Capturing and sealing device for extraterrestrial small celestial body

Abstract

The invention relates to a capturing and sealing device for an extraterrestrial small celestial body, and belongs to the field of deep space exploration. The device comprises a capturing mechanism used for capturing and fixing a target small celestial body; the mechanical arm transferring mechanism is used for transferring the captured small celestial body into the sample container of the automatic sealing mechanism from the capturing mechanism; the automatic sealing mechanism is used for sealing the sample container; the sample container transfer mechanism is used for popping up the sealed sample container on the near-earth track through a fusing release device to complete a sample return task; wherein the capturing mechanism and the mechanical arm transferring mechanism are installed on the side wall of a satellite, the automatic sealing mechanism is connected with the top of the satellite in a sealing mode, and the sample container transferring mechanism is fixedly connected with the satellite through the locking and releasing mechanism. The capturing and sealing device provided by the invention solves the current difficulty of capturing, sealing and transferring the extraterrestrial small celestial body, and prevents the extraterrestrial sample from polluting the earth environment by utilizing the double-layer isolation characteristic after sealing.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of deep space exploration and relates to a capturing and sealing device for extraterrestrial small celestial bodies. BACKGROUND

[0002] The capturing and sealing device for extraterrestrial small celestial bodies realizes the capturing and transferring of small celestial bodies by using a capturing mechanism and a mechanical arm transferring mechanism, and realizes the return of extraterrestrial samples to the earth by using an automatic sealing mechanism and a sample container transferring mechanism, thus avoiding the pollution of the earth environment.

[0003] For extraterrestrial small celestial bodies, which are rich in platinum group metals, rare earth elements and other scarce resources on the earth, raw materials can be provided for future industries. In addition, small celestial bodies are the remnants of the early formation of the solar system, and analyzing their composition can reveal the mechanism of planetary formation. Some carbonaceous asteroids carry organic molecules such as amino acids, which may provide key evidence for the origin of life on earth. They can also be used for the study of material properties in microgravity and radiation environments, expanding the understanding of basic science.

[0004] Extraterrestrial celestial bodies can directly impact and destroy the earth's surface, and according to the size of the diameter, they can also cause large-scale fires, earthquakes and tsunamis and other disasters.

[0005] Through the capturing of extraterrestrial small celestial bodies, the orbit control technology of small celestial bodies can be mastered, and means for deflecting potential threatening celestial bodies (such as kinetic impact and gravitational traction) can be developed, and the accuracy of orbit prediction can be improved through close-range observation, thus obtaining a technical breakthrough in improving the earth's defense network. The breakthrough in small celestial body capturing technology will give priority to the capture of resources and will dominate the future space rules.

[0006] The current capturing technology has defects including high cost and low efficiency of repeated capturing, and it is difficult to avoid the pollution of extraterrestrial celestial body samples to the earth environment. Therefore, there is an urgent need for a capturing and sealing device for extraterrestrial small celestial bodies to break through the small celestial body capturing technology and provide technical support for future space resource development and scientific research. SUMMARY

[0007] The application provides a capturing and sealing device for extraterrestrial small celestial bodies to solve the above technical problems.

[0008] The technical scheme adopted by the application is as follows:

[0009] The application discloses a capturing and sealing device for extraterrestrial small celestial bodies, which comprises a capturing mechanism for grabbing and fixing a target small celestial body, a mechanical arm transfer mechanism for transferring the captured small celestial body from the capturing mechanism to a sample container of an automatic sealing mechanism, the automatic sealing mechanism for realizing the sealing of the sample container, and a sample container transfer mechanism for ejecting the sealed sample container from a satellite through a fuse release device to complete a sample return mission.

[0010] Compared with the prior art, the application has the beneficial effects that:

[0011] The capturing process of the small celestial body is controllable, the satellite capturing mechanism is composed of an active rope control device, the active rope control device slowly releases the Kevlar rope during the capturing process, and the quick release of the capturing mechanism is avoided to cause the failure of the mechanism or cause structural damage.

[0012] The double-layer sealing characteristic avoids the pollution of the earth environment by the extraterrestrial celestial bodies, and the automatic sealing mechanism realizes the isolation of the extraterrestrial celestial bodies and the earth environment through two layers of sealing of a sealing cover and a sealing cabin plate.

[0013] The capturing process is repeatable, the active rope control device in the capturing mechanism realizes the unfolding and folding of the claw-shaped capturing device through the forward and reverse rotation of a motor, the success rate of capturing the small celestial body is improved, and the satellite capturing work is ensured to be successfully completed.

[0014] The impact and vibration of the sample container transfer process are small, and the sample container is prevented from being damaged. The sample container is heated and fused through a fuse release device and leaves the satellite body under the action of a compression spring. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a whole deployment schematic view of the capturing and sealing device for extraterrestrial small celestial bodies;

[0016] Figure 2 is a schematic view of the capturing mechanism;

[0017] Figure 3 is a schematic view of the active rope control device;

[0018] Figure 4 is a schematic view of the passive rope control device;

[0019] Figure 5 is a schematic view of the mechanical arm transfer mechanism;

[0020] Figure 6 is a schematic view of the automatic sealing mechanism;

[0021] Figure 7 is a schematic view of the sample container transfer mechanism installation;

[0022] Figure 8 This is a schematic diagram of the locking and releasing mechanism;

[0023] Figure 9 This is a schematic diagram of an automatic sealing mechanism;

[0024] Figure 10 This is a schematic diagram of the sample container transfer mechanism. Detailed Implementation

[0025] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0026] Figure 1 This is a schematic diagram of the unfolded sealing device used to capture small extraterrestrial bodies. (For example...) Figure 1 As shown, the device includes a capture mechanism 1 for capturing and securing a target small celestial body; a robotic arm transfer mechanism 2 for transferring the captured small celestial body from the capture mechanism 1 to the sample container of the automatic sealing mechanism 3; the automatic sealing mechanism 3 for sealing the sample container; and a sample container transfer mechanism 4 for ejecting the sealed sample container in near-Earth orbit via a fusible release device to complete the sample return mission. The capture mechanism 1 and the robotic arm transfer mechanism 2 are mounted on the side wall of the satellite, the automatic sealing mechanism 3 is sealed to the top of the satellite, and the sample container transfer mechanism 4 is fixed to the satellite via a locking release mechanism 3-3.

[0027] Figure 2 This is a schematic diagram of the capture mechanism. (For example...) Figure 2 As shown, the capture mechanism 1 consists of a claw-shaped capture device and a robotic arm. The claw-shaped capture device comprises an active rope control device 1-1, a passive rope control device 1-2, an elastic metal plate 1-3, and a Kevlar rope 1-4. The claw-shaped capture device is fixedly connected to the end joint of the robotic arm, and the transfer of the small extraterrestrial body is achieved through the cooperation of the joints of the robotic arm. The active rope control device 1-1 is used to drive the release of the Kevlar rope 1-4 and control the unfolding of the claw-shaped capture device. The passive rope control device 1-2 is used to provide a rebound force to tighten the Kevlar rope 1-4 and assist in fixing the small celestial body. The elastic metal plate 1-3 is connected to the Kevlar rope 1-4 and is used to release elastic potential energy when the Kevlar rope 1-4 is released to realize the unfolding of the claw-shaped capture device. When the Kevlar rope 1-4 is retracted, the deformation of the Kevlar rope 1-4 fixes the small celestial body inside the claw-shaped capture device. The Kevlar rope 1-4 connects the active rope control device 1-1, the passive rope control device 1-2, and the elastic metal plate 1-3, and transmits the pulling force to complete the action.

[0028] The elastic metal sheet 1-3 of the claw-shaped capture device is made of elastic metal material, and the repeated use of the capture mechanism is realized within the elastic range of the material.

[0029] Figure 3 is a schematic diagram of the active rope control device, as Figure 3 The active rope control device 1-1 is composed of a first reel 1-1-1, a first spline shaft 1-1-2, a first frame 1-1-3, a cylindrical gear shaft 1-1-4, a motor 1-1-5 and two pairs of bevel gears. When the claw-shaped capture device receives the command to prepare to deploy, the motor 1-1-5 in the active rope control device 1-1 starts to drive the cylindrical gear shaft 1-1-4 to rotate, and the two pairs of bevel gears convert the rotation of the cylindrical gear shaft 1-1-4 into the rotation of the first spline shaft 1-1-2, which drives the first reel 1-1-1 to rotate. The front end of the first reel 1-1-1 is connected with the first frame 1-1-3 by screw thread, and the rotation of the first reel 1-1-1 can realize its up and down movement. The displacement of the first reel 1-1-1 directly adjusts the tightness of the Kevlar rope 1-4. By moving the first reel 1-1-1 upward, the Kevlar rope 1-4 is released, and the elastic metal sheet 1-3 is slowly deployed under the restraint of the Kevlar rope 1-4, finally realizing the deployment of the claw-shaped capture device. Conversely, when the claw-shaped capture device receives the command to prepare to fold, the motor 1-1-5 can be reversed to realize the folding of the claw-shaped capture device.

[0030] In order to avoid the escape of small celestial bodies from the claw-shaped capture device, four passive rope control devices 1-2 are added to the claw-shaped capture device. Figure 4 is a schematic diagram of the passive rope control device. As Figure 4As shown, passive rope control device 1-2 is composed of second winding drum 1-2-1, second spline shaft 1-2-2, scroll spring 1-2-3, second frame 1-2-4 and thrust ball bearing 1-2-5. When active rope control device 1-1 starts to release Kevlar rope 1-4 under the control of motor 1-1-5, elastic sheet 1-3 slowly releases elastic potential energy under the restriction of Kevlar rope 1-4 connected to active rope control device 1-1, Kevlar rope 1-4 connected to passive rope control device 1-2 slowly releases under the action of elastic sheet 1-3, second spline shaft 1-2-2 in passive rope control device 1-2 starts to rotate under the action of Kevlar rope 1-4, front end of second winding drum 1-2-1 is connected with second frame 1-2-4 through thread, second winding drum 1-2-1 realizes up and down movement under the rotation of second spline shaft 1-2-2, scroll spring 1-2-3 becomes tighter and tighter under the rotation of second spline shaft 1-2-2. Conversely, when the claw-shaped catcher receives an instruction to prepare to close, second winding drum 1-2-1 can realize the retraction of Kevlar rope 1-4 under the action of tightened scroll spring 1-2-3: scroll spring 1-2-3 releases the stored elastic potential energy, drives second spline shaft 1-2-2 to reverse, and drives the thread-connected second winding drum 1-2-1 to move down, thereby automatically retracting Kevlar rope 1-4 and completing the closing action of the catcher. Among them, thrust ball bearing 1-2-5 is used to support the axial load of second spline shaft 1-2-2, to ensure that it can rotate smoothly when scroll spring 1-2-3 is tightened or released, and to reduce friction loss.

[0031] Figure 5 is a schematic diagram of a mechanical arm transfer mechanism. As shown in Figure 5 , the mechanical arm transfer mechanism 2 includes a mechanical arm and a terminal four-jaw mechanism 2-1. The terminal four-jaw mechanism 2-1 is driven by a motor to realize the grabbing and releasing of extraterrestrial objects. After the capture mechanism 1 captures a small celestial body and transfers it to the automatic sealing mechanism 3, the terminal four-jaw mechanism 2-1 takes out the small celestial body from the capture mechanism 1 and transfers it to the sample container 4-1 of the sample container transfer mechanism 4.

[0032] Figure 6 is a schematic diagram of an automatic sealing mechanism. As shown in Figure 6 , the automatic sealing mechanism 3 is composed of a sealing plate 3-1, a sealing hatch 3-2, a locking and releasing mechanism 3-3 and a lead screw limiting device 3-4. After the capture mechanism 1 captures a small celestial body, the locking and releasing mechanism 3-3 unlocks the sealing hatch 3-2 under the drive of a motor, and the sealing hatch 3-2 opens by 90° under the drive of a motor, as shown in Figure 8The sealing plate 3-1 is lifted by the screw limiting device 3-4 under the rotation of the motor-driven screw after the sealing hatch 3-2 is opened. After the sealing plate 3-1 is lifted to a certain height, the limiting rod in the screw limiting device 3-4 is escaped through the groove on the sealing plate 3-1 and rotated to one side to avoid the placement path of the small celestial body. After the placement of the small celestial body is completed, the screw in the screw limiting device 3-4 is driven to rotate in the reverse direction by the motor, which drives the sealing plate 3-1 to descend and realizes the sealing of the sealing plate 3-1 and the sample container 4-1 in the sample container transfer mechanism 4 through the cooperation of the groove on the sealing plate 3-1 and the screw limiting device 3-4, as shown in Figure 9 The sealing hatch 3-2 is closed by the reverse rotation of the motor after the sealing of the sealing plate 3-1 is completed. The locking release mechanism 3-3 locks the sealing hatch 3-2 under the driving of the motor after the sealing hatch 3-2 is closed, realizing double sealing.

[0033] Among them, the contact surfaces of the sealing plate 3-1 and the sample container 4-1, the sealing hatch 3-2 and the top of the satellite are provided with annular sealing rings.

[0034] Figure 7 is a schematic diagram of the installation of the sample container transfer mechanism, wherein part A is the locking release mechanism, and the specific schematic diagram is as shown in Figure 8 Part B is the automatic sealing mechanism, and the specific schematic diagram is as shown in Figure 9 Part C is the sample container transfer mechanism, and the specific schematic diagram is as shown in Figure 10 As shown in Figure 7 and Figure 10 The sample container transfer mechanism includes a sample container 4-1 for storing the extraterrestrial small celestial body after sealing, and finally separating from the satellite and returning to the earth; a compression spring 4-2 providing a thrust after melting to pop the sample container 4-1 away from the satellite; and a melting release device 4-3 for separating the sample container 4-1 by using a low-melting-point material to melt under heat. One end of the melting release device 4-3 is fixed on the satellite body, and the other end is fixed with the sample container 4-1 through screw connection. One end of the compression spring 4-2 is fixed on the satellite, and the other end is in contact with the sample container without connection. After the sample container 4-1 is double-sealed by the automatic sealing mechanism 3, it is transferred to the near-earth orbit with the satellite. The melting release device 4-3 in the sample container transfer mechanism 4 separates the sample container 4-1 by using a low-melting-point material to melt under heat, and the sample container 4-1 leaves the satellite body under the pushing of the compression spring 4-2.

[0035] The fuse release device 4-3 comprises a front end bolt 4-3-1 and a rear end separation device 4-3-2. One end of the front end bolt 4-3-1 is clamped in the rear end separation device 4-3-2, and the other end is threaded and screwed into the sample container 4-1. After the rear end separation device 4-3-2 receives the separation electric signal, the fuse release device 4-3 melts the front end bolt 4-3-1 by using a low-melting-point material, and after separation, the front end bolt 4-3-1 remains in the sample container 4-1. At the same time, the pre-tightening force of the compression spring 4-2 is 5 N, which ensures that the sample container 4-1 is separated from the satellite at a speed of 4 m / s.

[0036] In summary, the capture sealing device of the present application comprises a capture mechanism, a mechanical arm transfer mechanism, an automatic sealing mechanism and a sample container transfer mechanism. The capture mechanism is installed on the satellite side wall. When the satellite body and the captured small celestial body are in a relative static state under the action of the attitude and orbit control system, the claw-shaped capture device at the front end of the capture mechanism is unfolded and approaches the small celestial body under the control of the mechanical arm. When the small celestial body is inside the claw-shaped capture device, the capture device starts to fold to fix the small celestial body. Then it is transferred to above the automatic sealing mechanism under the control of the mechanical arm, and the automatic sealing mechanism opens the sealing hatch and sealing plate by driving the motor. The four-jaw mechanism at the front end of the mechanical arm transfer mechanism transfers the small celestial body from the claw-shaped capture device to the sample container. When the four-jaw mechanism exits the sample container, the sealing plate and sealing hatch are closed and sealed by driving the motor. When the satellite is transferred to the near-earth orbit, the sample container is ejected from the satellite body by the spring in the sample transfer mechanism.

[0037] The basic principles, main features and advantages of the present application are shown and described above. It should be understood by those skilled in the art that the present application is not limited by the above examples, and the above examples and descriptions in the specification are only to illustrate the principles of the present application. Without departing from the spirit and scope of the present application, various changes and improvements can be made to the present application, and these changes and improvements all fall within the scope of the claimed present application. The scope of protection of the present application is defined by the appended claims and their equivalents.

Claims

1. A sealing device for capturing small extraterrestrial bodies, characterized in that, The system includes a capture mechanism (1) for capturing and securing a small celestial body; a robotic arm transfer mechanism (2) for transferring the captured small celestial body from the capture mechanism (1) to the sample container of the automatic sealing mechanism (3); the automatic sealing mechanism (3) for sealing the sample container; and a sample container transfer mechanism (4) for ejecting the sealed sample container in near-Earth orbit via a fusible release device to complete the sample return mission. The capture mechanism (1) and the robotic arm transfer mechanism (2) are installed on the side wall of the satellite, the automatic sealing mechanism (3) is sealed to the top of the satellite, and the sample container transfer mechanism (4) is fixed to the satellite via a locking release mechanism (3-3).

2. The capture and sealing device for extraterrestrial asteroids according to claim 1, characterized in that, The capture mechanism (1) consists of a claw-shaped capture device and a robotic arm. The claw-shaped capture device comprises an active rope control device (1-1), a passive rope control device (1-2), an elastic metal sheet (1-3), and a Kevlar rope (1-4). The claw-shaped capture device is fixedly connected to the end joint of the robotic arm. The transfer of the extraterrestrial small celestial body is achieved through the cooperation of the joints of the robotic arm. The active rope control device (1-1) is used to drive the release of the Kevlar rope (1-4) and control the unfolding of the claw-shaped capture device. The passive rope control device (1-2) is used to... The elastic metal plate (1-3) is connected to the Kevlar rope (1-4) to provide rebound force to tighten the Kevlar rope (1-4) and assist in fixing the small celestial body. It is used to release elastic potential energy when the Kevlar rope (1-4) is released to realize the deployment of the claw-shaped capture device. When the Kevlar rope (1-4) is retracted, the deformation makes the small celestial body fixed inside the claw-shaped capture device. Kevlar rope (1-4): connects the active rope control device (1-1), the passive rope control device (1-2) and the elastic metal plate (1-3) to transmit the pulling force to complete the action.

3. A sealing device for capturing extraterrestrial asteroids according to claim 2, characterized in that, The active rope control device (1-1) consists of a first drum (1-1-1), a first splined shaft (1-1-2), a first frame (1-1-3), a cylindrical gear shaft (1-1-4), a motor (1-1-5), and two pairs of bevel gears. When the claw-shaped catcher receives an instruction to prepare to unfold, the motor (1-1-5) in the active rope control device (1-1) starts and drives the cylindrical gear shaft (1-1-4) to rotate. The two pairs of bevel gears convert the rotation of the cylindrical gear shaft (1-1-4) into the rotation of the first splined shaft (1-1-2). -1-2) Rotation drives the first drum (1-1-1) to rotate. The front end of the first drum (1-1-1) is connected to the first frame (1-1-3) by a thread. The rotation of the first drum (1-1-1) enables it to move up and down. The displacement of the first drum (1-1-1) directly adjusts the tension of the Kevlar rope (1-4). As the first drum (1-1-1) moves upward, the Kevlar rope (1-4) is released. The elastic metal sheet (1-3) is slowly unfolded under the restraint of the Kevlar rope (1-4), and finally the claw-shaped capture device is unfolded.

4. A sealing device for capturing extraterrestrial asteroids according to claim 2, characterized in that, The passive rope control device (1-2) consists of a second drum (1-2-1), a second splined shaft (1-2-2), a spiral spring (1-2-3), a second frame (1-2-4), and a thrust ball bearing (1-2-5). When the active rope control device (1-1) starts releasing the Kevlar rope (1-4) under the control of the motor (1-1-5), the elastic metal plate (1-3) slowly releases its elastic potential energy under the constraint of the Kevlar rope (1-4) connected to the active rope control device (1-1). The Kevlar rope (1-4) connected to the passive rope control device (1-2) is slowly released under the action of the elastic metal plate (1-3). The second splined shaft (1-2-2) in the passive rope control device (1-2) starts to rotate under the action of the Kevlar rope (1-4). The front end of the second drum (1-2-1) is connected to the second frame (1-2-4) by a thread. The second drum (1-2-1) moves up and down under the rotation of the second splined shaft (1-2-2), and the spiral spring (1-2-3) becomes tighter and tighter under the rotation of the second splined shaft (1-2-2). Conversely, when the claw-shaped catcher receives the instruction to retract, the second drum (1-2-1) retracts the Kevlar rope (1-4) under the action of the tightened spiral spring (1-2-3): the spiral spring (1-2-3) releases the stored elastic potential energy, drives the second splined shaft (1-2-2) to reverse, and drives the threaded second drum (1-2-1) to move down, thereby automatically retracting the Kevlar rope (1-4) and completing the closing action of the catcher. Among them, the thrust ball bearing (1-2-5) is used to support the axial load of the second splined shaft (1-2-2) to ensure that it can rotate smoothly when the spiral spring (1-2-3) is tightened or released.

5. A sealing device for capturing extraterrestrial asteroids according to claim 1, characterized in that, The robotic arm transfer mechanism (2) includes a robotic arm and an end effector four-claw mechanism (2-1). The end effector four-claw mechanism (2-1) is driven by a motor to grasp and release extraterrestrial objects. After the capture mechanism (1) captures the small celestial body and transfers it above the automatic sealing mechanism (3), the end effector four-claw mechanism (2-1) takes out the small celestial body from the capture mechanism (1) and transfers the small celestial body to the sample container (4-1) of the sample container transfer mechanism (4).

6. A sealing device for capturing extraterrestrial asteroids according to claim 1, characterized in that, The automatic sealing mechanism (3) consists of a sealing plate (3-1), a sealing chamber cover (3-2), a locking and releasing mechanism (3-3), and a lead screw limiting device (3-4). After the capturing mechanism (1) captures the small celestial body, the locking and releasing mechanism (3-3) unlocks the sealing chamber cover (3-2). The sealing chamber cover (3-2) opens 90° under the drive of the motor. After the sealing chamber cover (3-2) is opened, the sealing plate (3-1) is lifted by the lead screw driven by the motor through the lead screw limiting device (3-4). After the sealing plate (3-1) is lifted to a certain height, it gets rid of the lead screw through the groove on the sealing plate (3-1). The limiting rod in the limiting device (3-4) is rotated to one side to avoid the placement path of the small celestial body. After the small celestial body is placed, the motor reverses to drive the lead screw in the limiting device (3-4) to rotate, which drives the sealing plate (3-1) to descend. The sealing plate (3-1) and the sample container (4-1) in the sample container transfer mechanism (4) are sealed by the groove on the sealing plate (3-1) and the lead screw limiting device (3-4). The sealing cover (3-2) begins to close under the drive of the motor after the sealing plate (3-1) is closed. The locking and releasing mechanism (3-3) locks after the sealing cover (3-2) is closed.

7. A sealing device for capturing extraterrestrial asteroids according to claim 1, characterized in that, The sample container transfer mechanism (4) includes: a sample container (4-1) for storing a sealed extraterrestrial asteroid, which will eventually detach from the satellite and return to Earth; a compression spring (4-2) for providing thrust after melting to eject the sample container (4-1) from the satellite; and a melt release device (4-3) for separating the sample container (4-1) by using a low-melting-point material to melt when heated.

8. A sealing device for capturing extraterrestrial asteroids according to claim 1, characterized in that, The elastic metal sheet (1-3) of the claw-shaped catcher is made of elastic metal material, which enables the catcher to be reused within the elastic range of the material.

9. A sealing device for capturing extraterrestrial asteroids according to claim 6, characterized in that, The sealing plate (3-1) and the sample container (4-1), and the sealing cover (3-2) and the top of the satellite are provided with annular sealing rings.

10. A sealing device for capturing extraterrestrial asteroids according to claim 7, characterized in that, The fusible release device (4-3) includes a front bolt (4-3-1) and a rear separation device (4-3-2). One end of the front bolt (4-3-1) is clamped in the separation device, and the other end is threaded and screwed into the sample container (4-1). After the rear separation device (4-3-2) receives the separation electrical signal, the fusible release device (4-3) uses a low melting point material to heat and melt the front bolt (4-3-1). After separation, the front bolt (4-3-1) remains in the sample container (4-1). The preload of the compression spring (4-2) is 5N, ensuring that the sample container (4-1) detaches from the satellite at a speed of 4m / s.

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