Asteroid adsorption and sampling integrated mechanism

Abstract

The utility model discloses an asteroid adsorption and sampling integrated mechanism, and relates to the technical field of detector adsorption and sampling devices, the asteroid adsorption and sampling integrated mechanism comprises a detector main body and a landing device connected to the lower end of the detector main body, a plurality of flexible support air bags are uniformly arranged around the landing device, and a pressure sensor is arranged in each flexible support air bag; the pressure sensors are in signal connection with the control module, flexible pneumatic clamping rings are arranged on the faces, facing the ground, of the flexible supporting air bags, clamping ring inflation ports and clamping ring deflation ports are formed in the flexible pneumatic clamping rings, the flexible supporting air bags are fixed to an unfolding mechanism of the landing equipment, and the unfolding mechanism is connected with the control module. The landing equipment is provided with an air inflation device and an air exhaust device. The utility model aims to solve the problems that the escape speed of a detector is low and the detector is difficult to stably sample on the surface on which broken stones are accumulated when the asteroid lands, so that the reliability of sampling on the surface of the asteroid is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to probe adsorption and sampling device technical field, especially to a kind of asteroid adsorption and sampling integrated mechanism. BACKGROUND

[0002] The low-gravity environment and lack of atmosphere of asteroids, combined with the surface covered with debris, create a complex landing and sampling challenge. Under such conditions, the probe is easily subjected to a severe impact when landing, which can cause its rebound speed to exceed the escape velocity of the asteroid, ultimately leading to a failed landing and unable to perform sampling work.

[0003] The current asteroid landing equipment lacks adaptability in such complex environments, and its stability and reusability are not ideal, which often leads to unsuccessful landing of the probe, thereby affecting the continuity of deep space exploration missions. Therefore, it is necessary to develop a new device that can maintain stability in different complex asteroid landing environments to ensure high reliability of the probe's adsorption and sampling operation. SUMMARY

[0004] The utility model aims to provide a kind of asteroid adsorption and sampling integrated mechanism, to overcome the problem that the probe faces low escape velocity when landing on asteroid and is difficult to stably carry out sampling work on the surface of debris accumulation, thereby improving the reliability of sampling work on the surface of asteroid.

[0005] To achieve the above-mentioned purpose, the utility model provides the following scheme:

[0006] The utility model provides a kind of asteroid adsorption and sampling integrated mechanism, including probe main body and the landing equipment connected in the lower end of the probe main body, the periphery of the landing equipment is evenly provided with a plurality of flexible support air bags, each flexible support air bag is provided with a pressure sensor, the pressure sensor is signal connected with control module, the control module is arranged in the probe main body, each flexible support air bag is evenly provided with air bag inflation port and air bag deflation port, each flexible support air bag is evenly provided with a plurality of flexible pneumatic clamping rings on one side facing the ground, each flexible pneumatic clamping ring is provided with clamping ring inflation port and clamping ring deflation port.

[0007] Each flexible support air bag is fixed on the deployment mechanism of the landing equipment, the deployment mechanism is connected with the control module, and the deployment angle of the deployment mechanism is adjusted by the control module.

[0008] The landing device is provided with an inflating device and a deflating device, the inflating device is connected with the air bag inflating port and the clamping ring inflating port through an inflating gas path, the inflating gas path is provided with an inflating electromagnetic valve, the deflating device is connected with the air bag deflating port and the clamping ring deflating port through a deflating gas path, the deflating gas path is provided with a deflating electromagnetic valve, the inflating device, the deflating device, the inflating electromagnetic valve and the deflating electromagnetic valve are connected with the control module, and the inflating and deflating are controlled by the control module.

[0009] Preferably, the inflating device comprises an inflating gas cylinder and an inflating pump, the inflating gas cylinder is connected with the inflating pump, the inflating pump is connected with the inflating electromagnetic valve, and the inflating electromagnetic valve is connected with the air bag inflating port and the clamping ring inflating port through two paths.

[0010] Preferably, the deflating device comprises a deflating gas cylinder and a deflating pump, the deflating gas cylinder is connected with the deflating pump, the deflating pump is connected with the deflating electromagnetic valve, and the deflating electromagnetic valve is connected with the air bag deflating port and the clamping ring deflating port through two paths.

[0011] Preferably, four flexible supporting air bags are uniformly arranged around the detector body, two inflating pumps are arranged, each inflating pump is connected with two flexible supporting air bags and the flexible pneumatic clamping ring thereon through a gas path, two deflating pumps are arranged, and each deflating pump is connected with two flexible supporting air bags and the flexible pneumatic clamping ring thereon through a gas path.

[0012] Preferably, eight flexible pneumatic clamping rings are arranged on one side of each flexible supporting air bag, which faces the ground.

[0013] Preferably, a clamping ring support is fixedly bonded on the flexible pneumatic clamping ring, and the clamping ring support is fixedly bonded on the flexible supporting air bag.

[0014] Preferably, the flexible pneumatic clamping ring is in a disc shape, and a circular groove is arranged on the inner side of the flexible pneumatic clamping ring.

[0015] Preferably, the clamping ring inflating port and the clamping ring deflating port are arranged on the two sides of the flexible pneumatic clamping ring.

[0016] Preferably, the gas paths connected with the clamping ring inflating port and the clamping ring deflating port are arranged in the interior of the flexible supporting air bag.

[0017] Preferably, the unfolding mechanism comprises a fixed plate, a movable plate, unfolding plates, connecting rods and a lead screw linear module, the fixed plate is fixed to the lower end of the detector main body, the movable plate is arranged below the fixed plate, a plurality of guide rods are fixedly arranged on the movable plate, the guide rods are slidingly arranged on the fixed plate, the lead screw linear module is installed on the fixed plate and connected with the movable plate, for driving the movable plate to ascend and descend, a plurality of unfolding plates are uniformly arranged around the fixed plate, one end of the unfolding plate is hingedly connected to the fixed plate, the other end is a free end, the connecting rods are connected between the unfolding plates and the movable plate, and the connecting rods are hingedly connected to the unfolding plates and the movable plate at two ends respectively, and the hingedly connected positions of the connecting rods and the unfolding plates are located between the two ends of the unfolding plates.

[0018] The utility model discloses relative to prior art has obtained following technical effect:

[0019] The utility model provides a kind of asteroid adsorption and sampling integrated mechanism, when landing equipment lands, flexible supporting air bag is contacted with ground, control module according to the pressure signal of real-time detection of pressure sensor, control inflator and air extraction device are inflated or deflated to flexible supporting air bag, realize the self-adaptive adjustment of flexible supporting air bag rigidity, to reduce the landing impact of landing equipment on asteroid surface, reduce contact rebound speed;Flexible supporting air bag and ground are evenly arranged on the surface contacted with, and there is flexible pneumatic clamping ring, when landing equipment is lowered to flexible supporting air bag and asteroid surface adhesion, flexible pneumatic clamping ring can adhere to the surface of asteroid, and flexible pneumatic clamping ring is inflated by inflator, to control flexible pneumatic clamping ring and pick up rubble from asteroid surface, improve the reliability of sampling work on asteroid surface;Flexible pneumatic clamping ring picks up rubble from asteroid surface, on one hand, it can increase the quality of probe, and there is some friction and other resistance between stone and stone, further reduce contact rebound speed, on the other hand, it can complete sampling task, i.e. realize asteroid adsorption and sampling integration.

[0020] Further, flexible pneumatic clamping ring adopts disc shape design, and circular annular groove is arranged in inner side, and this disc shape design makes flexible pneumatic clamping ring more closely adhere to the surface of asteroid, and the circular annular groove design in inner side enhances the gripping ability of flexible pneumatic clamping ring to asteroid surface rubble, so that it is more reliable and efficient when performing sampling task on asteroid surface. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings described in the following embodiments are only some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0022] Figure 1 The structural schematic diagram of the asteroid adsorption and sampling integrated mechanism in the embodiment of the present application is shown.

[0023] Figure 2 The connection relationship schematic diagram of the landing equipment and the flexible supporting air bag in the embodiment of the present application is shown.

[0024] Figure 3 The connection structure schematic diagram of the flexible supporting air bag and the flexible pneumatic clamping ring in the embodiment of the present application is shown.

[0025] Figure 4 The structural schematic diagram of the flexible pneumatic clamping ring in the embodiment of the present application is shown.

[0026] Figure 5 The structural schematic diagram of the flexible pneumatic clamping ring in the embodiment of the present application is shown.

[0027] Figure 6 The sectional isometric view of the flexible pneumatic clamping ring in the embodiment of the present application is shown.

[0028] Figure 7 The sectional front view of the flexible pneumatic clamping ring in the embodiment of the present application is shown.

[0029] In the drawings: 1-probe main body, 2-landing equipment, 3-flexible supporting air bag, 4-flexible pneumatic clamping ring, 5-clamping ring inflation port, 6-clamping ring deflation port, 7-inflation pump, 8-pump, 9-clamping ring support, 10-circular ring-shaped groove, 11-fixed plate, 12-moving plate, 13-unfolding plate, 14-connection rod, 15-screw straight line module, 16-guide rod, 17-air bag inflation port, 18-air bag deflation port. DETAILED DESCRIPTION

[0030] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, and not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0031] The utility model discloses an asteroid adsorption and sampling integrated mechanism, which is used to solve the problems of low escape velocity and difficulty in stable sampling on the surface of the asteroid with the existing technology, thereby improving the reliability of sampling on the surface of the asteroid.

[0032] In order to make the above-mentioned purpose, features and advantages of the utility model more obvious and easy to understand, the utility model is further described in detail below by combining with the drawings and specific embodiments.

[0033] As Figures 1-7 shown, the utility model provides an asteroid adsorption and sampling integrated mechanism, which comprises a detector main body 1 and a landing device 2 connected to the lower end of the detector main body 1, a plurality of flexible support air bags 3 are evenly arranged around the landing device 2, a pressure sensor is arranged in each flexible support air bag 3, the pressure sensor is signal connected with a control module, the control module is arranged in the detector main body 1, an air bag inflation port 17 and an air bag deflation port 18 are arranged on each flexible support air bag 3, a plurality of flexible pneumatic clamping rings 4 are evenly arranged on one side of each flexible support air bag 3 facing the ground, a clamping ring inflation port 5 and a clamping ring deflation port 6 are arranged on each flexible pneumatic clamping ring 4.

[0034] Each flexible support air bag 3 is fixed on a deployment mechanism of the landing device, the deployment mechanism is connected with the control module, the deployment angle of the deployment mechanism is adjusted by the control module, and then the deployment angle of each flexible support air bag 3 is adjusted.

[0035] An inflation device and an air extraction device are installed on the landing device, the inflation device is connected with the air bag inflation port 17 and the clamping ring inflation port 5 through an inflation gas path, an inflation electromagnetic valve is arranged on the inflation gas path, the air extraction device is connected with the air bag deflation port 18 and the clamping ring deflation port 6 through an air extraction gas path, an air extraction electromagnetic valve is arranged on the air extraction gas path, the inflation device, the air extraction device, the inflation electromagnetic valve and the air extraction electromagnetic valve are connected with the control module, and the inflation and deflation are controlled by the control module.

[0036] In the present institution, when the landing device 2 lands, the flexible supporting air bag 3 contacts with the ground, the control module controls the inflation device and the air extraction device to inflate or deflate the flexible supporting air bag 3 according to the pressure signal detected by the pressure sensor in real time, so as to realize the self-adaptive adjustment of the rigidity of the flexible supporting air bag 3, thereby reducing the landing impact of the landing device 2 on the surface of the asteroid and reducing the contact rebound speed; the flexible pneumatic clamping ring 4 is uniformly arranged on the surface of the flexible supporting air bag 3 in contact with the ground, when the landing device 2 descends to the surface of the asteroid and the flexible supporting air bag 3 is attached to the surface of the asteroid, the flexible pneumatic clamping ring 4 can be attached to the surface of the asteroid, the inflation device inflates the flexible pneumatic clamping ring 4, and then controls the flexible pneumatic clamping ring 4 to clamp the stones from the surface of the asteroid, thereby improving the reliability of the sampling work on the surface of the asteroid; the flexible pneumatic clamping ring 4 clamps the stones from the surface of the asteroid, which can increase the mass of the probe, and the friction between the stones and other resistances can further reduce the contact rebound speed, and on the other hand, the sampling task can be completed, that is, the asteroid adsorption and sampling integration is realized.

[0037] In the present embodiment, the inflation device includes an inflation cylinder and an inflation pump 7, the inflation cylinder is connected with the inflation pump 7, the inflation pump 7 is connected with an inflation electromagnetic valve, and the inflation electromagnetic valve is connected with the air bag inflation port 17 and the clamping ring inflation port 5 in two ways. When the flexible supporting air bag 3 needs to be inflated, the inflation electromagnetic valve is controlled and adjusted, so that the inflation pump 7 is connected with the air bag inflation port 17, and the inflation pump 7 inflates the flexible supporting air bag 3. When the flexible pneumatic clamping ring 4 needs to be inflated, the inflation electromagnetic valve is controlled and adjusted, so that the inflation pump 7 is connected with the clamping ring inflation port 5, and the inflation pump 7 inflates the flexible pneumatic clamping ring 4. After inflation, the air bag inflation port 17 and the clamping ring inflation port 5 are closed by the inflation electromagnetic valve to prevent gas leakage.

[0038] In the present embodiment, the air extraction device includes an air extraction cylinder and an air extraction pump 8, the air extraction cylinder is connected with the air extraction pump 8, the air extraction pump 8 is connected with an air extraction electromagnetic valve, and the air extraction electromagnetic valve is connected with the air bag deflation port 18 and the clamping ring deflation port 6 in two ways. When the flexible supporting air bag 3 needs to be deflated, the air extraction electromagnetic valve is controlled and adjusted, so that the air extraction pump 8 is connected with the air bag deflation port 18, and the air extraction pump 8 extracts air from the flexible supporting air bag 3. When the flexible pneumatic clamping ring 4 needs to be deflated, the air extraction electromagnetic valve is controlled and adjusted, so that the air extraction pump 8 is connected with the clamping ring deflation port 6, and the air extraction pump 8 extracts air from the flexible pneumatic clamping ring 4. The air bag deflation port 18 and the clamping ring deflation port 6 can also be closed by the air extraction electromagnetic valve to prevent gas leakage during inflation.

[0039] In this embodiment, four flexible supporting air bags 3 are evenly arranged around the detector main body 1, two air pumps 7 are arranged, each air pump 7 is connected with two flexible supporting air bags 3 and the flexible pneumatic clamping ring 4 thereon through an air path; two air pumps 8 are arranged, each air pump 8 is connected with two flexible supporting air bags 3 and the flexible pneumatic clamping ring 4 thereon through an air path. By simultaneously inflating the four flexible supporting air bags 3 or the flexible pneumatic clamping ring 4 thereon through the two air pumps, the inflation of each flexible supporting air bag 3 or the flexible pneumatic clamping ring 4 thereon is ensured to be synchronous, thereby ensuring the consistency of the internal pressure. By simultaneously exhausting the four flexible supporting air bags 3 or the flexible pneumatic clamping ring 4 thereon through the two air pumps 8, the exhaust of each flexible supporting air bag 3 or the flexible pneumatic clamping ring 4 thereon is ensured to be synchronous, thereby ensuring the consistency of the internal pressure release.

[0040] In this embodiment, each flexible supporting air bag 3 is provided with eight flexible pneumatic clamping rings 4 on the side facing the ground.

[0041] In this embodiment, the flexible pneumatic clamping ring 4 is fixedly bonded with a clamping ring support 9, and the clamping ring support 9 is fixedly bonded on the flexible supporting air bag 3.

[0042] In this embodiment, the flexible pneumatic clamping ring 4 is in a disc shape, and the inner side of the flexible pneumatic clamping ring 4 is provided with a circular groove 10. The disc shape design makes the flexible pneumatic clamping ring 4 more closely fit the surface of the asteroid, and the design of the circular groove 10 on the inner side enhances the grabbing ability of the flexible pneumatic clamping ring 4 to the asteroid surface gravel, making it more reliable and efficient when performing sampling tasks on the asteroid surface.

[0043] In this embodiment, the clamping ring inflation port 5 and the clamping ring exhaust port 6 are arranged on the two sides of the flexible pneumatic clamping ring 4.

[0044] In this embodiment, the air path connected with the clamping ring inflation port 5 and the clamping ring exhaust port 6 is arranged in the interior of the flexible supporting air bag 3, which can protect the air path and avoid damage to the air path.

[0045] The unfolding mechanism comprises a fixed plate 11, a movable plate 12, unfolding plates 13, connecting rods 14 and a screw linear module 15, the fixed plate 11 is fixed to the lower end of the detector main body 1, the movable plate 12 is arranged below the fixed plate 11, a plurality of guide rods 16 are fixedly arranged on the movable plate 12, the guide rods 16 are slidingly arranged on the fixed plate 11, the screw linear module 15 is installed on the fixed plate 11 and is connected with the movable plate 12, and the screw linear module 15 is used for driving the movable plate 12 to ascend and descend, a plurality of the unfolding plates 13 are uniformly arranged around the fixed plate 11, one end of each of the unfolding plates 13 is hingedly connected to the fixed plate 11, and the other end is a free end, the unfolding plates 13 are connected with the movable plate 12 through the connecting rods 14, the connecting rods 14 are hingedly connected to the unfolding plates 13 and the movable plate 12 at two ends respectively, and the hingedly connected positions of the connecting rods 14 and the unfolding plates 13 are located between the two ends of the unfolding plates 13, the slider in the screw linear module 15 is fixedly connected with the movable plate 12, the slider is driven to move linearly by rotating the screw in the screw linear module 15 through the motor in the screw linear module 15, and then the movable plate 12 is driven to ascend and descend, under the action of the connecting rods 14, the movable plate 12 ascends and descends, thereby driving the unfolding plates 13 to unfold or fold up.

[0046] The principle and implementation mode of the specific examples are described in the utility model, and the above embodiment is only used for helping to understand the method and core idea of the utility model; meanwhile, according to the idea of the utility model, the specific implementation mode and application range will be changed by the general technical personnel in the field. In conclusion, the content of the specification should not be understood as the limitation of the utility model.

Claims

1. An asteroid adsorption and sampling integrated mechanism, comprising a probe main body and a landing device connected to the lower end of the probe main body, characterized in that: The landing device is uniformly provided with a plurality of flexible supporting air bags around, each of the flexible supporting air bags is provided with a pressure sensor, the pressure sensor is signal connected with a control module, the control module is arranged in the detector main body, each of the flexible supporting air bags is provided with an air bag inflation port and an air bag deflation port, and each of the flexible supporting air bags is provided with a plurality of flexible pneumatic clamping rings which are uniformly distributed on the surface of the flexible supporting air bag and face the ground, and each of the flexible pneumatic clamping rings is provided with a clamping ring inflation port and a clamping ring deflation port. Each of the flexible supporting air bags is fixed on a deployment mechanism of the landing device, the deployment mechanism is connected with the control module, and the deployment angle of the deployment mechanism is adjusted by the control module. The landing device is provided with an inflation device and an air extraction device, the inflation device is connected with the air bag inflation port and the clamping ring inflation port through an inflation gas path, the inflation gas path is provided with an inflation electromagnetic valve, the air extraction device is connected with the air bag deflation port and the clamping ring deflation port through an air extraction gas path, the air extraction gas path is provided with an air extraction electromagnetic valve, and the inflation device, the air extraction device, the inflation electromagnetic valve and the air extraction electromagnetic valve are connected with the control module and controlled by the control module to inflate and deflate.

2. The asteroid adsorption and sampling integrated mechanism according to claim 1, characterized in that: The inflation device comprises an inflation gas cylinder and an inflation pump, the inflation gas cylinder is connected with the inflation pump, the inflation pump is connected with the inflation electromagnetic valve, and the inflation electromagnetic valve is connected with the air bag inflation port and the clamping ring inflation port through two paths.

3. The asteroid adsorption and sampling integrated mechanism according to claim 2, characterized in that: The air extraction device comprises an air extraction gas cylinder and an air extraction pump, the air extraction gas cylinder is connected with the air extraction pump, the air extraction pump is connected with the air extraction electromagnetic valve, and the air extraction electromagnetic valve is connected with the air bag deflation port and the clamping ring deflation port through two paths.

4. The asteroid adsorption and sampling integrated mechanism according to claim 3, characterized in that: The detector main body is uniformly provided with four flexible supporting air bags around, the inflation pump is provided with two, each of the inflation pumps is connected with two flexible supporting air bags and the flexible pneumatic clamping rings thereon through a gas path, the air extraction pump is provided with two, and each of the air extraction pumps is connected with two flexible supporting air bags and the flexible pneumatic clamping rings thereon through a gas path.

5. The asteroid adsorption and sampling integrated mechanism according to claim 1, characterized in that: Each of the flexible supporting air bags is provided with eight flexible pneumatic clamping rings on the surface thereof and faces the ground.

6. The asteroid adsorption and sampling integrated mechanism according to claim 1, characterized in that: The flexible pneumatic clamping ring is circular disc-shaped, and the inner side of the flexible pneumatic clamping ring is provided with a circular groove.

7. The asteroid adsorption and sampling integrated mechanism according to claim 1, characterized in that: The clamping ring inflation port and the clamping ring deflation port are arranged on the two sides of the flexible pneumatic clamping ring respectively.

8. The asteroid adsorption and sampling integrated mechanism according to claim 7, characterized in that: The gas path connected with the clamping ring inflation port and the clamping ring deflation port is arranged in the interior of the flexible supporting air bag.

9. The asteroid adsorption and sampling integrated mechanism according to claim 1, characterized in that: ​ 10. The asteroid adsorption and sampling integrated mechanism according to claim 1, characterized in that: The unfolding mechanism comprises a fixed plate, a movable plate, unfolding plates, connecting rods and a screw linear module, the fixed plate is fixed to the lower end of the detector main body, the movable plate is arranged below the fixed plate, a plurality of guide rods are fixedly arranged on the movable plate, the guide rods are slidingly arranged on the fixed plate, the screw linear module is installed on the fixed plate and connected with the movable plate, for driving the movable plate to ascend and descend, a plurality of unfolding plates are uniformly arranged around the fixed plate, one end of each unfolding plate is hingedly connected to the fixed plate, the other end is a free end, the unfolding plates and the movable plate are connected through the connecting rods, the connecting rods are hingedly connected to the unfolding plates and the movable plate at two ends respectively, and the hinged connection positions of the connecting rods and the unfolding plates are located between the two ends of the unfolding plates.

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