An unlocking system, unlocking method for a sample packaging container

Abstract

The application belongs to the technical field of spacecraft unlocking structure, and provides an unlocking system and method for a sample packaging container, the system comprising: a floating connection kit comprising a floating connection assembly and a compression tooling piece for compressing the floating connection assembly; an unlocking assembly comprising a hand-held pull ring and a hook piece extending outward from the hand-held pull ring, the hook piece being capable of extending into a gap with a specified distance for unlocking operation from the inside of a sampling probe; the sampling probe containing the sample packaging container; and an auxiliary device for assisting the unlocking assembly in the unlocking operation. The application effectively realizes reliable unlocking and taking out of the sample packaging container.

Description

Technical Field

[0001] This application relates to the field of spacecraft sample packaging container technology, specifically to an unlocking system and unlocking method for sample packaging containers. Background Technology

[0002] With the continuous development of spacecraft research and development technology in my country's deep space exploration field, the design and application of recoverable deep space sampling probes have shown an increasingly important role. Deep space probes are a new type of probe developed based on asteroid exploration and sampling missions. They consist of a main probe and a return capsule, achieving tasks such as close-range asteroid exploration, sample return, and more through a single launch. The main probe carries the return capsule to complete the processes of launch, asteroid transfer, approach, rendezvous, close-range exploration, sampling, and return. The return capsule is released near Earth, carrying the samples for reentry. The sample encapsulation container is a key component of the asteroid exploration mission; its main function is to collect, transfer, and seal the collected samples, maintaining their original state and preventing contamination of asteroid samples upon return to Earth.

[0003] However, removing the sample packaging container is a reverse process from the final assembly. It requires first eliminating the spring preload within the floating connection assembly, simultaneously unlocking the eccentric lock between the heat shield door and the return capsule sidewall, and releasing the spring preload before the heat shield door can be removed. This allows for the removal of the surrounding components of the sample container and the extraction of the sample packaging container. Because the spring tension within the floating connection assembly is extremely high (up to 200N or more), it is difficult to manually apply axial pressure to counteract the spring tension. Furthermore, the extremely small gap between the latch and the lock groove of the eccentric lock makes unlocking the door difficult and prone to failure. In addition, the overall operating space within the return capsule is extremely limited, with interference from the internal guide rail components and equipment. Existing tools and methods cannot achieve the unlocking of the heat shield door and the extraction of the sample packaging container.

[0004] Therefore, it is necessary to provide an unlocking system for sample packaging containers to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this application is to provide an unlocking system and method for sample packaging containers, which can solve at least one of the technical problems mentioned above. The specific solution is as follows: According to a specific embodiment of this application, this application provides an unlocking system for a sample packaging container, comprising: a floating connection kit, which includes a floating connection component and a clamping fixture for clamping the floating connection component, the clamping fixture including a first clamping component and a second clamping component to counteract the preload force within the floating connection component; an unlocking component, which includes a handheld pull ring and a hook extending outward from the handheld pull ring, the hook being able to extend into a gap of a specified distance for unlocking from inside a sampling detector; the sampling detector containing a sample packaging container; and an auxiliary device for spatially registering a target visual blind spot and the unlocking component, identifying the cable layout within the target visual blind spot and planning an operation path to assist the unlocking component in unlocking.

[0006] According to a specific embodiment of this application, this application also provides a method for unlocking a sample packaging container, which is executed using the unlocking system for sample packaging containers described in this application, including: using an auxiliary device to spatially register the target visual blind zone and the unlocking component, identifying the cable layout within the target visual blind zone and planning the operation path, and using the unlocking component to unlock the eccentric lock of the hatch inside the sampling detector; after the unlocking operation, releasing the clamping constraint of the clamping fixture on the floating connection component to remove the packaged sample from the sample packaging container.

[0007] Compared with the prior art, the above-described solutions of this application have at least the following beneficial effects: This application utilizes the clamping fixture in the floating connection kit to counteract the preload of the springs within the floating connection assembly, thereby safely and effectively clamping the floating connection assembly; it utilizes the unlocking assembly to reliably unlock multiple eccentric locks on the inside of the heat-resistant hatch; and with the assistance of an augmented reality-enabled device, it performs spatial registration between the target visual blind spot and the unlocking assembly, identifies the cable layout within the target visual blind spot, and plans the operation path, which can effectively assist the unlocking assembly in unlocking operations and more effectively achieve reliable unlocking and removal of the sample packaging container. Attached Figure Description

[0008] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings: Figure 1 This is a schematic diagram illustrating an application example of an unlocking system for a sample packaging container according to an embodiment of this application; Figure 2This is a cross-sectional view from an angle of the floating connection kit of the unlocking system for the sample packaging container according to an embodiment of this application; Figure 3 This is a partial perspective view from another angle of the floating connection kit of the unlocking system for a sample packaging container according to an embodiment of this application; Figure 4 This is a cross-sectional view from another angle of the floating connection kit of the unlocking system for the sample packaging container according to an embodiment of this application; Figure 5 This is a perspective view of the first clamp assembly in the floating connection kit of the unlocking system for a sample packaging container according to an embodiment of this application; Figure 6 This is a perspective view of the second clamp assembly in the floating connection kit of the unlocking system for a sample packaging container according to an embodiment of this application; Figure 7 This is a partial perspective view of the locking structure applied to the unlocking component of the unlocking system for a sample packaging container according to an embodiment of this application; Figure 8 This is a schematic diagram of an example of an unlocking component of an unlocking system for a sample packaging container according to an embodiment of this application; Figure 9 This is a schematic diagram of another example of the unlocking component of the unlocking system for the sample packaging container according to an embodiment of this application; Figure 10 This is a schematic flowchart illustrating an example of an unlocking method for a sample packaging container according to an embodiment of this application. Detailed Implementation

[0009] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0010] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to limit the application. The singular forms “a,” “said,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0011] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0012] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of this application for description, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of this application, and similarly, second may also be referred to as first.

[0013] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0014] To address the difficulty in retrieving the sample container from the return capsule of a deep space sampling probe, this application provides an unlocking system for the sample packaging container. The unlocking system includes: a floating connection kit comprising a floating connection assembly and a clamping fixture for clamping the floating connection assembly, the clamping fixture including a first clamp assembly and a second clamp assembly to counteract the preload force within the floating connection assembly; an unlocking assembly comprising a hand-held pull ring and a hook extending outward from the hand-held pull ring, the hook being able to extend into a gap of a specified distance for unlocking from inside the sampling probe; the sampling probe containing the sample packaging container; and an auxiliary device for spatially registering the target visual blind spot and the unlocking assembly, identifying the cable layout within the target visual blind spot, and planning an operation path to assist the unlocking assembly in unlocking operations.

[0015] This application utilizes the clamping fixture in the floating connection kit to counteract the preload of the springs within the floating connection assembly, thereby safely and effectively clamping the floating connection assembly; it utilizes the unlocking assembly to reliably unlock multiple eccentric locks on the inside of the heat-resistant hatch; and with the assistance of an augmented reality-enabled device, it performs spatial registration between the target visual blind spot and the unlocking assembly, identifies the cable layout within the target visual blind spot, and plans the operation path, which can effectively assist the unlocking assembly in unlocking operations and more effectively achieve reliable unlocking and removal of the sample packaging container.

[0016] The following is in conjunction with the appendix Figures 1 to 81. Detailed description of optional embodiments of the system in this application.

[0017] Figure 1 This is a schematic diagram illustrating an application example of an unlocking system for a sample packaging container according to an embodiment of this application. Figure 2 This is a cross-sectional view of a floating connection kit for an unlocking system of a sample packaging container according to an embodiment of this application.

[0018] Reference Figures 1 to 3 This application provides an unlocking system for a sample packaging container. The unlocking system includes a floating connection kit 40, an unlocking component 70, and auxiliary devices. The floating connection kit 40 includes a floating connection component 41 and a clamping fixture for pressing the floating connection component 41. The floating connection kit 40 is used to press the sealed hatch door from inside the sealed chamber, so that the sealed hatch door is pressed against the opening of the sample packaging container 505, thereby effectively preventing leakage of the sample to be tested. The unlocking component 70 is a component that can be adapted to various hatch locks, especially suitable for unlocking the eccentric lock on the inside of the heat-resistant hatch 507 of a deep space probe. The auxiliary devices are used to spatially register the return capsule and the unlocking component, identify the cable layout inside the capsule, and plan the operation path to assist the unlocking component 70 in the unlocking operation.

[0019] Optionally, the sample to be tested includes collected soil, gravel particles, stones, or a mixture thereof.

[0020] It should be noted that, in this application, the sample packaging container is arranged between the return capsule and the return capsule support. The components installed on the return capsule support in the initial state include a heat-resistant hatch, a floating connection assembly, a sample storage assembly, a guide rail assembly, and a clamping release assembly, etc. The components installed in the return capsule include a hatch eccentric lock, an internal guide rail assembly, a position switch assembly, and a sample packaging container, etc.

[0021] from Figure 1 and Figure 2 As can be seen, the floating connection kit 40 is located between the sealed hatch and the heat-resistant hatch 507. The sample packaging container 505 is located inside the sampling detector 50. The sampling detector 50 also includes a bracket 504, a guide rod 509, a guide rail assembly 503 that works with the guide rod 509, and a tail bracket 506 located at the rear of the sampling detector 50.

[0022] Furthermore, the clamping fixture includes a first clamp assembly 46 and a second clamp assembly 48. The clamping fixture also counteracts the preload within the floating connection assembly 41. Specifically, the first clamp assembly 46 and the second clamp assembly 48 (i.e., spring sleeve clamps) are installed on the outside of the floating connection assembly 41, and the fasteners (e.g., fasteners) are tightened alternately. Figure 2The connecting bolt 502 (shown) compresses the spring 411 within the floating connection assembly 41 to limit the tension of the spring 411. The first clamp assembly 46 is located on the side of the floating connection assembly 40 closest to the sample packaging container 505, and is used to secure the clamping ring 414 and the sealing hatch connector 415. The second clamp assembly 48 is located on the side of the floating connection assembly 40 furthest from the sample packaging container 505, and is used to secure the spring assembly (specifically, as shown in...). Figure 4 (See spring sleeve 413). The first clamp assembly 46 and the second clamp assembly 48 of the clamping fixture respectively pull the two sets of sub-assemblies closer together axially through the corresponding connecting bolts, so as to apply axial clamping force to the floating connection assembly through physical contact.

[0023] Specifically, both the first clamp assembly 46 and the second clamp assembly 48 adopt a split semi-ring structure, and the two sets of sub-assemblies of the first clamp assembly 46 and the second clamp assembly 48 are combined into a ring-shaped envelope structure using their respective connecting bolts.

[0024] exist Figure 2 The application examples also include a hatch eccentric lock 80. The unlocking component 70 of this application is used to release the hatch eccentric lock 80 from the outside of the sampling detector 50.

[0025] It should be noted that the unlocking system of this application is particularly suitable for sampling detectors with limited installation space. For example, the installation space for the floating connection kit is less than or equal to 0.4L. The unlocking system of this application is also applicable to unlocking operations of other similar locking mechanisms where the latch and lock groove achieve locking through eccentric friction. The above are merely optional examples and should not be construed as limiting this application.

[0026] The following will refer to Figure 4 Specifically, this application describes the floating connection component 41 of the floating connection kit 40.

[0027] like Figure 4 As shown, the floating connection assembly 41 includes a heat-resistant hatch connector 412, a spring kit (including a spring sleeve 413 and a spring 411 built into the spring sleeve 413), a sealed hatch connector 415, a clamping ring 414 located between the spring kit and the sealed hatch connector 415, and a threaded adjusting column 416.

[0028] Specifically, clamping fixtures are used to clamp the floating connection assembly 41. The flange faces on the sealed hatch connector 415 and the spring sleeve 413 are used as anchor points to install the first clamp assembly 46 and the second clamp assembly 48. For example, after the first clamp assembly 46 and the second clamp assembly 48 clamp the floating connection assembly 41, the space between the first clamp assembly 46 and the second clamp assembly 48 is as follows... Figure 1The sample pushing direction F shown is used to install fasteners such as connecting bolts 502 to connect and fix the first clamp assembly 46 and the second clamp assembly 48.

[0029] Figure 5 This is a perspective view of the first clamp assembly in the floating connection kit of the unlocking system for a sample packaging container according to an embodiment of this application.

[0030] Specifically, the first clamp assembly 46 is used to secure the clamping ring 414 and the sealing hatch connector 415. The first clamp assembly 46 includes a first clamp 461 and a second clamp 462 arranged symmetrically.

[0031] Specifically, the first clamp 461 includes a first main body, a first extension extending outward from the main body, and a second extension. The main body is provided with a first mounting hole 4611. The end of the first extension is provided with a second mounting hole 4612, and the end of the second extension is provided with a third mounting hole 4613.

[0032] Optionally, the central axis of the first mounting hole 4611 is perpendicular to the central axis of the second mounting hole 4612, and the central axis of the first mounting hole 4611 is parallel to the central axis of the third mounting hole 4613.

[0033] It should be noted that, in this embodiment, the central axis of the first mounting hole 4611 is perpendicular to the central axis of the second mounting hole 4612, and the central axis of the first mounting hole 4611 is parallel to the central axis of the third mounting hole 4613; alternatively, the central axis of the first mounting hole 4611 intersects the central axis of the second mounting hole 4612, and the central axis of the first mounting hole 4611 is parallel to the central axis of the third mounting hole 4613. The above is merely an optional example and should not be construed as a limitation of this application.

[0034] like Figure 5 As shown, the second clamp 462 includes a second main body 4620, a first mating hole 4621 symmetrically arranged with the first mounting hole 4611, a second mating hole 4622 mating with the second mounting hole 4612, and a third mating hole 4623 mating with the third mounting hole 4613.

[0035] Optionally, the central axis of the first mating hole 4621 is perpendicular to the central axis of the second mating hole 4622, and the central axis of the first mating hole 4621 is parallel to the central axis of the third mating hole 4623.

[0036] The first clamp 461 and the second clamp 462 are fixed together using the second mounting hole 4612 and the third mounting hole 4613 of the first clamp 461, the second mating hole 4622 and the third mating hole 4623 of the second clamp 462, and the fixing screws to form the first clamp assembly 46, and using connecting fasteners (e.g. Figure 2 The connecting bolt 502 shown passes through the first mounting hole 4611 of the first clamp 461, the first mating hole 4621 of the second clamp 462, and the corresponding mounting hole of the second clamp assembly 48, fixing the first clamp assembly 46 and the second clamp assembly 48, and cooperating to press the floating connecting assembly 41. By transferring the spring pressure originally acting on the locking structure to the connecting bolt of the two clamp assemblies through the clamping fixture composed of the first clamp assembly 46 and the second clamp assembly 48, controlled load release is achieved, while more reliable clamping and fixing are realized.

[0037] To avoid obstructing the reinforcing ribs on the sealed hatch connector 415, the first clamp assembly 46 is arched at the portion surrounding the reinforcing ribs. For example, this is done under a spring tension of 200N, while also considering a safety factor of three times.

[0038] Specifically, the first clamp 461 and the second clamp 462 are both arched components and are arranged symmetrically.

[0039] Figure 6 This is a perspective view of the second clamp assembly in the floating connection kit of the unlocking system for a sample packaging container according to an embodiment of this application.

[0040] like Figure 6 As shown, the second clamp assembly 48 is used to secure the spring kit (specifically as follows). Figure 4 The spring sleeve 413 is shown. The second clamp assembly 48 includes a first sub-component 481 and a second sub-component 482 arranged symmetrically.

[0041] Furthermore, the first sub-component 481 includes a central portion, a first protrusion protruding outward from the central portion, a second protrusion, and a third protrusion. The central portion is semi-circular. The first protrusion is provided with a first through hole 4811. The second protrusion is provided with a second through hole 4812. The third protrusion is provided with a third through hole 4813.

[0042] Optionally, the first sub-component 481 and the second sub-component 482 are made of aluminum alloy. The thickness of the central portion of the first sub-component 481 is greater than or equal to 8 mm. In this example, the thickness of the central portion of the first sub-component 481 is 10 mm.

[0043] In another embodiment, the first sub-component 481 and the second sub-component 482 are made of melamine steel. The thickness of the central portion of the first sub-component 481 is greater than or equal to 6 mm, for example, 8 mm.

[0044] In this example, the structure of the first sub-component 481 is the same as that of the second sub-component 482. Therefore, the description of the second sub-component 482 is omitted.

[0045] The first sub-component 481 and the second sub-component 482 are connected and fixed to form the second clamp assembly 48.

[0046] Optionally, the central axis of the first through hole 4811 is perpendicular to the central axis of the second through hole 4812, and the central axis of the first through hole 4811 is perpendicular to the central axis of the third through hole 4813. By using connecting fasteners passing through the first through hole 4811 of the first sub-component 481, the first hole 4821 of the second sub-component 482, and the first mounting hole 4611 and the first mating hole 4621 corresponding to the first clamp assembly 46, the first clamp assembly 46 and the second clamp assembly 48 are fixed and the floating connection assembly 41 is pressed together, thereby achieving a more reliable fixation.

[0047] Specifically, the first diameter of the first through hole 4811 is larger than the second diameter of the second through hole 4812. The first diameter of the first through hole 4811 is larger than the third diameter of the third through hole 4813.

[0048] Optionally, the first diameter is 5.5mm to 6.5mm. The second diameter is 4.5mm to 5.5mm. The third diameter is 4.5mm to 5.5mm.

[0049] In this example, the first diameter is 6mm. The second diameter is 5mm. The third diameter is 5mm.

[0050] It should be noted that in this example, the sealed hatch connector 415 is located in the visual blind spot deep within the return capsule. Furthermore, the spring assembly, eccentric lock, and other components of the floating connection assembly 41 are also in the visual blind spot. Therefore, a blind spot assistance mode needs to be activated, for example, by using AR to "transparent" the obscured area while displaying information such as installation position, component information, tool direction, and operation path. Additionally, due to the limited operating space, to reduce operations in areas with restricted visibility, the second through hole 4812 and the third through hole 4813 can be transformed into a hinged structure with pre-installed fasteners. The above are merely optional examples and should not be construed as limiting this application.

[0051] Using fasteners (e.g.) Figure 2The connecting bolts 502 shown pass through the first through hole 4811 of the first sub-component 481, the first hole 4821 of the second sub-component 482, and the mounting holes corresponding to the first clamp assembly 46 (the first mounting hole 4611 of the first clamp 461 and the first mating hole 4621 of the second clamp 462, respectively), fixing the first clamp assembly 46 and the second clamp assembly 48, and cooperating to press the floating connecting assembly 41 to obtain a more reliable pressing and fixing.

[0052] Figure 7 This is a partial perspective view of the locking structure applied to the unlocking component of the unlocking system for a sample packaging container according to an embodiment of this application.

[0053] exist Figure 7 In the application example shown, the locking structure 60 is Figure 1 The locking structure of the sampling detector 50 shown is, for example, an eccentric lock on the hatch of the return capsule of the sampling detector 50. The locking structure 60 includes a lock groove 601, a lock tongue 602, a lock housing 603, and a rotating shaft 604 that cooperates with the locking assembly. The locking structure 60 adopts the eccentric locking principle, using the friction between the pressing surfaces of the eccentric lock tongue 602 and the lock groove 601 to achieve self-locking. When the sample container 505 and the floating connection assembly 41 assembly are pushed into the return capsule, and the pressing surface of the lock groove 601 on the heat-resistant hatch 507 exceeds the fan-shaped surface of the lock tongue 602, the tension generated by the spring 411 in the floating connection assembly 41 causes the lock tongue 602 to rotate. The rotation radius of the lock tongue 602 gradually increases, generating a frictional locking force to prevent the sample container 505 and the floating connection assembly 41 assembly from retracting, and the heat-resistant hatch 507 remains closed. In addition, a high-friction coating is applied to the contact area of ​​the pressing surfaces of the latch 602 and the locking groove 601 to further increase the friction of the pressing surfaces.

[0054] Specifically, the unlocking component of this application is used to unlock the sampling detector 50 containing the unlocking structure, and the unlocking operation is performed from inside the sampling detector 50.

[0055] Figure 8 This is a schematic diagram of an example of an unlocking component of an unlocking system for a sample packaging container according to an embodiment of this application.

[0056] exist Figure 8 In the example, the unlocking component 70 of this application includes a hand-held pull ring 71 and a hook 72 extending outward from the hand-held pull ring 71. The hand-held pull ring 71 is a hollow ring, and the hook 72 can extend into a gap of a specified distance (specifically according to the gap between the lock groove 601 and the lock housing 603), said specified distance being less than or equal to 1 mm.

[0057] Specifically, the hook plate 72 is designed in the shape of a hook, which makes it easy to insert into the gap between the lock groove 601 and the lock box housing 603 in a narrow space, and pull the lock tongue 602 so that the lock tongue 602 retracts into the lock box housing 603 for unlocking operation.

[0058] Figure 9 This is a schematic diagram of another example of the unlocking component of the unlocking system for the sample packaging container, which is an embodiment of this application.

[0059] exist Figure 9 In the example, the unlocking component 70 of this application includes a handle 73 and a hook 72 extending outward from the handle 73. The handle 73 is rectangular and includes two circular hollow portions. The hook 72 can extend into a gap of a specified distance (specifically depending on the gap between the lock groove 601 and the lock housing 603), said specified distance being less than or equal to 1 mm.

[0060] Specifically, the hook plate 72 is designed in the shape of a hook, which makes it easy to insert into the gap between the lock groove 601 and the lock box housing 603 in a narrow space, and pull the lock tongue 602 so that the lock tongue 602 retracts into the lock box housing 603 for unlocking operation.

[0061] Next, the unlocking assembly 70 is used to reliably unlock multiple eccentric locks on the inside of the heat-resistant hatch. With the assistance of augmented reality (AR) technology, the hook 72 of the unlocking assembly 70 is inserted into the gap between the lock housing 603 and the lock groove 601, and the hook 72 is pulled away from the rotation axis 604 to push the eccentric lock tongue 602 back into the lock housing 603, thus completing the unlocking operation.

[0062] While keeping the latch 602 retracted, remove the fixing screws between the floating connection assembly 41 and the sealed hatch, and use the remaining spring force of the spring 411 to pop out the heat-resistant hatch, which can reliably unlock in the blind spot, thus solving the problem of blind spot unlocking.

[0063] It should be noted that the above is only an optional example and should not be construed as a limitation of this application.

[0064] Compared with the prior art, this application utilizes the clamping tooling in the floating connection kit to counteract the preload of the spring in the floating connection assembly, thereby safely and effectively clamping the floating connection assembly; it uses the unlocking assembly to reliably unlock multiple eccentric locks on the inside of the heat-resistant hatch; and with the assistance of an augmented reality-enabled device, it performs spatial registration between the target visual blind spot and the unlocking assembly, identifies the cable layout within the target visual blind spot, and plans the operation path, which can effectively assist the unlocking assembly in unlocking operations and more effectively achieve reliable unlocking and removal of the sample packaging container.

[0065] Furthermore, this application can meet the requirement of retrieving the sample container from the confined space of the return capsule, while minimizing the impact on other equipment and cables inside the capsule, thus solving the problem of difficulty in retrieving the sample container from the sampling detector's return capsule.

[0066] Furthermore, the unlocking system of this application can complete the entire process within 30 minutes with only one operator, which can effectively save human resources and improve operational efficiency.

[0067] like Figure 10 As shown, this application provides a method for unlocking a sample packaging container, which is executed using the unlocking system for sample packaging containers described in this application. The unlocking method includes the following steps.

[0068] First, in step S101, the auxiliary device is used to spatially register the target visual blind spot and the unlocking component, identify the cable layout in the target visual blind spot and plan the operation path, and use the unlocking component to unlock the eccentric lock of the hatch in the sampling detector.

[0069] Specifically, first, 3D models of the return capsule, floating connection kit, and unlocking components are acquired, and digital twin models are established. Using an AR-assisted device (head-mounted display) equipped with an RGB camera, depth sensor, and inertial measurement unit (IMU), real-time visual and depth perception is achieved within the operation space of the return capsule. By fusing RGB image features with IMU motion information using a visual-inertial SLAM algorithm, the six-degree-of-freedom pose of the AR head-mounted display in the local coordinate system of the return capsule is acquired in real time, and 3D environmental data of the operation area is constructed.

[0070] Then, spatial registration is performed based on the 3D environmental data of the operating area and the 3D model of the return capsule. The 3D environmental data of the narrow space inside the return capsule acquired by the AR-assisted device (head-mounted device) is matched with the pre-established 3D model of the return capsule. By identifying spatial features such as structural components, mounting holes, and connection interfaces inside the return capsule, the position and attitude relationship between the 3D environmental data of the operating area and the 3D model of the return capsule is determined. Based on the above position and attitude relationship, the 3D model of the return capsule is adjusted so that the position of the target components (sealed hatch connector, floating connection assembly, hatch eccentric lock, and surrounding cables) in the 3D model of the return capsule corresponds to the corresponding components in the actual spacecraft, so as to obtain the position and attitude information of the target components (sealed hatch connector, floating connection assembly, hatch eccentric lock) in the AR-assisted device (head-mounted device).

[0071] Furthermore, based on the real-time position and observation direction of the AR assist device (head-mounted device), it is determined whether the target component (sealed hatch connector, floating connection assembly, hatch eccentric lock) is obstructed by structural components or cables inside the spacecraft. When it is determined that the target component is in the operator's blind spot, the spatial position of the target component is determined based on the three-dimensional model of the return capsule, and the position and operation direction of the target component are displayed in the display area of ​​the AR assist device (head-mounted device), and the operation blind spot is virtually transparent (e.g., highlighted in the head-mounted device).

[0072] Finally, the operation path planning and AR-guided operation in the confined space are completed. Cables, structural components, and other parts that may interfere with the unlocking operation within the visual blind spot are identified. The spatial position, shape, and size of each interfering component are determined based on the 3D environmental data and the 3D model of the return device. A 3D obstacle model of the operation area is established based on the spatial position and size of the interfering components, and a preset safety interval (e.g., not less than 5mm) is set on the basis of the 3D obstacle model to form a prohibited area for operation path planning. The operation path is determined based on the specific position, target attitude, and preset entry direction of the target component (sealed hatch connector, floating connection assembly, hatch eccentric lock). The current position of the operation tool (clamping fixture, unlocking assembly) obtained by the AR-assisted device (head-mounted device) is used as the path starting point. A path planning algorithm searches for a collision-free path from the path starting point to the target component within the operation area. The collision-free path is optimized based on at least one of the following: path length, safe distance from interfering components, change in the posture of the operating tool, and the operator's operating posture, to obtain a target operating path. This target operating path is then displayed in the field of view of the AR assistive device (head-mounted device) as a virtual guide line, directional arrow, or path marker to guide the operator in performing the operation. When the distance between the operating tool and the 3D obstacle model of the operating area is less than a preset safe distance, it is determined that the current operating path has an interference risk. In this case, a new collision-free path from the operating tool to the target component is planned, and the path guidance information in the AR assistive device (head-mounted device) is updated.

[0073] It should be noted that the above is only an optional example and should not be construed as a limitation of this application.

[0074] Next, in step S102, after the unlocking operation, the clamping constraint of the clamping fixture on the floating connection assembly is released so that the sample packaging container can be removed.

[0075] Using an auxiliary device to identify and position the floating connection component, the clamping constraint of the clamping tooling is released while maintaining the retracted locking tongue state.

[0076] Specifically, the clamping fixtures (including the first clamp assembly 46 and the second clamp assembly 48) installed on the outside of the floating connection assembly 41 are released from their clamping constraints. The fasteners (e.g., connecting bolts) between the first clamp assembly 46 and the second clamp assembly 48 are loosened by alternating rotation, thereby releasing the preload of the spring within the floating connection assembly 41. This allows the heat-resistant hatch to automatically eject a set distance under the residual spring force (i.e., the force released by the spring) within the floating connection assembly 41. The clamping fixtures and the floating connection assembly 41 are then removed, followed by the guide rod, bracket, and tail bracket. Finally, the sample packaging container is removed.

[0077] It should be noted that the above is only an optional example and should not be construed as a limitation of this application.

[0078] Compared with the prior art, this application utilizes the clamping tooling in the floating connection kit to counteract the preload of the spring in the floating connection assembly, thereby safely and effectively clamping the floating connection assembly; it uses the unlocking assembly to reliably unlock multiple eccentric locks on the inside of the heat-resistant hatch; and with the assistance of an augmented reality-enabled device, it performs spatial registration between the target visual blind spot and the unlocking assembly, identifies the cable layout within the target visual blind spot, and plans the operation path, which can effectively assist the unlocking assembly in unlocking operations and more effectively achieve reliable unlocking and removal of the sample packaging container.

[0079] Furthermore, this application can meet the requirement of retrieving the sample container from the confined space of the return capsule, while minimizing the impact on other equipment and cables inside the capsule, thus solving the problem of difficulty in retrieving the sample container from the sampling detector's return capsule.

[0080] Furthermore, the unlocking system of this application can complete the entire process within 30 minutes with only one operator, which can effectively save human resources and improve operational efficiency.

Claims

1. An unlocking system for a sample packaging container, characterized in that, include: A floating connection kit includes a floating connection assembly and a clamping fixture for clamping the floating connection assembly, the clamping fixture including a first clamp assembly and a second clamp assembly to counteract the preload force within the floating connection assembly; The unlocking assembly includes a hand-held pull ring and a hook extending outward from the hand-held pull ring, the hook being able to extend into a gap of a specified distance for unlocking from inside the sampling detector; the sampling detector contains a sample encapsulation container. An auxiliary device is used to spatially register the target visual blind spot and the unlocking component, identify the cable layout within the target visual blind spot and plan the operation path to assist the unlocking component in performing the unlocking operation.

2. The unlocking system for a sample packaging container according to claim 1, characterized in that, The first clamp assembly is used to secure the clamping ring of the floating connection assembly and the sealing hatch connector. The first clamp assembly includes a first sub-component and a second sub-component arranged symmetrically, and both the first sub-component and the second sub-component are arched components.

3. The unlocking system for a sample packaging container according to claim 2, characterized in that, The first clamp assembly includes a first clamp and a second clamp arranged symmetrically. The first clamp includes a first main body, a first extension extending outward from the main body, and a second extension. The first main body is provided with a first mounting hole, the end of the first extension is provided with a second mounting hole, and the end of the second extension is provided with a third mounting hole.

4. The unlocking system for a sample packaging container according to claim 2, characterized in that, The second clamp includes a first mating hole symmetrically arranged with the first mounting hole, a second mating hole mating with the second mounting hole, and a third mating hole mating with the third mounting hole.

5. The unlocking system for a sample packaging container according to claim 4, characterized in that, The central axis of the first mounting hole is perpendicular to the central axis of the second mounting hole, and the central axis of the first mounting hole is parallel to the central axis of the third mounting hole; and / or The central axis of the first mating hole is perpendicular to the central axis of the second mating hole, and the central axis of the first mating hole is parallel to the central axis of the third mating hole.

6. The unlocking system for a sample packaging container according to claim 1, characterized in that... The second clamp assembly is used to secure the spring kit; The second clamp assembly includes a first sub-component and a second sub-component arranged symmetrically.

7. The unlocking system for a sample packaging container according to claim 6, characterized in that, The thickness of the central portion of the first sub-component is greater than or equal to 6 mm; the thickness of the central portion of the second sub-component is the same as the thickness of the central portion of the first sub-component; and / or The first sub-component includes a first through hole, a second through hole, and a third through hole. The central axis of the first through hole is perpendicular to the central axis of the second through hole, and the central axis of the first through hole is perpendicular to the central axis of the third through hole. The connecting fasteners pass through the first through hole of the first sub-component, the first through hole of the second sub-component, and the first mounting hole and the first mating hole corresponding to the first clamp assembly, respectively, to fix the first clamp assembly and the second clamp assembly, and to jointly press the floating connection assembly.

8. The unlocking system for a sample packaging container according to claim 1, characterized in that, The hook can extend to a specified distance of less than or equal to 1 mm; and / or The hook is hook-shaped and is inserted into the gap between the lock slot of the sampling detector and the lock box housing, pulling the lock tongue and causing the hook to retract into the lock box housing for unlocking.

9. The unlocking system for a sample packaging container according to claim 1 or 8, characterized in that, The target visual blind spots include the area behind the sealed hatch connector in the sampling detector return capsule, the area behind the floating connection assembly, and the installation location of the hatch eccentric lock near the heat-resistant hatch.

10. A method for unlocking a sample packaging container, characterized in that, It is performed using the unlocking system for sample packaging containers as described in any one of claims 1 to 9, comprising: Using an auxiliary device, spatial registration is performed between the target's visual blind spot and the unlocking component. The cable layout within the target's visual blind spot is identified and an operation path is planned. The unlocking component is then used to unlock the eccentric lock on the hatch inside the sampling detector. After the unlocking operation, the clamping fixture is released from its clamping constraint on the floating connection assembly to allow the sample packaging container to be removed.

Images