A test apparatus and method for microgravity gravel pile soil adhesion test
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- JILIN UNIVERSITY
- Filing Date
- 2026-05-19
- Publication Date
- 2026-07-17
Smart Images
Figure CN122217752B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of stellar soil mechanics testing technology, specifically to a testing device and method for stellar soil adhesion tests on microgravity gravel piles. Background Technology
[0002] The surfaces of asteroids, comets, and other weakly gravitational bodies are generally covered with a loose weathered layer composed of particles of varying sizes and shapes, commonly known as asteroid regolith. Numerous probes have shown that asteroid regolith exhibits typical characteristics such as extremely low shear strength, low load-bearing capacity, high porosity, and near-cohesiveness. Its macroscopic mechanical behavior is primarily influenced by interparticle contact, sliding friction, rolling friction, and depositional state. Living under microgravity or weak gravity for extended periods, asteroid regolith is highly susceptible to loosening, slippage, localized collapse, and even overall instability when subjected to external disturbances. For missions involving probe attachment, fixation, sampling, drilling, movement, and in-situ resource utilization, understanding the interaction between the attachment mechanism and the microgravity asteroid regolith is a crucial prerequisite for mission success.
[0003] Existing low-gravity soil testing devices often employ artificial vibration, airflow agitation, simple stirring, or one-time filling to establish soil conditions. This approach is insufficient for controlling the porosity, uniformity, and repeatability of loose granular media. Especially under microgravity conditions, it is difficult to achieve a consistent and repeatable initial soil packing state across different test cycles, affecting the comparison of test results and the extraction of patterns.
[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention
[0005] In view of the shortcomings of the prior art, the purpose of this invention is to provide a testing device and method for microgravity gravel pile soil adhesion test, which aims to solve the problem that existing low gravity soil testing devices are difficult to achieve consistent and repeatable initial soil accumulation state between different test rounds, affecting the comparison of test results and the extraction of patterns.
[0006] The technical solution adopted by this invention to solve the technical problem is as follows: A testing apparatus for microgravity gravel pile soil adhesion tests, comprising: The enclosed frame creates a sealed testing space. A star soil containing assembly is disposed within the enclosed frame and is used to contain star soil simulants; the top of the star soil containing assembly is provided with an opening; The lifting and adjusting assembly is fixed to the inner bottom wall of the enclosed frame and located inside the star soil receiving assembly; A piston is connected to the output end of the lifting adjustment assembly and is slidably disposed inside the star soil receiving assembly to adjust the accumulation state and porosity of the star soil. An openable and closable limiting component is disposed on the top of the star soil receiving component to close or open the opening for shaping or open testing of the star soil. An execution component, located inside the enclosed frame and on top of the star soil containing component, is used for testing the star soil resetting and adhesion.
[0007] Furthermore, the star soil containing assembly includes: A fixing cylinder is installed on the inner bottom wall of the enclosed frame; The star soil trough is located inside the fixed cylinder; the lifting and adjusting assembly is located inside the fixed cylinder and at the bottom of the star soil trough; the piston is slidably disposed within the star soil trough.
[0008] Furthermore, it also includes: The first detection sensor is located between the piston and the lifting adjustment assembly.
[0009] Furthermore, both the star soil groove and the piston are cylindrical.
[0010] Furthermore, the openable / closeable limiting component includes: Multiple cover plates are radially and rotatably disposed on the top of the fixed cylinder; Multiple first electric telescopic rods, one end of which is rotatably mounted on the inner wall of the enclosed frame, and the other end of which is rotatably mounted on the surface of the cover plate, are used to drive the multiple cover plates to close or open the opening.
[0011] Furthermore, the execution component includes: A multi-posture adjustment and loading component is located in the upper inner part of the enclosed frame, used to drive the end effector unit to achieve posture adjustment, quasi-static loading and star soil disturbance reconstruction; The end effector unit is detachably mounted at the bottom of the multi-attitude adjustment and loading component, and is used to complete the testing of the star soil state reset and adhesion test.
[0012] Furthermore, the multi-pose adjustment and loading component includes: Three parallel drive branches are arranged inside the enclosed frame; The motion platform is located inside the enclosed frame and is connected to the three parallel drive chains to adjust the posture of the motion platform. A linear motor is mounted on the motion platform; the output shaft of the linear motor passes through the motion platform. A flange is provided on the output shaft of the linear motor for connection to the end effector unit.
[0013] Furthermore, the parallel drive chain includes: The second electric telescopic rod is mounted on the support of the enclosed frame via the first connecting ring; The third electric telescopic rod is rotatably mounted at the end of the second electric telescopic rod away from the first connecting ring; the third electric telescopic rod is connected to the motion platform through the second connecting ring.
[0014] Furthermore, it also includes: A second detection sensor is disposed at the bottom of the flange; the end of the second detection sensor away from the flange is connected to the end effector unit.
[0015] A test method for a test apparatus for microgravity gravel pile soil adhesion test as described above includes: The star soil simulator is filled into the star soil containing component, and the execution component is activated to reset the star soil simulator; After the star soil simulation has been reset, the openable and closable limiting component is activated to close the opening; The lifting and adjusting assembly is activated, which drives the piston to slide axially along the inside of the star soil receiving assembly, applying pressure to the star soil simulated material and achieving compression molding of the star soil simulated material. After the compression of the star soil simulant is completed, the openable and closable limiting component is opened again to release the closure of the opening. The execution component is activated to conduct an adhesion performance test on the compressed star soil simulant.
[0016] Compared with the prior art, the beneficial effects of the present invention are: In this invention, by integrating a soil containing component, a lifting and adjusting component, a piston, an openable and closable limiting component, and an execution component within a closed frame, and through the cooperation of the openable and closable limiting component with the bottom piston, and the resetting of the soil by the execution component, the porosity and packing state of the soil can be controllably and repeatedly adjusted. This replaces the methods of artificial vibration, airflow blowing, simple stirring, or one-time filling in the prior art. Structurally, it solves the problems of insufficient control over the initial state of loose granular media and poor test repeatability, improves the consistency of test repeatability, ensures the stability and controllability of the initial packing state of the soil between multiple rounds of tests, and thus improves the comparability of test results and the reliability of pattern extraction, meeting the stringent requirements of boundary conditions and state consistency for microgravity gravel pile soil adhesion tests. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.
[0018] Figure 2 This is a schematic diagram of the structure of the star soil containing component and the execution component of the present invention.
[0019] Figure 3 This is a schematic diagram of the parallel drive branch structure of the present invention.
[0020] Figure 4 This is a flowchart of the test method for microgravity gravel pile soil adhesion test according to the present invention.
[0021] The numbers in the diagram represent: 1. Enclosed frame; 2. Soil receiving assembly; 21. Fixed cylinder; 22. Soil trough; 3. Lifting and adjusting assembly; 4. Piston; 5. Openable and closable limit assembly; 51. Cover plate; 52. First electric telescopic rod; 6. Actuation assembly; 61. Parallel drive chain; 611. Second electric telescopic rod; 612. Third electric telescopic rod; 62. Motion platform; 63. Linear motor; 64. Flange; 65. End effector unit. Detailed Implementation
[0022] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
[0023] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the 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, and therefore should not be construed as a limitation of the invention. 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 indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.
[0024] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0025] In view of the shortcomings of the prior art, this embodiment provides a test device and method for microgravity gravel pile soil adhesion test, which can be referred to as follows: As attached Figure 1 and attached Figure 2 As shown, a test device for microgravity gravel pile spherical soil adhesion test includes a closed frame 1, a spherical soil containing component 2, a lifting and adjusting component 3, a piston 4, an openable and closable limiting component 5, and an execution component 6. The closed frame 1 forms a sealed test space, providing a dust-free, escape-proof, and low-disturbance closed environment for spherical soil simulation and adhesion test, avoiding spherical soil particles flying out and causing pollution and equipment damage. The spherical soil containing component 2 is fixedly installed inside the lower part of the closed frame 1, used to hold and constrain gravel pile spherical soil simulants of different particle sizes, densities, and frictional characteristics, providing a uniform, stable, and repeatable test carrier for the adhesion mechanism test. The top of the spherical soil containing component 2 is provided with an opening. The lifting and adjusting component 3 is firmly installed on the inner bottom wall of the closed frame 1 and arranged in the area below the spherical soil containing component 2, providing precise adjustment for the piston 4. The system provides stable and controllable lifting power. The piston 4 is fixedly connected to the output end of the lifting adjustment component 3 and is mounted inside the star soil receiving component 2 in a sliding manner. The lifting motion precisely controls the accumulation height, density, looseness and porosity of the star soil, ensuring that each test obtains highly consistent initial conditions. The openable and closable limiting component 5 is installed at the top opening of the star soil receiving component 2. In the closed state, it can limit, constrain, level and shape the surface of the star soil. In the open state, it releases sufficient space at the top so that the execution component 6 can smoothly carry out penetration, pressing, gripping and anchoring test operations. The execution component 6 is located inside the closed frame 1 and directly above the star soil receiving component 2. It is used to loosen, disturb and reconstruct the star soil and complete various adhesion tests, mechanical parameter tests and fixing force evaluations.
[0026] Among them, the enclosed frame 1 refers to a fully enclosed structure composed of a rigid frame and a transparent enclosure, which can prevent the scattering of star soil particles and pollute the environment, while meeting the requirements of experimental observation, dustproof sealing and safety protection; the star soil containing component 2 refers to a cylindrical container used to fill the star soil simulant, providing a fixed, uniform and clearly defined experimental environment; the lifting and adjusting component 3 refers to a drive unit that provides precise linear power to drive the piston 4 to achieve stable, accurate and repeatable lifting displacement output; the piston 4 refers to a lifting plate that precisely fits with the inner wall of the star soil containing component 2, which can accurately control the star soil accumulation state and porosity by changing the internal effective volume; the openable and closable limiting component 5 refers to a top limiting structure that can be automatically opened and closed, which has the dual functions of shaping constraint and open testing, ensuring the consistency of the initial state of the star soil; the execution component 6 refers to a comprehensive execution mechanism that can complete attitude adjustment, loading movement and star soil operation, realizing the integrated operation of star soil reconstruction and adhesion testing.
[0027] Specifically, before the experiment begins, a predetermined mass or height of simulated star soil material is first filled into the star soil containing component. Then, the lifting and adjusting component 3 drives the piston 4 to rise or fall to the target position, and in conjunction with the openable and closable limiting component 5, the star soil is leveled, compacted, shaped, and its porosity is controlled to construct a uniform and repeatable initial accumulation state. Subsequently, the openable and closable limiting component 5 automatically opens, releasing the complete test space. The execution component 6 descends to above the star soil surface and completes quasi-static actions such as contact, pressing, gripping, anchoring, or penetration according to the preset posture, angle, and speed, achieving a low-disturbance, high-fidelity adhesion test. The entire process is completed within the enclosed frame 1, avoiding particle escape, external airflow, and vibration interference, ensuring that the mechanical response and adhesion behavior of the microgravity crushed stone star soil are real, stable, and reliable.
[0028] Compared with existing technologies, current low-gravity soil testing devices mostly use artificial vibration, airflow, simple stirring, or one-time filling to construct the star soil state. These methods have extremely poor control over porosity, uniformity, and repeatability, and cannot maintain stable initial conditions across different test cycles, resulting in large data dispersion, incomparable results, and difficulty in extracting patterns. This solution utilizes a combined structure of a sealed space, bottom piston 4 for regulation, top opening and closing for shaping, and an integrated upper execution mechanism. The execution component 6 can reset the star soil (i.e., stir and turn it to loosen it for subsequent compression and shaping). The piston 4, in conjunction with the openable and closable limiting component 5, can compress the star soil according to a preset porosity and packing state. This fundamentally solves the core problems of difficult-to-repeat initial state of star soil, inaccurate porosity control, poor test consistency, easy particle dispersion, and unstable boundary conditions.
[0029] Through the above technical solutions, this application has achieved the sealing of the microgravity gravel pile star soil test environment, the controllability of the initial state, the precision of the accumulation parameters, and the integration of the test process. Through the coordinated action of piston 4 lifting and opening and closing limit, the repeatability and consistency of star soil porosity, accumulation height and surface flatness are significantly improved, the state differences between test cycles are eliminated, and the attachment test data are guaranteed to be true, reliable, comparable and reproducible. At the same time, the sealed structure meets the requirements of on-orbit operation, unattended operation and long-term safe operation, and truly adapts to the engineering requirements of ground verification of small celestial body attachment mechanism and star soil mechanical testing.
[0030] Furthermore, before repeating the experiment, piston 4 can be driven down first, and then the multi-attitude adjustment and loading component can be used to drive the end effector 65 to disturb and reconstruct the particle bed; subsequently, piston 4 can be driven up to the predetermined position to make the particle bed reach the target accumulation state, thus making the initial state more consistent between different test rounds. After using the bottom piston 4 adjustment component, the accumulation state of the particle bed can be directly controlled by the volume boundary, which is more conducive to achieving controllable porosity and improving test repeatability compared to using only manual filling or simple surface leveling.
[0031] In this embodiment, as shown in the appendix Figure 2 As shown, the star soil containing assembly 2 includes a fixed cylinder 21 and a star soil trough 22. The fixed cylinder 21 is stably set on the inner bottom wall of the closed frame 1, serving as the lower support, positioning, and installation foundation to ensure the overall structure is stable, concentric, does not shake, and does not deform. The star soil trough 22 is coaxially set inside the fixed cylinder 21 to directly contain, constrain, and bear various star soil simulants, forming a regular, uniform, and clearly defined test chamber. The top of the star soil trough 22 is provided with a through hole to form an opening. The lifting and adjusting assembly 3 is located inside the fixed cylinder 21 and arranged in the bottom area of the star soil trough 22, without occupying external space, and has a compact structure and reasonable layout. The piston 4 is assembled inside the star soil trough 22 in a sliding fit manner, forming a precise clearance fit with the inner wall of the star soil trough 22, forming a complete, sealed, and highly coaxial test chamber structure from top to bottom.
[0032] Among them, the fixed cylinder 21 refers to the rigid support sleeve structure, which is used to position the star soil trough 22 and provide a closed, stable and reliable installation space for the lifting and adjusting assembly 3, ensuring that the overall structure is subjected to uniform stress and does not deform during long-term operation; the star soil trough 22 refers to the inner cavity that directly holds the star soil simulation material. Its inner wall is smooth, the dimensions are accurate and the form and position tolerances are strict, providing standard, unified and repeatable boundary conditions for particle accumulation, mechanical testing and contact of the attachment mechanism; the fixed cylinder 21 and the star soil trough 22 are arranged coaxially, which can ensure that the piston 4 has high concentricity, smooth movement, no jamming and no off-center load during the lifting process, and avoids test errors caused by uneven stress.
[0033] Specifically, the simulated star soil is uniformly filled into the star soil trough 22 according to the preset particle size, density, and ratio. The piston 4 moves smoothly up and down along the inner wall of the star soil trough 22 under the drive of the lifting and adjusting component 3. By changing the effective volume occupied by the star soil, the degree of looseness of the pile, the compaction state, the density and porosity can be continuously adjusted and precisely controlled. The fixed cylinder 21 encloses the lifting and adjusting component 3, which not only plays a role in structural protection, dust prevention and particle intrusion prevention, but also ensures that the star soil trough 22 is subjected to uniform force and does not tilt, deform or displace during the entire process of loading, compaction and testing, and maintains the stability of the test boundary conditions.
[0034] Through the above technical solutions, this application achieves high stability, high coaxiality, low interference, and long service life operation of the star soil containment structure. The fixed cylinder 21 provides rigid support and installation foundation, the star soil trough 22 provides a standard test chamber, and the piston 4 slides smoothly without jamming, leakage, or uneven wear, ensuring that the star soil maintains stable boundary conditions, uniform stress, and controllable state during lifting, compaction, disturbance, and testing. This provides a solid and reliable structural foundation for high-precision, high-repeatability, and high-reliability microgravity star soil adhesion tests.
[0035] In this embodiment, the testing device for microgravity crushed stone pile star soil adhesion test also includes a first detection sensor. The first detection sensor is set between the piston 4 and the lifting adjustment component 3, located at the core and key position of the transmission path. It is used to collect the support reaction force, loading force, pressure, displacement and attitude information borne by the piston 4 in real time, so as to realize accurate, synchronous and continuous detection of star soil mechanical parameters, compaction state and bearing characteristics.
[0036] The first detection sensor is a composite detection element that integrates force sensing, displacement sensing, and attitude sensing. It is installed below the piston 4, without occupying the space of the soil, interfering with the particle accumulation state, or affecting the test boundary conditions. The sensor has a fast response speed, high accuracy, good linearity, and strong long-term stability. It can accurately collect the force changes and position information during the lifting and lowering of the piston 4, providing quantitative data and closed-loop control basis for the compaction degree, porosity, bearing characteristics, and mechanical response of the soil.
[0037] Specifically, when the piston 4 is raised and lowered to control the state of the star soil, compaction and shaping, or bottom loading test, the first detection sensor continuously and synchronously collects pressure, displacement, and load data and uploads them to the control system in real time. Through force-displacement curves and force-time curves, the density, penetration resistance, shear strength, bearing characteristics, and porosity of the star soil can be directly inverted, providing accurate, reliable, and traceable data support for test state determination, initial condition calibration, fixed force analysis, and failure mode judgment.
[0038] Through the above technical solutions, this application achieves real-time, accurate, interference-free, and synchronous detection of the force and displacement at the bottom of the star soil, upgrading the star soil accumulation state from qualitative judgment to quantitative measurement, supporting automatic closed-loop control, data recording, state determination, and test calibration, significantly improving test accuracy, controllability, repeatability, and data reliability, and providing a complete, continuous, and reliable data foundation for establishing the correspondence between star soil mechanical parameters and adhesion performance.
[0039] In this embodiment, both the star soil groove 22 and the piston 4 are cylindrical structures. The inner wall of the star soil groove 22 can be treated by spraying, coating or attaching an anti-adhesion coating, or by polishing, sandblasting, grinding or texturing to form a surface with a set roughness, so as to accurately reduce, adjust or control the sidewall friction effect and reduce the interference of the boundary on the movement and force of the star soil particles.
[0040] Among them, the cylindrical structure can completely eliminate stress concentration at the edges and corners, distortion caused by accumulation at the edges and corners, and uneven local stress. This makes the asteroid regolith more uniform in stress distribution and its flow state closer to the real microgravity loose medium environment during compaction, disturbance, penetration, and adhesion. It avoids particle accumulation distortion, stress concentration, and test distortion caused by the edges and corners. The modified inner wall surface treatment can precisely control the friction force of the side wall, match the boundary mechanical properties of the real asteroid regolith, and make the test data closer to the real working conditions of small celestial bodies.
[0041] Specifically, the cylindrical star soil groove 22 and the piston 4 form a uniform, precise, and coaxial clearance fit, which allows for smooth lifting without jamming, frictional obstruction, or eccentric load. During compaction, disturbance, penetration, and adhesion, the star soil is centrally symmetrically distributed, resulting in a stable stress state and consistent flow pattern. After the inner wall is coated with a low-friction coating or treated with a specific roughness, the constraint, dragging, and friction interference of the side wall on the star soil particles can be reduced, making the measurement results more reflective of the true mechanical properties of the star soil itself, and greatly improving the accuracy, representativeness, and authenticity of the test.
[0042] Through the above technical solutions, this application achieves the homogenization, symmetry and friction controllability of the boundary of the asteroid reef test. The cylindrical structure makes the force and flow of the asteroid reef closer to the behavior of real microgravity loose media. The inner wall surface treatment effectively reduces, calibrates or eliminates boundary interference, greatly improving the authenticity, accuracy, repeatability and engineering representativeness of the test results, and is more in line with the physical characteristics and macroscopic mechanical behavior of asteroid debris piles.
[0043] In this embodiment, as shown in the appendix Figure 2 As shown, the openable and closable limiting component 5 includes multiple cover plates 51 and multiple first electric telescopic rods 52; the multiple cover plates 51 are radially and rotatably arranged on the top of the fixed cylinder 21, forming a top limiting structure that can be opened and closed synchronously; one end of the multiple first electric telescopic rods 52 is rotatably connected to the inner wall of the closed frame 1, and the other end is rotatably connected to the surface of the corresponding cover plate 51. Through synchronous, smooth and precise telescopic movement, the cover plates 51 are driven to close or open synchronously, realizing automatic switching between shaping mode and testing mode.
[0044] Among them, the radial cover plate 51 refers to a segmented, combinable, and closable structure. When closed, it is spliced to form a complete, flat, and rigid circular cover plate 51, which limits, constrains, levels, compacts, and shapes the surface of the star soil. When opened, it flips outward to completely release the central test area without obstructing or interfering with the movement of the actuator 6. The first electric telescopic rod 52 provides synchronous, closed-loop, and controllable power to realize automatic opening and closing, with smooth operation, accurate positioning, rapid response, and reliable operation.
[0045] Specifically, during the reconstruction, leveling, and compaction stages of the star soil, the first electric telescopic rod 52 extends synchronously, pushing all the cover plates 51 to rotate and close towards the center, forming an integral rigid cover plate 51 structure. This structure, in conjunction with the bottom piston 4, compacts, levels, shapes, and constrains the star soil, ensuring that the initial state is uniform, flat, consistent, and repeatable. When entering the penetration, gripping, anchoring, and testing stages, the first electric telescopic rod 52 retracts synchronously, causing the cover plates 51 to flip outward smoothly and open, completely opening the space above the star soil groove 22. This provides the execution component 6 with ample, unobstructed, and unobstructed movement space, ensuring that various test actions are executed smoothly, stably, and with low disturbance.
[0046] Compared to existing technologies, traditional testing devices lack an automatically opening and closing top limiting structure. This results in either prolonged openness leading to uncontrolled, loose, and uneven surface conditions of the soil, or a fixed, enclosed design preventing testing. Consequently, they struggle to balance shaping constraints with open operation requirements, resulting in extremely low test consistency and automation. This solution, through a combination of radial cover plates 51 and an electric telescopic rod, addresses the problems of incompatibility between shaping and testing, uncontrollable surface conditions, insufficient open space, and low automation.
[0047] Through the above technical solution, this application achieves fully automatic, synchronous, and stable switching between surface shaping constraints and open testing space for microgravity soil. In the closed state, a uniform, flat, and consistent initial microgravity soil surface is precisely constructed, while in the open state, the testing space is completely released. The opening and closing actions are fast, synchronous, stable, and reliable, requiring no manual intervention. This significantly improves the level of automation, consistency of state, ease of operation, and long-term operational stability of the test, and is suitable for the needs of long-term, multi-round, high-frequency, and unattended microgravity adhesion tests.
[0048] In this embodiment, as shown in the appendix Figure 2 As shown, the execution component 6 includes a multi-attitude adjustment and loading component and an end effector 65. The multi-attitude adjustment and loading component is located in the upper part of the enclosed frame 1 and is used to drive the end effector 65 to achieve precise spatial attitude adjustment, quasi-static low-speed stable loading, attitude maintenance and star soil disturbance reconstruction operations. The end effector 65 is installed at the bottom of the multi-attitude adjustment and loading component in a detachable and quick-change manner. Different functional working heads can be quickly replaced according to the test requirements to complete various test tasks such as star soil loosening and resetting, penetration test, pressure plate test, gripping test, anchoring test and attachment mechanism verification.
[0049] Among them, the multi-posture adjustment and loading component refers to a motion mechanism with multiple degrees of freedom, high rigidity, low disturbance, and high precision. It can realize tilt adjustment, height adjustment, precise lifting and lowering, and attitude maintenance to meet the adhesion test requirements under different incident angles, different contact directions, and different postures. The end effector 65 refers to a modular and quickly replaceable multi-functional working head, including a stirring head, a conical probe, a pressure plate, a gripping head, a clamping head, an anchoring mechanism, and the adhesion sample to be tested. One host platform is compatible with the entire process, multiple types, and multiple functions of the test.
[0050] Specifically, during the star soil reconstruction stage, the multi-attitude adjustment and loading components drive the stirring end effector 65 to extend into the star soil, loosening, disturbing, spreading, and leveling it to restore a uniform, loose, and consistent initial state. Subsequently, the corresponding test head is switched and adjusted to the target attitude, angle, and incident direction to slowly press or grip the star soil at a quasi-static, extremely low speed, and minimal acceleration, completing the adhesion process test, mechanical parameter acquisition, and fixation force assessment. The entire process is characterized by precise attitude, stable movement, and extremely low disturbance, realistically simulating the slow, quasi-static adhesion behavior under microgravity.
[0051] Compared with existing technologies, traditional testing devices are mostly single-axis vertical loading, with limited attitudes, limited working conditions, fixed functions, and no interchangeable actuators. They are unable to meet the needs of attachment testing with multiple attitudes, modes, functions, and the entire process. The devices have poor reusability, high testing costs, and poor data continuity. This solution solves the problems of limited attitudes, fixed functions, insufficient working condition coverage, poor reusability, and fragmented processes by using a multi-attitude mechanism and a modular end effector unit 65.
[0052] Through the above technical solutions, this application realizes multi-posture, multi-angle, multi-functional, integrated continuous operation of the adhesion test. The multi-posture adjustment meets the simulation of real working conditions such as complex incident conditions, inclined contact, and multi-angle anchoring. The modular end effector 65 realizes one machine for multiple uses, rapid switching, and full process coverage. It can complete the whole process of star soil reconstruction, mechanical testing, adhesion verification, and fixing force measurement without replacing the host. It greatly improves the versatility, reusability, working condition coverage and test efficiency of the device, reduces test costs and improves data continuity, comparability and reliability.
[0053] In this embodiment, when the end effector 65 is a pressure plate working head, it is located at the bottom of the multi-posture adjustment and loading component. The bottom of the pressure plate working head has a ballast surface that contacts the surface of the star soil. The ballast surface can be a circular, square, or annular plane, or it can be set as a rigid pressure plate or a pressure plate with a micro-arc surface according to the test requirements.
[0054] During operation, the multi-posture adjustment and loading components drive the pressure plate to move above the target test area; adjust the posture of the pressure plate to make it nearly perpendicular to the surface of the star soil, and press down at a preset speed to apply a compressive load to the surface of the star soil; then record the load-displacement response, and stop after reaching the preset indentation depth, preset load, or preset holding time; then retract the pressure plate to complete one surface compression test.
[0055] In this embodiment, when the end effector 65 is a conical probe, the conical probe portion can adopt a preset cone angle, preset bottom diameter and preset length to simulate the probing or penetration test conditions.
[0056] During operation, align the conical probe with the area to be tested, adjust the probe axis direction, and penetrate the soil at a preset rate. Collect parameters such as penetration force, displacement, and attitude changes in real time. Stop when the target depth or resistance threshold is reached, and then pull the probe out. Analyze the mechanical properties of the soil based on the changes in penetration resistance to complete the experiment.
[0057] In this embodiment, when the end effector 65 is a gripping head, clamping head, or interdigital attachment head, the working head can be moved above the surface of the star soil, the posture can be adjusted so that the working head contacts the star soil, and then attachment can be formed by pressing, opening, screwing, hooking, clamping, or tilting insertion. After the attachment is stable, a holding or reverse loading test is performed to measure the adhesion force, pull-out force, or fixing force. After the attachment is completed, the star soil can be removed and the object can be reset.
[0058] In this embodiment, when the end effector 65 is a stirring head, the stirring head is moved to the star soil reconstruction area and pressed down to a predetermined depth. The stirring head is rotated, reciprocated, or translated and dragged by the multi-posture adjustment and loading components to loosen the star soil, break up the local compacted area, the edge of the hole and the agglomerated area. After completion, it exits and then cooperates with the piston 4 and the openable and closable limiting component 5 to restore the initial state of star soil accumulation.
[0059] In this embodiment, as shown in the appendix Figure 2 and attached Figure 3 As shown, the multi-posture adjustment and loading component includes three parallel drive chains 61, a motion platform 62, and a linear motor 63. The three parallel drive chains 61 are evenly arranged inside the upper part of the enclosed frame 1, forming a symmetrical, stable, and highly rigid support structure. The motion platform 62 is located inside the enclosed frame 1 and is movably connected to the three parallel drive chains 61 respectively. Through the coordinated and linked motion of the chains, the posture, tilt angle, and height are precisely, continuously, and smoothly adjusted. The linear motor 63 is fixedly installed at the center of the motion platform 62, and its output shaft penetrates vertically downward through the motion platform 62. A flange 64 is provided at the end of the output shaft for quick, reliable, and rigid connection with the end effector unit 65.
[0060] Among them, the parallel drive chain 61 refers to multiple sets of independent, controllable, high-precision, and high-rigidity chain structures that jointly support the motion platform 62, and has the characteristics of high rigidity, large load-bearing capacity, small error, smooth motion, and good dynamic characteristics; the motion platform 62 refers to the core bearing platform of the end effector 65, which can achieve lifting, tilting, deflection, and high-precision attitude maintenance under the drive of the chain; the linear motor 63 provides ultra-high precision, ultra-low speed, hysteresis-free, and backlash-free vertical loading power, realizing quasi-static, low-disturbance, and high-fidelity loading, meeting the stringent requirements of microgravity adhesion tests.
[0061] Specifically, the three parallel drive chains 61 move in coordination under the control system, driving the motion platform 62 to achieve precise adjustment of horizontal tilt angle, spatial attitude, and height position, so that the end effector 65 is precisely aligned with the surface of the star soil at a set angle, direction and position; the linear motor 63 drives the end effector 65 to move vertically downward at extremely low speed, minimal acceleration, without vibration and impact, to achieve quasi-static pressing, gripping or anchoring, avoiding violent disturbances that could cause the star soil to slip, collapse or become unstable, and truly reproducing the slow and stable attachment process under microgravity.
[0062] Compared with existing technologies, traditional single-axis mechanisms cannot adjust the attitude, and serial robotic arms have low stiffness, large error accumulation, and large motion disturbances, making it difficult to achieve high-precision, low-disturbance, and high-rigidity quasi-static loading, thus failing to meet the stability and realism requirements of the star soil adhesion test. This solution adopts a three-parallel branch chain plus linear motor 63 structure, which solves the problems of unadjustable attitude, insufficient rigidity, excessive disturbance, unstable loading, and insufficient precision.
[0063] Through the above technical solutions, this application achieves multi-posture adjustment and quasi-static loading with high rigidity, high precision, low disturbance, and high stability. The parallel structure significantly improves the overall rigidity, positioning accuracy, and anti-interference capability. The linear motor 63 ensures low-speed, smooth, backlash-free, and hysteresis-free motion, effectively preventing the star soil from slipping, collapsing, loosening, and becoming unstable during the test. This makes the attachment test closer to the real microgravity environment of small celestial bodies, greatly improving the authenticity, reliability, repeatability, and engineering value of the test results.
[0064] In this embodiment, the mounting end of the attachment mechanism can adopt not only a flange 64 structure, but also a quick-change interface, clamping interface, or threaded interface, etc., to facilitate quick replacement of different types of working heads. Preferably, the mounting end of the attachment mechanism is connected to a force / displacement detection component to achieve real-time monitoring of the force and displacement of the end working head.
[0065] By adopting the modular end effector unit 65, the present invention can be adapted to various test tasks without changing the main structure. It can not only realize the testing of the basic mechanical parameters of the star soil, but also be directly used for the verification of the attachment mechanism prototype, which significantly improves the reusability and integration of the device.
[0066] In this embodiment, as shown in the appendix Figure 3 As shown, the parallel drive chain 61 includes a second electric telescopic rod 611 and a third electric telescopic rod 612; the second electric telescopic rod 611 is movably mounted on the support of the enclosed frame 1 through a first connecting ring, forming a hinged structure with a freely rotatable upper end and multiple degrees of freedom; the third electric telescopic rod 612 is rotatably connected to the end of the second electric telescopic rod 611 away from the first connecting ring, and is movably connected to the motion platform 62 through the second connecting ring, forming a two-stage movable, highly flexible, and wide-range adjustable chain structure.
[0067] Among them, the first connecting ring and the second connecting ring are high-rigidity, low-gap, multi-degree-of-freedom hinged structures, which allow the support chain to rotate, swing, and deflect flexibly in space, perfectly adapting to the posture changes and position adjustments of the motion platform 62 without causing jamming, stress, or deformation; the second electric telescopic rod 611 and the third electric telescopic rod 612 work together to extend and retract, realizing a wide range, continuous, and controllable adjustment of the height, tilt angle, and posture of the motion platform 62. The two-stage telescopic structure significantly expands the adjustment range and improves posture flexibility and adaptability.
[0068] Specifically, the control system synchronously drives the second electric telescopic rod 611 and the third electric telescopic rod 612 of the three branches to perform independent, precise and coordinated telescopic movements according to the target posture command. By changing the combination of branch lengths, the motion platform 62 is driven to achieve lifting, tilting, deflection and high-precision attitude fixation. The attitude adjustment is precise, the response is fast, the operation is stable, and there is no vibration or impact. It can achieve multi-degree-of-freedom, large-range and high-precision attitude output in a limited enclosed space, which can meet the adhesion test requirements of different incident angles, different contact directions and different postures.
[0069] Through the above technical solutions, this application achieves 62-range, high-precision, multi-degree-of-freedom, and highly stable attitude control of the motion platform. The two-stage telescopic structure greatly improves the adjustment range and attitude flexibility. The hinged connection ensures smooth, unhindered, stress-free, and deformation-free movement. The coordinated operation of the three branches achieves stable, accurate, reliable, and synchronized attitude output. It is perfectly adapted to various complex working conditions and microgravity star soil adhesion tests under multiple angles and attitudes, greatly improving the device's applicability to working conditions, test coverage, and engineering application scope.
[0070] In this embodiment, the testing device for microgravity gravel pile soil adhesion test also includes a second detection sensor. The second detection sensor is set at the bottom of the flange 64, and its end away from the flange 64 is directly connected to the end execution unit 65. It is located at the key position closest to the execution end and is used to measure key mechanical parameters such as contact force, penetration resistance, reaction force, adhesion force, holding force and fixing force in real time, accurately and synchronously during the adhesion process.
[0071] Among them, the second detection sensor is a high-precision, high-response, high-stability, and high signal-to-noise ratio force / displacement / attitude composite sensor, which is installed at the front end of the end effector unit 65 to directly sense the real interaction force between the actuator and the star soil. It has no transmission gap, no signal attenuation, and no external force interference. It has high measurement accuracy, fast response, and good dynamic characteristics, and can completely capture the mechanical signals of the entire process from contact, pressing, gripping, stabilization to failure and detachment.
[0072] Specifically, throughout the entire process of contacting, penetrating, gripping, anchoring, and fixing force testing of the end effector unit 65, the second detection sensor continuously, synchronously, and with high precision collects data such as force, displacement, attitude, and time, generating complete force-displacement curves, force-time curves, and attitude change curves. This accurately reflects the mechanical response of the star soil, the adhesion formation process, the magnitude of the fixing force, the holding stiffness, and the critical failure conditions, providing complete, continuous, and reliable data for quantitative evaluation of adhesion performance, mechanism optimization design, and star soil characteristic research.
[0073] Through the above technical solution, this application achieves direct, accurate, real-time, and interference-free detection of the interaction force between the end effector unit 65 and the stellar soil, fully capturing the mechanical change characteristics, stability retention characteristics, and failure boundary laws of the entire attachment process. It elevates the attachment effect from qualitative judgment to quantitative, accurate, and traceable evaluation, and can accurately measure the maximum fixing force, failure displacement, critical load, retention stiffness, and stability parameters. This provides high-precision, high-reliability, and high-value data support for the optimized design of attachment mechanisms, the study of stellar soil mechanical properties, and small celestial body exploration missions.
[0074] In this embodiment, during the pressure plate test, the first and second detection sensors can record the pressure plate displacement and corresponding force data, thereby generating a displacement-force curve of the compressive strength of the star soil; during the cone probe penetration test, the probe penetration depth and resistance changes are recorded; during the adhesion test, the reaction force during the adhesion process, the fixing force during the holding process, and the possible detachment threshold are recorded.
[0075] In this embodiment, the lifting adjustment component 3 can be any one of a cylinder, hydraulic cylinder, or motor with lead screw pair. It can be flexibly selected according to the test accuracy requirements, control method, load size, response speed and installation space. All of them can realize the stable, precise, reliable and controllable lifting movement of the piston 4, and meet the requirements of soil condition control, compaction and shaping and bottom loading test.
[0076] Among them, the cylinder has a simple structure, low cost, fast response and convenient maintenance, and is suitable for medium precision and fast adjustment conditions; the hydraulic cylinder has a large output force, stable operation and strong impact resistance, and is suitable for heavy load, long stroke and high stability adjustment conditions; the motor and lead screw pair transmission has the highest precision, the most accurate positioning, the smoothest movement and can realize micro-level displacement adjustment, and is most suitable for precise control of soil porosity, quasi-static loading and high repeatability test.
[0077] As attached Figure 4 As shown, this application also provides a test method for a test apparatus for microgravity gravel pile soil adhesion test according to the above-described method, comprising the following steps: Step S100: Fill the star soil simulation material into the star soil containing component, and start the execution component to reset the star soil simulation material; Step S200: After the star soil simulation material is reset, activate the openable and closable limiting component to close the opening; Step S300: Activate the lifting and adjusting assembly, which drives the piston to slide axially along the inside of the star soil receiving assembly, applying pressure to the star soil simulation material to achieve compression molding of the star soil simulation material; Step S400: After the compression of the star soil simulant is completed, the openable and closable limiting component is opened again to release the closed state of the opening. Step S500: Start the execution component to conduct an adhesion performance test on the compressed star soil simulant.
[0078] The test method for microgravity gravel pile star soil adhesion test described in this embodiment is as follows: First, the star soil simulant is filled into the star soil receiving component 2. Then, the execution component 6 is activated to turn, stir, and spread the star soil simulant to complete the resetting (so that the star soil medium can eliminate lumps, local voids, and non-uniform stacking state as much as possible). After the star soil simulant is reset uniformly, the openable and closable limiting component 5 is activated to close the top opening of the star soil receiving component 2. Then, the lifting and adjusting component 3 is activated to drive the piston 4 to slide along the internal axial direction of the star soil receiving component 2 to compress the star soil simulant in a controllable manner to achieve the shape. The height, compaction degree, or support state of the star soil layer is adjusted so that the test bed reaches the preset thickness, preset density, or preset boundary conditions. After the compression is completed and stabilized, the openable and closable limiting component 5 is activated again to open the top opening. Finally, the execution component 6 is activated to conduct adhesion performance tests such as contact pressing, quasi-static adhesion, and fixing force measurement on the compressed and shaped star soil simulant.
[0079] After the attachment action is completed, the end effector 65 remains stationary or maintains a predetermined holding state and enters the attachment stability determination stage. In this stage, the system determines whether the attachment mechanism has changed from a transient contact state to a stable attachment state based on displacement changes, attitude fluctuations, load fluctuations, and actuator feedback signals over a preset period of time.
[0080] For example, when the end displacement change is less than a preset threshold, the attitude change is less than a preset threshold, and the reaction force fluctuation is less than a preset threshold, and this continues for a preset holding time, it can be determined that the attachment mechanism has entered a stable attachment state. At this point, this state is used as the initial state for the fixation force test, and the corresponding initial position, initial attitude, and initial mechanical parameters are recorded. After the attachment mechanism reaches a stable attachment state, the system enters the fixation force test phase. The fixation force test can be implemented in at least one of the following ways depending on the test objective: 1. Upper reverse loading test method: The multi-posture adjustment and loading components maintain the preset test posture and drive the end effector 65 to apply controlled displacement or controlled load in the opposite direction of the attachment action to simulate the working state of the attachment mechanism when it is subjected to pull-out action.
[0081] The control system within the device can first apply a small pre-tightening reverse displacement or pre-tightening reverse load to eliminate mechanism backlash and transmission return error. Then, it continuously applies reverse displacement at a preset rate or gradually increases the reverse load according to a preset gradient. During the loading process, the system synchronously collects information on the reverse force, end displacement, attitude change, and time, and generates force-displacement curves, force-time curves, or displacement-time curves.
[0082] The attachment mechanism can be considered to have failed when one or more of the following conditions occur: the reverse load reaches its peak and then decreases significantly; there is a sudden change in the end displacement; the attachment mechanism slips significantly relative to the star soil; there is a sudden change in attitude; or the attachment mechanism detaches entirely from the star soil. This method allows us to obtain parameters such as the maximum fixing force, failure displacement, holding stiffness, and detachment mode of the attachment mechanism.
[0083] 2. Bottom piston 4 relative displacement test method: The multi-posture adjustment and loading component keeps the end effector 65 relatively fixed. The bottom piston 4 adjustment component drives the piston 4 to apply controlled displacement, so that the star soil produces controlled relative movement with respect to the attachment mechanism, thereby indirectly evaluating the fixation force and stability after attachment.
[0084] Specifically, the bottom piston 4 can perform slow lifting, slow retraction, or reciprocating micro-displacement movements according to test requirements. When the piston 4 lifts, the star soil medium is compressed upwards or locally, thereby generating relative compression and support changes on the adhesion mechanism; when the piston 4 retracts, the star soil medium may experience sedimentation, loosening, or local loss of support; when the piston 4 reciprocates, it can simulate changes in the adhesion state under disturbance or fatigue conditions.
[0085] During this process, the system collects real-time information on piston 4 displacement, upper reaction force, end micro-slippage, attitude changes, and surface state changes of the star soil, and determines whether the attachment mechanism has loosened, slipped, become locally unstable, or ultimately detached. In this way, the fixing capacity and stability parameters of the attachment mechanism under conditions of star soil subsidence, compaction, bulging, or cyclic disturbance can be obtained.
[0086] 3. Combined Application of Two Methods: The two testing methods described above can be combined. For example, first, the standard maximum fixing force of the attachment mechanism can be measured using the upper reverse loading method, and then the stability of the attachment mechanism under changing substrate conditions can be evaluated using the bottom piston 4 relative displacement method. Through combined testing, the holding ability of the attachment mechanism under ideal conditions and complex working conditions can be more comprehensively characterized.
[0087] During the fixation force test, the control system records the output data of various sensors and simultaneously analyzes the force response, displacement response, attitude change, and failure process of the attachment mechanism. After the test, the system can output parameters including but not limited to: maximum fixation force, failure displacement, holding stiffness, critical slip, critical settlement, stability decay characteristics, and failure mode.
[0088] The failure modes can manifest as overall pull-out, local slippage, loosening of the attachment end, collapse of soil particles, formation of local cavities, or combined instability. Analysis of these results transforms the qualitative judgment of "whether adhesion was successful" into a quantitative evaluation of adhesion and fixation performance.
[0089] After completing one round of fixation force testing, the end effector 65 is driven out of the test area by the multi-posture adjustment and loading components, or the attachment mechanism is detached from the soil. Subsequently, the end effector 65 is replaced with a stirring head to loosen, stir and level the test bed again, in order to eliminate the pores, dense areas, local collapse areas and uneven stress distribution formed in the soil in the previous round of attachment and pull-off tests.
[0090] If necessary, the bottom piston 4 adjustment assembly will readjust the height, compaction, and support boundary of the star soil bed, thus returning the test bed to the preset initial conditions. After resetting, repeated tests with the same attachment structure can be conducted to obtain statistically significant repeatability data; or a different end attachment structure can be used to conduct comparative tests between different structures.
[0091] In multiple rounds of testing, this application allows for systematic testing of different attachment structures, attachment angles, indentation depths, load paths, and soil conditions, while maintaining essentially consistent initial soil conditions. After each round of testing, the medium environment can be restored using the stirring head, bottom piston 4, and openable / closable limiting assembly 5, and recalibration can ensure the comparability of subsequent test data.
[0092] Therefore, this application can not only verify the success of a single attachment, but also conduct continuous, multi-round, and multi-parameter tests on the fixing force, stability, and failure behavior of the attachment mechanism under repeatable and controllable conditions.
[0093] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the solutions disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.
Claims
1. A testing device for microgravity gravel pile soil adhesion test, characterized in that, include: The enclosed frame creates a sealed testing space. A star soil containing component, disposed within the enclosed frame, is used to contain the star soil simulant; The top of the star soil containing component is provided with an opening; The lifting and adjusting assembly is fixed to the inner bottom wall of the enclosed frame and located inside the star soil receiving assembly; A piston is connected to the output end of the lifting adjustment assembly and is slidably disposed inside the star soil receiving assembly to adjust the accumulation state and porosity of the star soil. An openable and closable limiting component is disposed on the top of the star soil receiving component to close or open the opening for shaping or open testing of the star soil. An execution component, located inside the enclosed frame and on top of the star soil containing component, is used for testing the star soil resetting and adhesion. The execution component includes: A multi-posture adjustment and loading component is located in the upper inner part of the enclosed frame, used to drive the end effector unit to achieve posture adjustment, quasi-static loading and star soil disturbance reconstruction; The end effector unit is detachably mounted at the bottom of the multi-attitude adjustment and loading component, and is used to complete the testing of star soil state reset and adhesion test; The multi-pose adjustment and loading component includes: Three parallel drive branches are arranged inside the enclosed frame; The motion platform is located inside the enclosed frame and is connected to the three parallel drive chains to adjust the posture of the motion platform. A linear motor is mounted on the motion platform; the output shaft of the linear motor passes through the motion platform. A flange is provided on the output shaft of the linear motor for connection to the end effector unit.
2. The testing device for microgravity gravel pile soil adhesion test according to claim 1, characterized in that, The star soil containment component includes: A fixing cylinder is installed on the inner bottom wall of the enclosed frame; The star soil trough is located inside the fixed cylinder; the lifting and adjusting assembly is located inside the fixed cylinder and at the bottom of the star soil trough; the piston is slidably disposed within the star soil trough.
3. The testing device for microgravity gravel pile soil adhesion test according to claim 2, characterized in that, It also includes: The first detection sensor is located between the piston and the lifting adjustment assembly.
4. The testing device for microgravity gravel pile soil adhesion test according to claim 2, characterized in that, Both the star soil groove and the piston are cylindrical.
5. The testing device for microgravity gravel pile soil adhesion test according to claim 2, characterized in that, The openable / closeable limiting component includes: Multiple cover plates are radially and rotatably disposed on the top of the fixed cylinder; Multiple first electric telescopic rods, one end of which is rotatably mounted on the inner wall of the enclosed frame, and the other end of which is rotatably mounted on the surface of the cover plate, are used to drive the multiple cover plates to close or open the opening.
6. The testing device for microgravity gravel pile soil adhesion test according to claim 1, characterized in that, The parallel drive chain includes: The second electric telescopic rod is mounted on the support of the enclosed frame via the first connecting ring; The third electric telescopic rod is rotatably mounted at the end of the second electric telescopic rod away from the first connecting ring; the third electric telescopic rod is connected to the motion platform through the second connecting ring.
7. The testing device for microgravity gravel pile soil adhesion test according to claim 1, characterized in that, It also includes: A second detection sensor is disposed at the bottom of the flange; the end of the second detection sensor away from the flange is connected to the end effector unit.
8. A test method for a test apparatus for microgravity gravel pile soil adhesion test according to any one of claims 1-7, characterized in that, include: The star soil simulator is filled into the star soil containing component, and the execution component is activated to reset the star soil simulator; After the star soil simulation has been reset, the openable and closable limiting component is activated to close the opening; The lifting and adjusting assembly is activated, which drives the piston to slide axially along the inside of the star soil receiving assembly, applying pressure to the star soil simulated material and achieving compression molding of the star soil simulated material. After the compression of the star soil simulant is completed, the openable and closable limiting component is opened again to release the closure of the opening. The execution component is activated to conduct an adhesion performance test on the compressed star soil simulant.