Classified storage device and lunar sample classified processing system

Abstract

A classified storage device (100) and a lunar sample classified processing system. The classified storage device (100) comprises a storage structure (400), a support structure (300), and a moving structure (200). The storage structure (400) comprises core barrels (401) for storing lunar samples. The support structure (300) is provided with fixing holes (3021), and one end of each core barrel (401) is detachably inserted into a corresponding fixing hole (3021). The moving structure (200) comprises a gantry (210) adjacent to the support structure (300) and a transferring manipulator (220), and the transferring manipulator (220) is used for pulling the core barrel (401) upwards out of the fixing hole (3021) or inserting the core barrel (401) downwards into the fixing hole (3021).

Description

A hierarchical storage device and lunar sample hierarchical processing system Technical Field

[0001] The present application belongs to the field of lunar exploration technology, and in particular relates to a hierarchical storage device and a lunar sample hierarchical processing system. Background Art

[0002] The moon has broad prospects for scientific exploration and rich resources. Therefore, the exploration of lunar information is of great significance to the sustainable development of mankind.

[0003] During lunar exploration missions, studying lunar soil parameters and properties is essential for in-depth understanding of lunar geology. Collecting lunar soil samples from different depths and storing lunar rock samples from different locations on the moon separately are sufficient means for in-depth understanding of lunar geology.

[0004] However, the existing lunar rock sample preservation device stores multiple lunar rock samples in a unified manner and cannot store lunar rock samples located at different soil depths, which is not conducive to subsequent in-depth analysis of lunar information. Technical issues

[0005] The purpose of the embodiments of the present application is to provide a hierarchical storage device to solve the problem of how to store different lunar samples separately. Solution

[0006] To achieve the above objectives, the technical solution adopted in this application is:

[0007] In a first aspect, a hierarchical storage device is provided, comprising:

[0008] A storage structure, comprising a core tube for storing lunar samples, wherein a plurality of core tubes are provided;

[0009] The supporting structure is provided with a fixing hole, wherein the fixing hole has an opening facing upward, and a plurality of the fixing holes are arranged at intervals, and one end of each of the core tubes is detachably inserted into each of the fixing holes; and

[0010] The movable structure includes a gantry adjacent to the supporting structure and a material moving robot connected to the gantry in a horizontal sliding direction. The material moving robot is used to pull the core tube upward from the fixing hole or insert the core tube downward into the fixing hole.

[0011] In some embodiments, the material transfer robot includes a clamping assembly for clamping the core tube and a lifting assembly for driving the clamping assembly to move up and down, and the lifting assembly is connected to the gantry by sliding in a horizontal direction.

[0012] In some embodiments, the clamping assembly includes a clamping base connected to the lifting assembly, a clamping arm rotatably connected to the clamping base, a clamping driver connected to the clamping base, and a connecting rod with one end rotatably connected to the output shaft of the clamping driver. Two connecting rods are provided, and the other ends of the two connecting rods are rotatably connected to the two clamping arms respectively.

[0013] In some embodiments, a transfer groove is formed on a side surface of the clamping arm, and one end of the connecting rod is located in the transfer groove and is rotatably connected to the clamping arm.

[0014] In some embodiments, the clamping assembly further includes a crossbar connected to the output shaft of the clamping driver, and both ends of the crossbar are rotatably connected to the two connecting rods.

[0015] In some embodiments, the lifting assembly includes a column that is slidably connected to the gantry in a horizontal direction, a lifting drive connected to the column, and a lifting slide that is slidably connected to the column. The clamping assembly is connected to the lifting slide, and the lifting drive is used to drive the lifting slide to slide back and forth along the axial direction of the column.

[0016] In some embodiments, the gantry includes a support column, a crossbeam, a horizontal slide connected to the material transfer robot, and a horizontal driver connected to the crossbeam. Two support columns are arranged at intervals, and the two ends of the crossbeam are respectively connected to the two support columns. The horizontal slide slides in the horizontal direction and is connected to the crossbeam. The horizontal driver is used to drive the horizontal slide to slide back and forth.

[0017] In some embodiments, the support structure includes a positioning tube for accommodating the core tube, a fixing seat with a receiving cavity, and a heating component located in the receiving cavity. The fixing hole is opened in the fixing seat and connected to the receiving cavity, and each fixing hole is correspondingly provided with a heating component and a positioning tube. The positioning tube is inserted into the fixing hole and connected to the heating component.

[0018] In some embodiments, the heating assembly includes a carrier platform located in the accommodating cavity, a temperature controller connected to the carrier platform, and a heater disposed on the carrier platform and located in the positioning tube.

[0019] In a second aspect, a lunar sample grading processing system is provided, which includes the grading storage device. The lunar sample grading processing system also includes a coring robot, which is used to pick up the lunar samples and load the lunar samples into the coring tube. Beneficial effects

[0020] The beneficial effects of the hierarchical storage device provided by the embodiment of the present application are as follows: the hierarchical storage device includes a support structure, a storage structure detachably arranged on the support structure, and a mobile structure for moving the storage structure. The storage structure includes multiple coring tubes, and each coring tube can be used to accommodate lunar core samples at different locations. The mobile structure can pull the coring tube out of the fixed hole, or insert the coring tube containing the lunar core sample into the fixed hole, thereby realizing the separate storage of lunar core samples at different locations, which is conducive to the subsequent in-depth analysis and research of lunar information. Lunar rock samples with different location information can be stored separately in the hierarchical storage device. The device can meet the needs of segmented storage of multiple sections of lunar rock samples, and can separately control the temperature information of each section of lunar rock samples at different depths, and can realize the storage, access and movement management of lunar rock samples. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or exemplary technical descriptions. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0022] FIG1 is a schematic diagram of the three-dimensional structure of a hierarchical storage device provided in an embodiment of the present application;

[0023] FIG2 is an exploded schematic diagram of the hierarchical storage device of FIG1 ;

[0024] FIG3 is a schematic perspective structural diagram of a clamping assembly of the hierarchical storage device of FIG2 ;

[0025] FIG4 is an exploded schematic diagram of the support structure of the hierarchical storage device of FIG2 ;

[0026] FIG. 5 is a schematic cross-sectional view of a support structure of the hierarchical storage device of FIG. 2 . Modes for Carrying Out the Invention

[0027] In order to make the purpose, technical solutions and advantages of this application more clear, the following further describes this application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0028] It should be noted that when a component is referred to as being "fixed on" or "disposed on" another component, it may be directly on the other component or indirectly on the other component. When a component is referred to as being "connected to" another component, it may be directly or indirectly connected to the other component. The terms "upper", "lower", "left", "right", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They are only for the convenience of description and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as limitations on this application. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances. The terms "first" and "second" are only used for the purpose of convenience of description and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features. "Multiple" means two or more, unless otherwise clearly and specifically defined.

[0029] 1 to 3 , an embodiment of the present application provides a hierarchical storage device 100 and a lunar sample hierarchical processing system.

[0030] 1 to 3 , the hierarchical storage device 100 includes a supporting structure 300 , a storage structure 400 detachably disposed on the supporting structure 300 , and a moving structure 200 for moving the storage structure 400 .

[0031] The storage structure 400 includes a core tube 401 for storing lunar samples, and multiple core tubes 401 are provided. It can be understood that the core tube 401 has an inner cavity for storing lunar core samples. Multiple core tubes 401 can thus store lunar core samples from different locations and manage them separately.

[0032] Please refer to Figures 1 to 3. The support structure 300 is provided with a fixing hole 3021. The fixing hole 3021 has an upward-facing opening, and a plurality of the fixing holes 3021 are arranged at intervals. The number of the fixing holes 3021 is adapted to the number of the core tubes 401, so that one end of each core tube 401 can be detachably inserted into each fixing hole 3021 to support and fix the core tube 401.

[0033] Referring to Figures 1 to 3, the mobile structure 200 includes a gantry 210 adjacent to the support structure 300 and a material transfer robot 220 slidably connected to the gantry 210 in a horizontal direction. It is understood that the range of movement of the material transfer robot 220 on the gantry 210 covers the arrangement area of ​​each fixing hole 3021, so that the material transfer robot 220 can pull the coring tube 401 upward out of the fixing hole 3021, allowing the coring robot to load the lunar core sample into the coring tube 401. The material transfer robot 220 can also insert the coring tube 401 containing the lunar core sample downward into the fixing hole 3021 to maintain the stability of the coring tube 401.

[0034] Please refer to Figures 1 to 3. The hierarchical storage device 100 provided in this embodiment includes a support structure 300, a storage structure 400 detachably arranged on the support structure 300, and a mobile structure 200 for moving the storage structure 400. The storage structure 400 includes a plurality of core tubes 401, and each core tube 401 can be used to accommodate lunar core samples at different positions. The mobile structure 200 can pull the core tube 401 out of the fixed hole 3021, or insert the core tube 401 containing the lunar core sample into the fixed hole 3021, thereby realizing the storage of lunar core samples at different positions, which is conducive to the subsequent in-depth analysis and research of lunar information.

[0035] 1 to 3 , optionally, the fixing holes 3021 are arranged linearly on the support structure 300. It is also understandable that the fixing holes 3021 can be arranged in a honeycomb pattern, thereby saving space when there are many core tubes 401.

[0036] In some embodiments, the material transfer robot 220 includes a clamping assembly 221 for clamping the core tube 401 and a lifting assembly 222 for driving the clamping assembly 221 to move up and down. The lifting assembly 222 is slidably connected to the gantry 210.

[0037] Please refer to Figures 1 to 3. Optionally, the lifting assembly 222 slides into place in the horizontal direction so that the clamping assembly 221 is located above one of the core tubes 401. The lifting assembly 222 drives the clamping assembly 221 to descend so that the clamping assembly 221 can clamp one end of the core tube 401. The lifting assembly 222 then drives the clamping assembly 221 to rise, and the core tube 401 rises together with the clamping assembly 221 and disengages from the fixing hole 3021, and vice versa.

[0038] It is understandable that the lifting assembly 222 can slide back and forth on the gantry 210 , thereby enabling the clamping assembly 221 to operate on each core barrel 401 .

[0039] Please refer to Figures 1 to 3. In some embodiments, the clamping assembly 221 includes a clamping base 2211 connected to the lifting assembly 222, a clamping arm 2213 rotatably connected to the clamping base 2211, a clamping driver 2212 connected to the clamping base 2211, and a connecting rod 2214 with one end rotatably connected to the output shaft of the clamping driver 2212. Two connecting rods 2214 are provided, and the other ends of the two connecting rods 2214 are rotatably connected to the two clamping arms 2213 respectively.

[0040] Optionally, the plane determined by the rotation trajectory of the clamping arm 2213 is parallel to the sliding direction of the clamping base 2211, the clamping driver 2212 can be a linear reciprocating motor, the output shaft of the clamping driver 2212 moves downward, and the two connecting rods 2214 respectively drive the two clamping arms 2213 to rotate, so that the lower ends of the two clamping arms 2213 move toward each other to clamp the core tube 401, and vice versa.

[0041] Please refer to Figures 1 to 3. Optionally, the linear reciprocating motor can achieve extension, contraction and speed regulation of the motor output shaft through a DC power supply or square wave pulses. When the motor output shaft is in a contracted state, the two clamping arms 2213 that grasp the core tube 401 are in a closed state. At this time, the clamping assembly 221 can grasp the core tube 401. When the motor output shaft is in an extended state, the clamping assembly 221 that grasps the core tube 401 is in an open state. At this time, the clamping assembly 221 releases the core tube 401.

[0042] Referring to FIG. 1 to FIG. 3 , in some embodiments, a side surface of the clamping arm 2213 is provided with a transfer groove 2216 , and one end of the connecting rod 2214 is located in the transfer groove 2216 and rotatably connected to the clamping arm 2213 .

[0043] It is understandable that a bolt may be provided in the adapter groove 2216 , and a through hole may be provided at one end of the connecting rod 2214 , so that the rotational connection between the clamping arm 2213 and the connecting rod 2214 is achieved through the cooperation between the bolt and the through hole.

[0044] Referring to FIG. 1 to FIG. 3 , in some embodiments, the clamping assembly 221 further includes a crossbar 2215 connected to the output shaft of the clamping driver 2212 , and both ends of the crossbar 2215 are rotatably connected to the two connecting rods 2214 .

[0045] Alternatively, the reciprocating linear movement of the crossbar 2215 can drive the rotation of the connecting rod 2214 and the contraction or expansion of the two clamping arms 2213. The free ends of the clamping arms 2213 are provided with grooves 2217. When the two clamping arms 2213 contract, they clamp the two side surfaces of the core tube 401 through the two grooves 2217.

[0046] Please refer to Figures 1 to 3. In some embodiments, the lifting assembly 222 includes a column 2221 that is slidably connected to the gantry 210 in a horizontal direction, a lifting driver 2223 connected to the column 2221, and a lifting slide 2222 that is slidably connected to the column 2221. The clamping assembly 221 is connected to the lifting slide 2222, and the lifting driver 2223 is used to drive the lifting slide 2222 to slide back and forth along the axial direction of the column 2221.

[0047] Optionally, the lifting driver 2223 can drive the lifting slide 2222 to slide back and forth in the vertical direction through a screw mechanism, thereby driving the clamping assembly 221 to move up and down.

[0048] Optionally, the lifting driver 2223 is a stepper motor, which is connected to the lifting slide 2222 through a ball screw, and the stepper motor and the ball screw are connected through a coupling. The stepper motor is rotated by an external drive device, and the rotation driven by the ball screw is converted into the up and down movement of the lifting slide 2222 along the Z axis.

[0049] Optionally, the clamping base 2211 is fixed to the lifting slide 2222 through a fixing plate 305, so that it can move by the movement of the lifting slide 2222 along the Z axis. Similarly, when the lifting slide 2222 moves in the horizontal direction, the clamping base 2211 moves together, that is, moves along the X axis.

[0050] Please refer to Figures 1 to 3. In some embodiments, the gantry 210 includes a support column 201, a beam 202, a horizontal slide 205 connected to the material transfer robot 220, and a horizontal driver 203 connected to the beam 202. Two support columns 201 are arranged at intervals, and the two ends of the beam 202 are respectively connected to the two support columns 201. The horizontal slide 205 slides in the horizontal direction and is connected to the beam 202. The horizontal driver 203 is used to drive the horizontal slide 205 to slide back and forth.

[0051] Optionally, the horizontal driver 203 may also be a stepper motor, and the horizontal driver 203 may also drive the horizontal slide 205 to move back and forth along the X-axis via a ball screw. The column 2221 is connected to the horizontal slide 205 so that it can move along the X-axis together with the horizontal slide 205 .

[0052] Optionally, the effective stroke of the ball screw in combination with the lifting slide 2222 or the horizontal slide 205 is 300 mm, which can meet the working requirements of a storage array containing no more than 3 core tubes 401. If more lunar soil samples need to be stored, similar assembly and construction methods can be used for expansion, and the ball screw and slide can be selected as models with a longer effective stroke.

[0053] Please refer to Figures 4 to 5. In some embodiments, the support structure 300 includes a positioning tube 303 for accommodating the core tube 401, a fixing seat 302 with a accommodating cavity 3022, and a heating component 301 located in the accommodating cavity 3022. The fixing hole 3021 is opened in the fixing seat 302 and connected to the accommodating cavity 3022, and each fixing hole 3021 is correspondingly provided with a heating component 301 and the positioning tube 303. The positioning tube 303 is inserted into the fixing hole 3021 and connected to the heating component 301.

[0054] Referring to Figures 4 and 5 , core tube 401 can optionally store a 250mm long lunar soil sample and can be moved by cooperating with the coring robot's gripper. Heating assembly 301 heats and insulates core tube 401 within positioning tube 303, maintaining the lunar core sample within core tube 401 at the original coring temperature or at a suitable temperature.

[0055] In some embodiments, the heating assembly 301 includes a carrier 3012 located in the accommodating cavity 3022 , a temperature controller 3011 connected to the carrier 3012 , and a heater 3015 disposed on the carrier 3012 and located in the positioning tube 303 .

[0056] Please refer to FIG. 4 and FIG. 5 . Optionally, each coring tube 401 is provided with an independent temperature controller 3011 to control the corresponding heater 3015 to heat and keep the obtained lunar soil sample warm.

[0057] 4 and 5 , the heater 3015 optionally includes a heating housing 3013, a thermocouple, and a heating rod 3014. The heating rod 3014 may be a ceramic heating rod 3014. One end of the heating rod 3014 is located within the heating housing 3013 and heats the liquid within the heating housing 3013. The lower end of the coring tube 401 abuts the heating housing 3013, so that heat can be transferred from the heating housing 3013 to the coring tube 401. The sensing end of the thermocouple extends into the heating housing 3013 to monitor the temperature of the heating housing 3013.

[0058] Please refer to Figures 4 and 5. In the embodiment of the present application, the support structure 300 also includes a support base plate 304. A fixing plate 305 is provided at the lower end of the fixing seat 302. The fixing plate 305 is connected to the support base plate 304 by screws, and the beam 202 is located on the side of the fixing seat 302.

[0059] The present application also proposes a lunar sample grading processing system, which includes a grading storage device 100. The specific structure of the grading storage device 100 refers to the above embodiment. Since the present lunar sample grading processing system adopts all the technical solutions of all the above embodiments, it also has all the beneficial effects brought by the technical solutions of the above embodiments, which will not be repeated here.

[0060] In some embodiments, the lunar sample grading and processing system further includes a coring robot, which is used to pick up the lunar samples and load the lunar samples into the coring tube 401 .

[0061] Please refer to Figures 4 to 5. Optionally, the positioning tube 303 is used to place the core tube 401 and fix its relative position. The temperature controller 3011 includes a control circuit board. The control circuit board is used to control the heater 3015, including functions such as collecting temperature information, controlling the heating temperature, and stabilizing the heating temperature. The heater 3015 is located at the bottom of the inner cavity of each positioning tube 303. The temperature is transferred to the core tube 401 through the heater 3015, and then transferred to the lunar soil sample stored in the core tube 401, thereby realizing differentiated management and insulation of the lunar soil samples obtained from different rock layers.

[0062] The above are merely optional embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application should be included within the scope of the claims of the present application.

Claims

1. A hierarchical storage device, characterized in that: include: A storage structure, comprising a core tube for storing lunar samples, wherein a plurality of core tubes are provided; The supporting structure is provided with a fixing hole, wherein the fixing hole has an opening facing upward, and a plurality of the fixing holes are arranged at intervals, and one end of each of the core tubes is detachably inserted into each of the fixing holes; and The movable structure includes a gantry adjacent to the supporting structure and a material moving robot connected to the gantry in a horizontal sliding direction. The material moving robot is used to pull the core tube upward from the fixing hole or insert the core tube downward into the fixing hole.

2. The hierarchical storage device according to claim 1, wherein: The material transfer robot comprises a clamping assembly for clamping the core tube and a lifting assembly for driving the clamping assembly to move up and down, and the lifting assembly is connected to the gantry by sliding in a horizontal direction.

3. The hierarchical storage device according to claim 2, wherein: The clamping assembly includes a clamping base connected to the lifting assembly, a clamping arm rotatably connected to the clamping base, a clamping driver connected to the clamping base, and a connecting rod with one end rotatably connected to the output shaft of the clamping driver. Two connecting rods are provided, and the other ends of the two connecting rods are rotatably connected to the two clamping arms respectively.

4. The hierarchical storage device according to claim 3, wherein: A transfer groove is provided on the side surface of the clamping arm, and one end of the connecting rod is located in the transfer groove and is rotatably connected to the clamping arm.

5. The hierarchical storage device according to claim 3, wherein: The clamping assembly further comprises a cross bar connected to the output shaft of the clamping driver, and two ends of the cross bar are respectively rotatably connected to the two connecting rods.

6. The hierarchical storage device according to any one of claims 2 to 5, wherein: The lifting assembly includes a column that is slidably connected to the gantry in a horizontal direction, a lifting drive connected to the column, and a lifting slide that is slidably connected to the column. The clamping assembly is connected to the lifting slide, and the lifting drive is used to drive the lifting slide to slide back and forth along the axial direction of the column.

7. The hierarchical storage device according to any one of claims 1 to 5, wherein: The gantry includes support columns, a crossbeam, a horizontal slide connected to the material transfer robot, and a horizontal driver connected to the crossbeam. Two support columns are arranged at intervals, and the two ends of the crossbeam are respectively connected to the two support columns. The horizontal slide slides in the horizontal direction and is connected to the crossbeam. The horizontal driver is used to drive the horizontal slide to slide back and forth.

8. The hierarchical storage device according to any one of claims 1 to 5, wherein: The support structure includes a positioning tube for accommodating the core tube, a fixing seat with a receiving cavity, and a heating component located in the receiving cavity. The fixing hole is opened in the fixing seat and connected to the receiving cavity, and each fixing hole is correspondingly provided with a heating component and a positioning tube. The positioning tube is inserted into the fixing hole and connected to the heating component.

9. The hierarchical storage device according to claim 8, wherein: The heating assembly includes a carrying platform located in the accommodating cavity, a temperature controller connected to the carrying platform, and a heater arranged on the carrying platform and located in the positioning tube.

10. A lunar sample classification and processing system, characterized in that: The lunar sample grading processing system comprises a grading storage device as described in any one of claims 1 to 9, and further comprises a coring robot, which is used to pick up the lunar samples and load the lunar samples into the coring tube.

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