock 308 and removed by the sealed can. The first sealing end cap 301 is locked by the first ball lock 307 during its descent. After unlocking, the end effector 802 of the robotic arm 800 removes the sealed can with the sealing end cap from the can-retrieving hole. 101 is removed, and the second inner liner 306 moves down to the locked state under the drive of the second spring 303, causing the first ball lock 307 to move up into the first unlocking groove 309, so that the first sealing end cap 301 is no longer locked by the first ball lock 307. The second ball lock 308 moves up and abuts against the inner wall of the second inner liner 306 between the first unlocking groove 309 and the second unlocking groove 310. Multiple sealing end caps arranged vertically move down under the drive of the first spring 302, so that the first sealing end cap 301 is locked by the second ball lock 308.

[0048] like Figures 6-8 As shown, the upper end of the first inner liner 305 in this embodiment is provided with an outward flange 313, which is fixed to the inner side wall of the first storage cylinder 304 by bolts, and the second spring 303 is sleeved on the outer side wall of the first inner liner 305.

[0049] like Figure 9 and Figure 10As shown, the storage section of the can in this embodiment includes a second storage cylinder 201 that runs vertically through the can. The sealed can includes a can body 202 and a can retrieval slot 203 located at the bottom of the can body 202. The can retrieval slot 203 is provided with a single ball locking mechanism. The sealed can is fitted inside the second storage cylinder 201 and is engaged with the second storage cylinder 201 by the single ball locking mechanism. The end effector 802 of the robotic arm 800 is provided with an unlocking mechanism 801. The unlocking mechanism 801 can engage with the can retrieval slot 203 and unlock the single ball locking mechanism from the second storage cylinder 201, allowing the sealed can to be removed from the second storage cylinder 201.

[0050] Preferred, such as Figure 4 As shown, the sample container storage 200 in this embodiment has multiple mounting holes evenly arranged along the circumference, and each mounting hole contains a container storage section. The sample container storage 200 is covered with a dust cover, on which a skylight can be opened to facilitate the transfer of samples into the container by the sampling equipment. The sample container storage 200 can be mounted on a slewing bearing, and the drive gear of the first gear assembly 502 is fixed to the sample container storage 200, facilitating the first motor 501 to drive the first gear assembly 502, thereby causing the sample container storage 200 to rotate on the slewing bearing. According to task requirements, the number and external dimensions of the container storage sections can be adjusted, and with appropriate sampling equipment, samples of different volumes from different locations can be sealed and preserved separately.

[0051] like Figure 10 As shown, in this embodiment, the can-retrieving slot 203 has a through hole and an unlocking slot 204 on its wall. A third ball lock 205 is provided in the through hole, and a slot for engaging the third ball lock 205 is provided on the inner side wall of the second storage cylinder 201. A third inner liner 206 is slidably provided in the can-retrieving slot 203. The third inner liner 206 is elastically connected to the top of the can-retrieving slot 203 by a third spring 208. A third unlocking slot 207 is provided on the outer side wall of the third inner liner 206. The hole is located above the third unlocking slot 207, and the unlocking slot 204 is located below the third unlocking slot 207. When the unlocking mechanism 801 on the end effector 802 of the robotic arm 800 is inserted into the can retrieval slot 203 and engaged in the unlocking slot 204, the unlocking mechanism 801 pushes the third inner liner 206 upward to move the third ball lock 205 from the slot to the third unlocking slot 207, thereby unlocking the third ball lock 205 on the can retrieval slot 203 from the second storage cylinder 201.

[0052] like Figures 11-13As shown, the lower side of the loading base plate 100 in this embodiment is also provided with a third driving part, a clamping and fixing part 701 and a clamping and movable part 702. The clamping and fixing part 701 and the clamping and movable part 702 are both located below the pressure head 604. The driving end of the third driving part is connected to the clamping and movable part 702 and can make the clamping and movable part 702 move away from the clamping and fixing part 701 or close with the clamping and movable part 702 to form a clamping cylinder. The clamping cylinder is arranged coaxially with the pressure head 604.

[0053] Specifically, such as Figures 11-13 As shown, the bottom of the loading base plate 100 is provided with a mounting shell 709, and a third driving part is provided inside the mounting shell 709. The clamping and fixing part 701 is fixed to the bottom of the mounting shell 709, and the clamping movable part 702 is located on one side of the clamping and fixing part 701. Both the clamping and fixing part 701 and the clamping movable part 702 are semi-circular cylindrical structures. The top of both the clamping and fixing part 701 and the clamping movable part 702 are provided with bosses. When the end effector 802 of the robotic arm 800 places the tank 202 between the clamping and fixing part 701 and the clamping movable part 702, the outer edge of the upper end of the tank 202 can be engaged with the bosses, and then the pressure head 604 is used to press and fix the sealing end cap inside the tank 202. The sealing structure between the sealing end cap and the tank 202 can be achieved using existing technology.

[0054] like Figures 11-13 As shown, in this embodiment, a flexible connector is also connected between the driving end of the third driving unit and the clamping movable part 702. The axis of the driving end of the third driving unit is perpendicular to the axis of the clamping cylinder. Specifically, the third driving unit includes a third motor 707, which is connected to the flexible connector via a third gear assembly 708. A driving shaft 710 is provided at the center of the third gear assembly 708, and the driving shaft 710 is perpendicularly and fixedly connected to the flexible connector. The flexible connector includes a connecting plate 703, with a through hole 704 in the middle. Two parallel connecting rods 705 are provided in the through hole 704. The driving end of the third driving unit is perpendicular to the connecting plate 703 and fixedly connected to the middle of the two connecting rods 705 respectively. An L-shaped connector 706 is provided on the peripheral edge of the connecting plate 703, and the L-shaped connector 706 is connected and fixedly connected to the clamping movable part 702. The connecting rod can be a flexible connecting rod, which can be used to eliminate the impact of gaps on the sealing operation by deforming the flexible connecting rod, protect the corresponding third motor, and achieve high sealing efficiency.

[0055] like Figure 5As shown, the second drive unit 600 in this embodiment is a lead screw and nut drive mechanism, and the pressure head 604 is installed at the lower end of the lead screw 601 in the lead screw and nut drive mechanism. The lead screw and nut drive mechanism includes a lead screw 601, a second motor, and a nut 602. The nut 602 is arranged through the sealing worktable 400. The second motor is fixed on the sealing worktable 400. A guide mechanism can be provided on the sealing worktable 400 to guide the upper end of the lead screw 601 to the sealing worktable 400 through the guide mechanism to achieve drive guidance. The lead screw 601 can be a planetary ball screw. The pressure head 604 is fixed at the lower end of the lead screw 601. The second motor is connected to the nut 602 through a second gear assembly 605. The second gear assembly 605 includes a large gear and a small gear that mesh with each other. The nut 602 is rotatably connected to the sealing worktable 400 through a bearing. A large gear can be provided on the nut 602, and the drive end of the second motor can be connected to the small gear. The nut 602 is installed at the center position of the large gear. When the nut 602 rotates, the lead screw 601 can move up and down due to the guide connection between the lead screw 601 and the sealed worktable 400.

[0056] like Figure 1 and Figure 2 As shown, in this embodiment, the sample container storage 200, the sealed end cap storage 300, and the sealing worktable 400 are arranged circumferentially on the loading base plate 100 with the robotic arm 800 as the center. Preferably, the sample container storage 200, the sealed end cap storage 300, and the sealing worktable 400 are evenly arranged in an angular array with the robotic arm 800 as the center, which allows for more rational completion of the corresponding scientific tasks. When the robotic arm 800 is working, it first retrieves a sealed container containing a sample from the sample container storage 200, rotates it 90° clockwise to pre-install a sealed end cap at the sealed end cap storage 300, then rotates it 90° clockwise to complete the sealing task at the sealing worktable 400, and finally rotates it 180° counterclockwise to place the sealed container back into the sample container storage 200. By rationally arranging the positions of each module, the robotic arm can rotate at specific angles (10° to 90°) during interaction, thereby reducing the complexity of the overall structure and achieving effective interaction between the modules.

[0057] like Figure 2 As shown, the loading base plate 100 in this embodiment is provided with robotic arm mounting holes 103. For example... Figure 14As shown, the robotic arm 800 in this embodiment includes a lifting column 803, a first transmission assembly 804, a support beam 805, and a second transmission assembly 806. The upper end of the lifting column 803 is vertically and fixedly connected to the bottom of the loading base plate 100. Specifically, the upper end of the lifting column 803 can be fixed inside the robotic arm mounting hole 103. The lower end of the lifting column 803 is connected to the support beam 805 via the first transmission assembly 804 to achieve the rotation of the support beam 805. The support beam 805 is horizontally arranged. The free end of the support beam 805 is connected to the end effector 802 via the second transmission assembly 806 to achieve the rotation of the end effector 802. The end effector 802 is provided with a spring pin for engaging the unlocking slot 204 on the inner wall of the can retrieval slot 203.

[0058] This embodiment describes an automated packaging system for collecting samples from extraterrestrial objects. Its main function is to automatically seal and store these samples, and it has the capability to process multiple samples. This automated packaging system can be used as an integral component of an extraterrestrial exploration robot, providing necessary support for extraterrestrial exploration missions.

[0059] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0060] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0061] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0062] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0064] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. An automated packaging system for collecting samples from extraterrestrial bodies, characterized in that, The system includes a loading base plate and a sample container storage unit, a sealed end cap storage unit, a sealing worktable, a first drive unit, a second drive unit, and a robotic arm mounted on the loading base plate. The sample container storage unit and the sealed end cap storage unit are located on the upper side of the loading base plate, and the robotic arm is located on the lower side of the loading base plate. The sample container storage unit includes multiple container storage sections, each storing a single sealed container. The loading base plate has container retrieval holes and end cap retrieval holes, with the retrieval holes correspondingly arranged below the container storage sections. The first drive unit is drively connected to the sample container storage unit and drives the sample container storage unit to rotate. The mechanism is as follows: the cap removal hole is located below the sealing cap storage device, and multiple sealing caps are stacked vertically within the sealing cap storage device via a double ball locking mechanism; the second drive unit is located on the sealing worktable and its drive end is connected to a pressure head that presses and fixes the sealing caps inside the sealing can; wherein, the end effector of the robotic arm is used to remove the sealing can from the can removal hole, move the sealing can to the cap removal hole to remove the sealing cap, place the sealing cap on the sealing can, and then move the sealing can with the sealing cap on it to the pressure head for pressing and sealing.

2. The automated packaging system for collecting extraterrestrial body samples according to claim 1, characterized in that, The sealed end cap storage device includes a first storage cylinder, a first spring, a second spring, a first inner liner, and a second inner liner. The first storage cylinder is arranged vertically and has an open structure at its lower end. The lower end of the first storage cylinder passes through the cap removal hole and is located below the cap removal hole. The tops of multiple sealed end caps arranged vertically are elastically connected to the top of the first storage cylinder through the first spring. Both the first inner liner and the second inner liner are cylindrical structures with open top and bottom. The upper end of the first inner liner is fixedly connected to the inner wall of the first storage cylinder. The second inner liner is sleeved on the outer side of the lower end of the first inner liner. The upper end of the second inner liner is elastically connected to the first inner liner through a second spring. A double ball locking mechanism is provided between the first inner liner and the second inner liner.

3. The automated packaging system for collecting extraterrestrial body samples according to claim 2, characterized in that, The double ball lock mechanism includes a first ball lock and a second ball lock. The first ball lock and the second ball lock are arranged vertically at intervals in the side wall through hole of the first inner liner. The inner side wall of the second inner liner is provided with a first unlocking groove and a second unlocking groove arranged vertically at intervals. The upper outer periphery of the sealing end cap is provided with a ring edge that is limited by the first ball lock or the second ball lock. The lowest sealing end cap is the second sealing end cap, and the sealing end cap above it is the first sealing end cap. In the locked state, the first ball lock is located within the first unlocking groove, the first sealing end cap is unlocked, and the second ball lock abuts against the inner wall of the second liner between the first and second unlocking grooves, limiting the circumferential edge of the second sealing end cap. In the unlocked state, the end effector of the robotic arm is used to retrieve the sealed can from the can-retrieving hole and push the second liner upwards, causing the second ball lock to move into the second unlocking groove, and causing the first ball lock to move downwards from the first unlocking groove to abut against the second liner. On the inner wall of the liner, the second sealing end cap is unlocked by the second ball lock and removed by the sealing container, while the first sealing end cap is locked by the first ball lock during its descent. After unlocking, the end effector of the robotic arm moves the sealing container with the sealing end cap out of the first storage cylinder. The second liner moves down to the locked state under the drive of the second spring, causing the first ball lock to move up into the first unlocking groove, so that the first sealing end cap is no longer locked by the first ball lock. The second ball lock moves up and abuts against the inner wall of the second liner between the first unlocking groove and the second unlocking groove. Multiple sealing end caps arranged vertically move down under the drive of the first spring, so that the first sealing end cap is locked by the second ball lock.

4. The automated packaging system for collecting extraterrestrial body samples according to claim 2, characterized in that, The upper end of the first inner liner is provided with an outward flange, which is fixed to the inner wall of the first storage cylinder by bolts, and the second spring is sleeved on the outer wall of the first inner liner.

5. An automated packaging system for collecting samples from extraterrestrial bodies according to any one of claims 1 to 4, characterized in that, The tank storage section includes a second storage cylinder that runs vertically through the tank. The sealed tank includes a tank body and a can retrieval slot located at the bottom of the tank body. The can retrieval slot is equipped with a single ball locking mechanism. The sealed tank is fitted inside the second storage cylinder and is engaged with the second storage cylinder by the single ball locking mechanism. The end effector of the robotic arm is equipped with an unlocking mechanism, which can be engaged in the can retrieval slot and unlock the single ball lock mechanism from the second storage cylinder, so that the sealed can is taken out from the second storage cylinder.

6. The automated packaging system for collecting extraterrestrial samples according to claim 5, characterized in that, The can-retrieving slot has a through hole and an unlocking slot on its wall. A third ball lock is installed in the through hole, and a slot for engaging the third ball lock is installed on the inner side wall of the second storage cylinder. A third inner liner is slidably installed inside the can-retrieving slot. The third inner liner is elastically connected to the top of the can-retrieving slot by a third spring. A third unlocking slot is installed on the outer side wall of the third inner liner. The through hole is located above the third unlocking slot, and the unlocking slot is located below the third unlocking slot. When the unlocking mechanism on the end effector of the robotic arm is inserted into the can-retrieving slot and engages in the unlocking slot, the unlocking mechanism pushes the third inner liner upward, causing the third ball lock to move from the slot to engage in the third unlocking slot, thereby unlocking the third ball lock on the can-retrieving slot from the second storage cylinder.

7. An automated packaging system for collecting extraterrestrial body samples according to any one of claims 1 to 4, characterized in that, The lower side of the loading base plate is also provided with a third driving part, a clamping and fixing part and a clamping and movable part. The clamping and fixing part and the clamping and movable part are both located below the pressure head. The driving end of the third driving part is connected to the clamping and movable part and can make the clamping and movable part move away from the clamping and fixing part or close with the clamping and movable part to form a clamping cylinder. The clamping cylinder is arranged coaxially with the pressure head.

8. The automated packaging system for collecting extraterrestrial samples according to claim 7, characterized in that, A flexible connector is also connected between the driving end of the third driving unit and the clamping movable part. The axis of the driving end of the third driving unit is perpendicular to the axis of the clamping cylinder. The flexible connector includes a connecting plate with a through hole in the middle. Two parallel connecting rods are arranged in the through hole. The driving end of the third driving unit is arranged perpendicularly to the connecting plate and is fixedly connected to the middle of the two connecting rods respectively. An L-shaped connector is provided on the peripheral edge of the connecting plate, and the L-shaped connector is connected and fixed to the clamping movable part.

9. The automated packaging system for collecting extraterrestrial samples according to claim 1, characterized in that, The second driving unit is a lead screw and nut driving mechanism, and the pressure head is installed at the lower end of the lead screw of the lead screw and nut driving mechanism.

10. The automated packaging system for collecting extraterrestrial samples according to claim 1, characterized in that, The sample container storage, the sealed end cap storage, and the sealed worktable are arranged circumferentially on the loading base plate with the robotic arm as the center.

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